US 12,216,469 B2
Automatic scanning system for tunnel walls constructed by open-type TBM
Ju Wang, Beijing (CN); Hongsu Ma, Beijing (CN); Jian Liu, Beijing (CN); Liang Chen, Beijing (CN); and Xingguang Zhao, Beijing (CN)
Assigned to Beijing Research Institute of Uranium Geology, (CN)
Filed by BEIJING RESEARCH INSTITUTE OF URANIUM GEOLOGY, Beijing (CN)
Filed on Apr. 19, 2021, as Appl. No. 17/233,925.
Claims priority of application No. 202010919500.0 (CN), filed on Sep. 4, 2020.
Prior Publication US 2022/0075377 A1, Mar. 10, 2022
Int. Cl. G05D 1/00 (2024.01); E21D 9/00 (2006.01); E21D 9/10 (2006.01); G01S 7/481 (2006.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01)
CPC G05D 1/0094 (2013.01) [E21D 9/003 (2013.01); E21D 9/10 (2013.01); G01S 7/4817 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G05D 1/0011 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An automatic scanning system for tunnel walls constructed by open-type TBM, comprising:
a three-dimensional laser scanner, a circumferential walking unit, a circumferential track, a connecting rod and a remote-control unit;
wherein the three-dimensional laser scanner is fixed on the circumferential walking unit, and the three-dimensional laser scanner is configured to three-dimensionally scan geological information of the tunnel wall;
the circumferential walking unit is provided on the circumferential track, and the circumferential walking unit is configured to walk or stop walking on the circumferential track at a set speed and a set number of walking cycles according to a control instruction issued by the remote-control unit or a control module in the circumferential walking unit, the control instruction comprises a walking instruction or a stopping walking instruction;
the circumferential track is fixed on the main beam of open-type TBM through the connecting rod and located between the roof bolter and cylinder of gripper shoe;
the remote-control unit is connected with the three-dimensional laser scanner and the circumferential walking unit, respectively, the remote-control unit is configured to issue the control instruction to the circumferential walking unit to control the circumferential walking unit to start walking or stop walking at a set speed and a set number of walking cycles, and control the three-dimensional laser scanner to start scanning or stop scanning and wirelessly transmit the scanning data using set scanning parameters according to the control instruction; and
wherein a ring diameter of the circumferential track is determined according to tunnel diameter, working space and single scanning range, and a maximum width of the single scanning range for the three-dimensional laser scanner is determined by adjusting the ring diameter of the circumferential track, and wherein the maximum width is set as one or more stroke lengths.