公开(公告)号：US12216469B2

公开(公告)日：2025-02-04

申请号：US17233925

申请日：2021-04-19

Applicant: BEIJING RESEARCH INSTITUTE OF URANIUM GEOLOGY

Inventor： Ju Wang ,  Hongsu Ma ,  Jian Liu ,  Liang Chen ,  Xingguang Zhao

IPC: G05D1/00 ,  E21D9/00 ,  E21D9/10 ,  G01S7/481 ,  G01S17/42 ,  G01S17/89

Abstract: An automatic scanning system for tunnel walls constructed by open-type TBM, to realize the automatic, accurate, rapid and omnidirectional scanning of tunnel wall. The system comprises a three-dimensional laser scanner, a walking unit, a circumferential track, several connecting rods and a remote-control unit; wherein the three-dimensional laser scanner is fixed on the walking unit. The walking unit is provided on the circumferential track and configured to walk on the circumferential track at a set speed and a set number of walking cycles according to a control instruction. The circumferential track is fixed on the main beam of open-type TBM through the connecting rods and located between the roof bolter and cylinder of gripper shoe. The remote-control unit is configured to issue the control instruction and control the three-dimensional laser scanner to scan the tunnel wall and transmit the scanning data using set scanning parameters.

公开(公告)号：US20220075377A1

公开(公告)日：2022-03-10

申请号：US17233925

申请日：2021-04-19

Applicant: BEIJING RESEARCH INSTITUTE OF URANIUM GEOLOGY

Inventor： Ju Wang ,  Hongsu Ma ,  Jian Liu ,  Liang Chen ,  Xingguang Zhao

IPC: G05D1/00 ,  E21D9/00 ,  E21D9/10 ,  G01S17/42 ,  G01S17/89 ,  G01S7/481

Abstract: An automatic scanning system for tunnel walls constructed by open-type TBM, to realize the automatic, accurate, rapid and omnidirectional scanning of tunnel wall. The system comprises a three-dimensional laser scanner, a walking unit, a circumferential track, several connecting rods and a remote-control unit; wherein the three-dimensional laser scanner is fixed on the walking unit. The walking unit is provided on the circumferential track and configured to walk on the circumferential track at a set speed and a set number of walking cycles according to a control instruction. The circumferential track is fixed on the main beam of open-type TBM through the connecting rods and located between the roof bolter and cylinder of gripper shoe. The remote-control unit is configured to issue the control instruction and control the three-dimensional laser scanner to scan the tunnel wall and transmit the scanning data using set scanning parameters.