CN103076624B - Tunnel seismic wave detection holding force intelligent controllable shock excitation device - Google Patents
Tunnel seismic wave detection holding force intelligent controllable shock excitation device Download PDFInfo
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- CN103076624B CN103076624B CN201210594163.8A CN201210594163A CN103076624B CN 103076624 B CN103076624 B CN 103076624B CN 201210594163 A CN201210594163 A CN 201210594163A CN 103076624 B CN103076624 B CN 103076624B
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Abstract
The invention relates to a tunnel seismic wave detection holding force intelligent controllable shock excitation device, which comprises a giant magnetostrictive telescopic energy transducer and an automatic shifting sliding table, wherein the giant magnetostrictive telescopic energy transducer is movably arranged on the automatic shifting sliding table; automatic shifting devices are arranged on guide rails of the giant magnetostrictive telescopic energy transducer and the automatic shifting sliding table respectively; the automatic shifting sliding table is further connected with a fixed buffering device, so that the entire automatic shifting sliding table is tightly pressed against a tunnel face; the giant magnetostrictive telescopic energy transducer is connected with a driving power supply; and the driving power supply, the automatic shifting devices and the fixed buffering device are controlled by using a main control device. The shape of a variable-amplitude rod is optimized, so that the energy density of seismic waves is increased, convenience is brought to movement and fixation, vibration of the non-working end of the energy transducer is buffered, shock excitation becomes more stable, and intelligent control over measurement is realized.
Description
Technical field
The present invention relates in a kind of constructing tunnel, the man-made explosion equipment forecasting in advance for seismic reflection method geology, specifically a kind of in constructing tunnel, can on face, move, the tunnel seismic event based on giant magnetostrictive material that produces controllable frequency seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence.
Background technology
In constructing tunnel, China has been the country of tunnel construction scale and difficulty maximum in the world.Because high hole, mountain is long, at constructing tunnel, be in earlier stage difficult to all investigate thoroughly adverse geological condition along the line, cause the Serious geological disasters such as gushing water, prominent mud, landslide often occur in constructing tunnel process, caused great personnel's life and property loss, had a strong impact on Tunnel Engineering and built safety.In order to reduce and avoid the generation of Tunnel during Construction geologic hazard, in constructing tunnel process, implement advance geologic prediction significant.So-called advance geologic prediction, adopt exactly the technology of exploration geophysics to survey the tunnel piercing geological condition of side in front, the Geological Defects such as tomography, solution cavity, underground river identified and located, verify in advance the dangerous matter sources of geologic hazard, for the prediction and disposal of disaster provides, instructing and reference.
At present, the geophysical techniques of main constructing tunnel phase unfavorable geology advanced prediction mainly comprises seismic reflection method (the about 120m of detection range), electromagnetic method (the about 40-70m of detection range), DC electrical method (the about 40m of detection range), infra-red method (the about 20m of detection range) etc. both at home and abroad.Wherein seismic reflection method has the outstanding advantage that detection range is large, resolution is high, for quantitatively identifying in advance and locate poorly plastid at a distance, has vital role, is one of the most frequently used tunnel geological forecast geophysical method.Tunnel seismic method advanced prediction method mainly contains TSP method at present, TRT method, (the Yang Guolin such as TGP method, Yang Liwei. Methods of Geological Advanced Prediction in Tunnel Construction and Detection Techniques research [J]. the underground space and engineering journal, 2006, (04): 627-630+645), the mode that these methods all adopt detonator to trigger explosive charge in real data collection realizes exciting of seismic event, it is controlled that this epicenter excitation method cannot realize focus, seismic source energy, the master control index discretenesses such as frequency are large, and explosive shooting is very dangerous, a lot of Tunnel Engineering (especially in city tunnel) ban use of this exciting method, bring very large difficulty to development and the popularization of tunnel seismic method.For this problem, the epicenter excitation apparatus and method of studying a kind of " non-quick-fried formula " are significant.(the Liang Tiecheng such as the Lin Jun of Jilin University, Lin Jun, Chen Zubin. the application [J] of electromagnetic portable high-frequency vibrator in tunnel detection. Jilin University's journal (geoscience version), 2005, (S1): 87-89) a kind of electromagnetic drive type portable High-frequency vibroseis is applied to tunnel detection, obtained good effect, but the vibration of this focus is to utilize the alternation of the suffered electromagnetic force of current－carrying conductor in magnetic field to produce, in the situation that current－carrying conductor is identical with giant magnetostrictive rod volume, output power is little more a lot of than giant magnetostrictive transducer, so detection range is smaller.Zhong Shihang is (a kind of by 2～8 ultra-magnetic telescopic shake vibration exciters in parallel, CN102495423A) focus of having developed a kind of hand-held for the minimum offset distance seismic event advanced prediction method device that impulses, adopt the mode of three magnetostrictive rod parallel connections to realize and impulsed, in actual detection, played good effect.But the giant magnetostriction seismic source device of this hand-held when exciting owing to relying on human body that counter-force is provided, recoil is larger, stimulation effect is higher to the degree of dependence of the stability of human body, easily cause epicenter excitation unstable, in addition, there is larger difficulty in the method for three magnetostrictive rod parallel connections aspect the harmony control of collapsing length and power output.
Visible, at " non-quick-fried formula " epicenter excitation technical elements of tunnel seismic wave method advance geologic prediction, there are some application technologies, but existed some problems, need to design the novel device that impulses and cover the shortage.In the novel device development that impulses, need the subject matter of solution as follows: 1. to need to design a kind of " electromagnetism-power " and transform the higher device that impulses of usefulness, the actuating structure in device of impulsing, luffing structure, exciting bank etc. are optimized to design, thereby minimizing leakage field, increase magnetic field homogeneity, improve the energy density of seismic event; 2. owing to often impulsing a little on tunnel piercing face or abutment wall, the direction that impulses, perpendicular to development end or abutment wall, does not provide the structure of counter-force, need to design a kind of reliable and stable counterforce structure; 3. in actual detection, impulse and a little reach tens, adopt moved by hand to change mode a little, efficiency is lower, need to design a kind of device from moving point, automatically impulsing.
Summary of the invention
For the problems referred to above, the present invention has designed a kind of tunnel seismic event and has surveyed the controlled device that impulses of self-supplying capacity intelligence, and it utilizes optimizes the energy density that ultrasonic transformer shape has improved seismic event; Utilize screw-nut body and swallow-tail form rail plate transducer is moved and fix; Utilize the hydraulic circuit fixed guide of a pressure regulation buffer, cushioned the vibration of transducer non-operative end, make exciting more stable; Utilize computing machine and switching value control card to control movement and location, the fixing unloading of guide rail and the exciting start and stop of transducer, realized the intellectuality of measuring and controlled.
To achieve these goals, the present invention takes following technical proposals:
A kind of tunnel seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it comprises giant magnetostrictive transducer, certainly moves a slide unit, giant magnetostrictive transducer is movably arranged on moving a slide unit, from moving that point apparatus (comprising stepper motor, screw-nut body) is arranged on respectively giant magnetostrictive transducer and on moving the guide rail of a slide unit; From moving a slide unit, be also connected with fixing snubber assembly, make wholely from moving a slide unit, to be pressed on tunnel tunnel face; Giant magnetostrictive transducer is connected with driving power; Driving power, certainly move point apparatus and fixedly snubber assembly by overall control device, controlled.
Described giant magnetostrictive transducer comprises housing, and housing and coil rack one end are connected, and housing is connected by dish spring and the biography end cap that shakes; In housing both sides, be respectively equipped with the slide block matching with the guide rail of certainly moving a slide unit, housing is also connected with the nut of certainly moving point apparatus; At housing and pass to shake and be provided with balancing weight, the GMM extension stem being surrounded by coil rack between end cap, in coil rack, be provided with AC coil; Case top is provided with pretension bolt, and it and dish spring produce a pretightning force to GMM extension stem; Housing is provided with coil hole, and the AC power in driving power is connected with AC coil by coil hole, and AC field makes AC coil produce alternating magnetic field, and GMM extension stem produces vibration under action of alternating magnetic field, and vibration is passed to and passed the end cap that shakes; The biography end cap that shakes is connected with ultrasonic transformer by linkage section, and ultrasonic transformer increases the amplitude of vibration, and by sonic transmissions to be detected.
The linkage section of described ultrasonic transformer by bottom and the biography end cap that shakes is threaded, and the large end face of ultrasonic transformer and biography are shaken and between end cap, be coated with one deck couplant; Ultrasonic transformer is used the solid of revolution that bus is cubic spline curve.
Describedly from moving a slide unit, comprise and be with slotted pedestal, on pedestal, be provided with guide rail, guide rail is swallow-tail form rail plate, and giant magnetostrictive transducer is arranged on swallow-tail form rail plate; In fluting, be provided with from the leading screw of moving point apparatus simultaneously; Pedestal both sides are provided with flange and are connected with compression hydraulic cylinder, and pedestal lower end is also provided with flange and is connected with supporting cylinder.
Described moving point apparatus comprises a stepper motor certainly, and stepper motor is connected with leading screw by shaft coupling, and leading screw coordinates formation screw-nut body with nut, and stepper motor drives giant magnetostrictive transducer to move along swallow-tail form rail plate by leading screw, nut; Stepper motor is connected with overall control device.
Described fixedly snubber assembly comprises four hydraulic cylinders, is respectively two and compresses hydraulic cylinder and two supporting cylinders, and their piston rod is with from moving, a slide unit is positive to be connected with the flange of side; Hydraulic cylinder is connected with accumulator with solenoid directional control valve by oil circuit, and solenoid directional control valve links with retaining valve, hydraulic pump, and hydraulic pump is also connected with surplus valve; Solenoid directional control valve, hydraulic pump are all connected with overall control device.
Described driving power adopts the digital inverter based on DSP device, provides the exchange current of 100～2000Hz and frequency adjustable, and peak power reaches 50Kw, and producing frequency is the exchange current of 100Hz～2000Hz, and seismic event power reaches 6～25Kw; In driving circuit, also comprise the feedback circuit based on maximum current principle, for following the trail of the natural frequency of transducer, and regulate frequency of operation to make transducer be operated in resonant condition; Driving power is connected with overall control device.
Described overall control device comprises computing machine and switching value control card, computing machine connecting valve amount control card, switching value control card with driving power, certainly move a slide unit and fixedly snubber assembly be connected.
Computing machine is controlled the electric and dead electricity that obtains of solenoid valve by gauge tap amount control card, thereby controls the fixing and unloading of guide rail; Computing machine carrys out the rotation of control step motor by gauge tap amount control card, thereby controls movement and the location of transducer; Computing machine is controlled the start and stop of exciting by the switch of gauge tap amount control card control driving power.
The invention has the beneficial effects as follows:
The biography of the 1> design end cap that shakes had both played sealing function, played again the effect of transmitting vibrations, had simplified the structure of transducer; The biography end cap that shakes connects a ultrasonic transformer, and ultrasonic transformer can amplify the amplitude of GMM extension stem, thereby increases energy density, improves signal to noise ratio (S/N ratio), is more suitable for the requirement that geology is surveyed; The shape of generatrix of ultrasonic transformer is designed to cubic spline curve, can make ultrasonic transformer have larger amplification coefficient and form factor, plays better luffing effect;
2> the present invention can carry out resonance frequency tracking to giant magnetostrictive transducer vibrational system, and regulates in real time frequency of operation, makes vibrational system be operated in resonance state, thereby improves hyperacoustic amplitude and energy density.
3> adopts guide rail and hydraulic system to fix and support the method for giant magnetostrictive transducer: can cushion the vibration of transducer non-operative end, than hand hold transducer more stable work, automated movement and the intelligence that can realize under multi-measuring point observed case are changed a little simultaneously, have greatly improved work efficiency;
4> adopts intelligent controlling device: computing machine is controlled motor by switching value control card---and screw-nut body drives movement and the location of transducer, and computing machine is controlled the start and stop of switch and then the control exciting of driving power by switching value control card, can realize the robotization of measurement, efficiency far is higher than hand hold transducer.
Accompanying drawing explanation
Fig. 1 is the structural representation of giant magnetostrictive transducer and ultrasonic transformer.
Fig. 2 is the gear train schematic diagram from moving a slide unit.
Fig. 3 is the fixedly buffer gear schematic diagram from moving a slide unit.
Fig. 4 is the scheme of installation from moving a slide unit and transducer.
Fig. 5-1 is inverter main circuit direct current supply module circuit diagram.
Fig. 5-2 are inverter circuit and matched filtering circuit module circuit diagram.
Fig. 5-3 are DSP signal generating circuit and isolation and drive circuit module circuit diagram.
Fig. 5-4 are feedback circuit module circuit diagram.
Fig. 6 is overall control device and overall control process flow diagram.
Wherein, 1, pretension bolt, 2, housing, 3, coil hole, 4, balancing weight, 5, coil rack, 6, GMM extension stem, 7, AC coil, 8, the biography end cap that shakes, 9, socket head cap screw, 10, threaded hole, 11, dish spring, 12, slide block, 13, linkage section, 14, ultrasonic transformer, 15, surplus valve, 16, hydraulic pump, 17, retaining valve, 18, solenoid directional control valve, 19, accumulator, 20, hydraulic cylinder, 21, transducer, 22, stepper motor, 23, swallow-tail form rail plate, 24, leading screw, 25, flange, 26, face, 27, compress hydraulic cylinder, 28, supporting cylinder, 29, ground.
Embodiment
As shown in Figure 1, housing 2 is connected by four socket head cap screws 9 with coil rack 5; Whole giant magnetostrictive transducer is fixed in swallow-tail form rail plate by the slide block 12 in housing 2; Balancing weight 4, GMM extension stem 6, AC coil 7 are placed in housing 2; Housing 2 and biography are shaken dish spring 11 between end cap 8; 11 pairs of GMM extension stems of pretension bolt 1 and dish spring 6 produce a pretightning force; The AC power of driving power connects AC coil 7 by coil hole 3; The AC field that driving power produces makes AC coil 7 produce alternating magnetic field, and GMM extension stem 6 produces vibration under action of alternating magnetic field, and vibration is passed to the end cap 8 that shakes; When GMM extension stem 6 shortens, the restoring force of dish spring 11 makes to pass end cap 8 homings of shaking; The biography end cap 8 that shakes had both played sealing function, played again the effect of transmitting vibrations; Ultrasonic transformer 14 is connected by linkage section 13 and the biography end cap 8 that shakes, linkage section comprises one section of screw thread and one section of right cylinder, screw thread shakes being connected of end cap 8 with biography for ultrasonic transformer 14, right cylinder is for the radial location of ultrasonic transformer 14, and it is 0 place that the front end of ultrasonic transformer should be fixed on amplitude, makes transducer exciting more stable, the large end face of ultrasonic transformer 14 and biography are shaken and between end cap 8, are coated with one deck couplant, reduce the loss of acoustic wave energy, ultrasonic transformer 14 increases the amplitude of vibration, by couplant, sonic transmissions is arrived to be detected; The biography end cap 8 that shakes had both played the sealing function of end cap, played again the effect of transmitting vibrations, had simplified transducer architecture.
The shape of generatrix of ultrasonic transformer 14 is cubic spline curve, can make ultrasonic transformer 14 have larger amplification coefficient and form factor.
As shown in Figure 2, the slide block 12 on shell 2 and swallow-tail form rail plate 23 coordinate, and swallow-tail form rail plate 23 play the guiding role; Shell 2 is connected by nut with leading screw 24, the main shaft of stepper motor 22 is connected by shaft coupling with leading screw 24, when stepper motor 22 driven by motor leading screws 24 rotate, feed screw nut will drive giant magnetostrictive transducer to move along swallow-tail form rail plate 23, and the angle of rotating according to stepper motor 22 main shafts and the pitch numerical value of leading screw 24 just can be controlled giant magnetostrictive transducer and move to a definite position.
As shown in Figure 3 and Figure 4, fixedly snubber assembly is the hydraulic mechanism in a pressure regulation buffer loop.The piston rod of hydraulic cylinder 20 is connected with the two ends from moving a slide unit by flange 25 structures, from moving a slide unit, make solenoid directional control valve 18 left ends energisings fixedly time, the hydraulic oil of now hydraulic pump 16 output is to one, the piston rod of hydraulic cylinder 20 pressure to the right, this pressure can regulate by surplus valve 15, two supporting cylinders of slide unit bottom are placed on ground upper support slide unit, two compression hydraulic cylinders of slide unit both sides are furnished with wedge shape fulcrum arrangement and contact with ground, piston rod is totally curved shape, make wholely from moving a slide unit, to be pressed on tunnel tunnel face; When vibrating, the non-operative end of the GMM extension stem 6 in giant magnetostrictive transducer can produce bump power to whole transducer, this impulsive force can be sent to the hydraulic cylinder piston rod of guide rail support, the oil-feed oil duct junction place of hydraulic cylinder 20 connects an accumulator 19, now accumulator 19 and retaining valve 17 play the effect that relaxes compression shock, and guaranteed the constant of piston rod output pressure, made vibration more stable.
When moving a slide unit and need to unload, only need to make solenoid directional control valve 18 right-hand members energisings.
Driving power adopts the digital inverter based on DSP device, the exchange current of 100～2000Hz can be provided for giant magnetostrictive transducer AC coil 7, according to different geological conditions, by regulating the waveform of SPWM ripple can regulate the frequency of exchange current to reach best measurement effect; According to the method for maximum current, giant magnetostrictive transducer vibrational system is carried out to resonance frequency tracking, regulate in real time frequency of operation, make vibrational system be operated in resonance state, thereby improve hyperacoustic amplitude and energy density.
The VCC end of the direct current supply module (Fig. 5-1) of driving power had both connected the VCC end of inverter main circuit, for inverter main circuit (Fig. 5-2) provides direct current;
The signal output port of dsp chip connects the input end of 6N137 in driving circuit (Fig. 5-3), and the SPWM ripple that dsp chip can be produced is input in isolated drive circuit; P_OUT port in driving circuit connects the igbt transistor Q1 in inverter circuit, Q3, and N_OUT port connects Q2, Q4, IGBT plays the effect of power amplification;
As Fig. 5-2, inductance L 1 and capacitor C 3 play filter action, make SPWM ripple be filtered into satisfactory sine wave; Capacitor C 4 is connected with transducer winding, reaches the effect of coupling, makes transducer in resonant condition;
Feedback circuit (Fig. 5-4) utilizes the method for search work current maxima to search for transducer resonance frequency.Hall current sensor ACS706ELC gathers the electric current of transducer winding, passes to DSP after being converted into the discernible voltage signal of DSP, constantly adjusts output SPWM wave frequency and makes this voltage reach maximal value, and at this moment transducer is operated in resonant condition; Dsp chip connects button and display circuit, can carry out input and the demonstration of frequency.
Overall control device comprises computing machine and switching value control card, computing machine connecting valve amount control card, switching value control card connects motor on the one hand, connects from moving the solenoid directional control valve in a slide unit stationary installation on the other hand, also connects in addition transducer driving power.Computing machine is controlled the electric and dead electricity that obtains of solenoid valve by gauge tap amount control card, thereby controls from moving the fixing of a slide unit and unloading; Computing machine carrys out the rotation of control step motor by gauge tap amount control card, thereby controls movement and the location of transducer; Computing machine is controlled the start and stop of exciting by the switch of gauge tap amount control card control driving power.
As shown in Figure 6, the workflow of the controlled device that impulses of tunnel seismic event detection self-supplying capacity intelligence based on giant magnetostrictive material is as follows, after moving a slide unit and placing, the pre-pressing force size that surplus valve is set is controlled the size of hydraulic pump output hydraulic pressure power, computing machine switches on solenoid directional control valve left end by gauge tap amount control card, thereby make the piston rod in hydraulic cylinder promote, from moving a slide unit, slide unit to be fixed on face; Computing machine rotates by gauge tap amount control card drive motor, by screw-nut body, drives transducer to move along guide rail, and the position that moves to preparation exciting stops; After transducer puts in place, computer control driving power is opened, and starts exciting, and after a period of time, computer control driving power is closed, and exciting stops; Motor drives transducer to move to another position, again exciting again; After all exciting point excitings complete, solenoid directional control valve right-hand member obtains electric, certainly moves a slide unit unloading.
Claims (6)
1. a tunnel seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it is characterized in that, it comprises: giant magnetostrictive transducer, certainly move a slide unit, giant magnetostrictive transducer is movably arranged on moving a slide unit, from moving that point apparatus is arranged on respectively giant magnetostrictive transducer and on moving the guide rail of a slide unit; From moving a slide unit, be also connected with fixing snubber assembly, make wholely from moving a slide unit, to be pressed on tunnel tunnel face; Giant magnetostrictive transducer is connected with driving power; Driving power, certainly move point apparatus and fixedly snubber assembly by overall control device, controlled;
Described giant magnetostrictive transducer comprises housing, and housing and coil rack one end are connected, and housing is connected by dish spring and the biography end cap that shakes; In housing both sides, be respectively equipped with the slide block matching with the guide rail of certainly moving a slide unit, housing is also connected with the nut of certainly moving point apparatus; At housing and pass to shake and be provided with balancing weight, the GMM extension stem being surrounded by coil rack between end cap, in coil rack, be provided with AC coil; Case top is provided with pretension bolt, and it and dish spring produce a pretightning force to GMM extension stem; Housing is provided with coil hole, and the AC power in driving power is connected with AC coil by coil hole, and AC field makes AC coil produce alternating magnetic field, and GMM extension stem produces vibration under action of alternating magnetic field, and vibration is passed to and passed the end cap that shakes; The biography end cap that shakes is connected with ultrasonic transformer by linkage section, and ultrasonic transformer increases the amplitude of vibration, and by sonic transmissions to be detected; The linkage section of described ultrasonic transformer by bottom and the biography end cap that shakes is connected, linkage section comprises one section of screw thread and one section of right cylinder, screw thread is for connecting, and right cylinder is for the radial location of ultrasonic transformer, and the large end face of ultrasonic transformer and biography are shaken and between end cap, be coated with one deck couplant; Ultrasonic transformer is used the solid of revolution that bus is cubic spline curve.
2. tunnel as claimed in claim 1 seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it is characterized in that, described fixedly snubber assembly comprises four hydraulic cylinders, be respectively two supporting cylinders and two compression hydraulic cylinders, the piston rod of supporting cylinder is moved a flange for slide unit side with oneself and is connected, the piston cylinder of compression hydraulic cylinder is moved a flange in slide unit front with oneself and is connected, and compresses hydraulic cylinder and is furnished with wedge shape fulcrum arrangement, and piston rod is totally curved shape; Described four hydraulic cylinders are all connected with accumulator with solenoid directional control valve by oil circuit, and solenoid directional control valve is connected with retaining valve, hydraulic pump, and hydraulic pump is also connected with surplus valve; Solenoid directional control valve, hydraulic pump are all connected with overall control device.
3. tunnel as claimed in claim 1 or 2 seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it is characterized in that, describedly from moving a slide unit, comprise and be with slotted pedestal, on pedestal, be provided with guide rail, guide rail is swallow-tail form rail plate, and giant magnetostrictive transducer is arranged on swallow-tail form rail plate; In fluting, be provided with from the leading screw of moving point apparatus simultaneously.
4. tunnel as claimed in claim 3 seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it is characterized in that, it is described that moving point apparatus also comprises a stepper motor certainly, stepper motor is connected with leading screw by shaft coupling, leading screw coordinates formation screw-nut body with nut, stepper motor drives giant magnetostrictive transducer to move along swallow-tail form rail plate by leading screw, nut; Stepper motor is connected with overall control device.
5. tunnel as claimed in claim 1 seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it is characterized in that, described driving power adopts the digital inverter based on DSP device, provide exchange current and the frequency of 100～2000Hz adjustable, and peak power reaches 50Kw, producing frequency is the exchange current of 100Hz～2000Hz, and seismic event power reaches 6～25Kw; Wherein in driving circuit, there is the feedback circuit based on maximum current principle, regulate in real time the frequency of operation of driving power to make the working current of transducer reach maximum, thereby make transducer be operated in resonant condition; Driving power is connected with overall control device.
6. tunnel as claimed in claim 1 seismic event is surveyed the controlled device that impulses of self-supplying capacity intelligence, it is characterized in that, described overall control device comprises computing machine and switching value control card, computing machine connecting valve amount control card, switching value control card with driving power, certainly move a slide unit and fixedly snubber assembly be connected.
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| DE19944032B4 (en) * | 1999-09-14 | 2008-01-03 | Geoforschungszentrum Potsdam | Apparatus and method for generating seismic vibrations |
| JP3380224B2 (en) * | 2000-09-29 | 2003-02-24 | 川崎重工業株式会社 | Tunnel excavator equipped with forward search equipment |
| CN101694973B (en) * | 2009-07-21 | 2012-02-01 | 武汉中岩科技有限公司 | Portable giant magnetostriction seismic source device |
| JP5677820B2 (en) * | 2010-11-30 | 2015-02-25 | 大成建設株式会社 | Ground exploration device and exploration method. |
| CN102330555B (en) * | 2011-09-22 | 2014-12-17 | 洛阳聚科特种工程机械有限公司 | Tunnelling equipment |
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