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EP4265885A1 - Microtunneling method and device - Google Patents

Microtunneling method and device Download PDF

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Publication number
EP4265885A1
EP4265885A1 EP22168701.5A EP22168701A EP4265885A1 EP 4265885 A1 EP4265885 A1 EP 4265885A1 EP 22168701 A EP22168701 A EP 22168701A EP 4265885 A1 EP4265885 A1 EP 4265885A1
Authority
EP
European Patent Office
Prior art keywords
tunnel
boring machine
cutter head
energy
jacking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP22168701.5A
Other languages
German (de)
French (fr)
Inventor
Ingo Justen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tunnel Service Group GmbH
Original Assignee
Tunnel Service Group GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tunnel Service Group GmbH filed Critical Tunnel Service Group GmbH
Priority to EP22168701.5A priority Critical patent/EP4265885A1/en
Priority to US18/135,696 priority patent/US20230374863A1/en
Publication of EP4265885A1 publication Critical patent/EP4265885A1/en
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/0621—Shield advancing devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/086—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods with a fluid-actuated cylinder
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/20—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/0692—Cutter drive shields
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield

Definitions

  • the invention relates to a microtunneling method, comprising providing a boring machine at a starting shaft, and jacking the boring machine towards a target shaft, while electrically rotating about an axis of a tunnel a cutter head at a front end of the boring machine and pumping a slurry that transports cuttings from the cutter head out of the tunnel.
  • the invention further relates to a microtunneling device comprising a boring machine with a cylindrical housing, a cutter head at a front end of the can, and an electric motor for rotating the cutter head about an axis of the can, a jacking station for jacking the boring machine from a starting shaft towards a target shaft of the tunnel, a power generator providing electric energy, at least one pump for pumping a slurry that transports cuttings from the cutter head out of the tunnel, and a control container for controlling the device at a surface above the tunnel.
  • Microtunneling is commonly known for boring in ground soil utility tunnels for distributing service infrastructure (gas and air, water, steam and disposal pipelines, electric power and telecommunication cables, etc.) in urban and rural areas:
  • the starting shaft (or entrance shaft) provides a concrete thrust block for the hydraulic jacking station vis-à-vis an entry eye of the tunnel.
  • the boring machine (MTBM) is jacked through the entry eye with up to several hundred tons of force towards the target shaft (or reception shaft), while cutting into the soil at the head of the machine by rotating the cutter head, discharging the cuttings with a stream of slurry out of the tunnel. Due to small tunnel diameter, the jacking station and the boring machine are monitored and remotely operated from a control container outside the starting shaft on surface level.
  • a microtunneling method and device are commonly known. Energy from the generator is mostly needed for rotating the cutter head and for the slurry pumps. During downtime of the cutter head and the pumps, the known device thus needs significantly less energy. Diesel generators being best at 60-80 % of their capacity, known devices have additional smaller generators, to avoid operating points far from the optimum. However, even smaller generators burden the environment with significant noise and air pollution, in particular during the night, weekend or holiday operation.
  • the invention aims at reducing environmental burden.
  • the invention proposes that energy for the boring machine, for the jacking and the pumping is buffered.
  • Buffering the electric energy in a battery allows to do without spare generator for unplanned power fall, without additional small generator for reduced need of energy and to reduce noise and air pollution during downtime of the cutter head, e.g. in pipe coupling mode when releasing the jacking station for inserting a new can or segment, during night, weekend or holiday operation.
  • the buffered energy allows to keep the necessary slurry pumps in operation to remove present cuttings and to avoid settlement and blocking of the cutting head and of the slurry pipe.
  • the buffering allows to constantly run the generator in its optimal working point, while temporarily storing or supplying excess energy according to the needs of the device.
  • the invention is usable in granular soil, as well as in solid rock.
  • General efficiency of the invention is above 90 %, power usage is dramatically reduced, resulting both in better CO 2 -footprint and money saving.
  • the slurry can be a bentonite mix, and be recycled, i.e. separated from the cuttings outside the tunnel and fed back into a closed circuit. Bentonite can also be used for lubricating the outer surface of the boring machine and of the subsequent pipe segments outside, in the soil.
  • a power generator providing the energy starts automatically if a battery for buffering the energy runs low.
  • the tunnel is a utility tunnel.
  • Utility tunnels usually have 0.5 to 4 m diameter and 50 to 1,300 m length at down to 50 m below the surface.
  • a voltage of the energy is stepped up at the starting shaft and stepped down for the motor.
  • Higher voltage and thus lower amperage reduces both the cable width needed and reduces line loss in particular when boring long tunnels.
  • a method according to the invention cans of the boring machine and/or pipe segments are successively inserted into the tunnel following the cutter head at the starting shaft and jacked towards the target shaft together with the cutter head.
  • additional intermediate jacking stations called “interjacks” can then be inserted between segments for jacking groups of segments and thus reducing the force needed for the jacking.
  • the invention proposes to include a battery for the energy.
  • the device according to the invention allows for executing and shares the above-mentioned advantages of the method according to the invention over the state of the art.
  • the battery can e.g. be integrated into the control container, or be provided in a separate unit.
  • a device comprises at least one skid having at least one of the pumps, and optionally having a power transformer and/or a frequency converter for transforming the energy for the at least one of the pumps.
  • Each such skid extends the available length of the slurry pipe and thus of the tunnel.
  • the boring machine has units contained in separate cans.
  • Splitting the boring machine into separate units allows for providing boring machines that exceed the range of the jacking station.
  • Unit that can be provided in separate cans are e.g. a power transformer for transforming the energy, a frequency converter for converting an electric frequency of the energy for the motor, and/or a cooling system.
  • the device 1 comprises a power generator 2, a control container 3, a jacking station, a boring machine 4, a slurry circuit and electric cables 5 providing electric energy from the generator 2 to each unit.
  • the Diesel generator 2 generates stationary 500 kVA of energy at three-phase current of 400 V and alternating at 50 Hz.
  • the control container 3 comprises an operators stand and a buffer unit 6 having a 655 V 65 kWh LiFe-battery 7, AC/DC converters 8 and rectifiers 9.
  • the buffer unit 6 receives from the generator 2 and provides to the control container 3, jacking station, boring machine 4 and slurry circuit excess energy up to 40 kVA.
  • the hydraulic jacking station is not shown in the figures.
  • the boring machine 4 comprises a cylindrical housing 10 of 0.8 m diameter 11 that consists of four separate cans 12, 13, 14, 15 of approximately 2.5 m length 16 each, a cutter head 17 at the front end 18 of the first can 12 and an 80 kW synchronous reluctance motor 19 for rotating the cutter head 17 inside, a variablefrequency drive (VFD) 20 for the motor 19 in the second can 13, a cooling system 21 in the third can 14, and a 132 kVA power transformer 22 from 960 to 400 V in the fourth can 15.
  • VFD variablefrequency drive
  • the electric components are liquid ingress protected according to at least IP65.
  • a first trailing pump skid 23 carrying a 45 kW pump for the slurry is energized by the VFD 20.
  • the slurry circuit comprises a separation unit for separating the cuttings from the slurry, pipes 24 with four more pump skids 23 every 250 m behind the boring machine 4 and a stationary pump in the starting shaft connecting the circuit to the boring machine 4 as well as two converter skids 23 with 110 kVA transformer 22 from 960 to 400 V and VFD 20 each for energizing two of the pump skids 23.
  • the stationary pump is energized by the buffer unit 6.
  • the separation unit, the stationary pump and the converter skids are not shown in the figures.
  • the starting shaft and a target shaft each are prepared, and a concrete thrust block in the starting shaft.
  • the tunnel and the shafts are not shown in the figures.
  • the jacking station is positioned in the starting shaft and the control container 3, the electric generator 2 and the separation unit on the surface with the operators stand in view of an entry eye of the tunnel.
  • the boring machine 4 is positioned at the entry eye and connected to the pipes 24 and electric cables 5.
  • the generator 2 starts automatically and constantly provides 500 kVA to the device 1. Excess energy not actually needed by the control container 3, jacking station, boring machine 4 and slurry circuit is stored into the buffer unit 6. During downtime of the cutter head 17, the generator 2 stops and the buffer unit 6 provides energy for releasing the jacking station, and for cleaning the slurry circuit. During night, weekend or holiday operation the buffer energizes the lighting and heating of the control container 3 and thrust pumps in the shafts. The generator 2 starts automatically if the battery 7 runs low.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

The invention refers to a microtunneling method, comprising providing a boring machine (4) at a starting shaft, and jacking the boring machine (4) towards a target shaft, while electrically rotating about an axis of a tunnel a cutter head (17) at a front end (18) of the boring machine (4) and pumping a slurry that transports cuttings from the cutter head (17) out of the tunnel. The invention further refers to a microtunneling device (1) comprising a boring machine (4) with a cylindrical housing (10), a cutter head (17) at a front end (18) of the can, and an electric motor (19) for rotating the cutter head (17) about an axis of the can, a jacking station for jacking the boring machine (4) from a starting shaft towards a target shaft of the tunnel, a power generator (2) providing electric energy, at least one pump for pumping a slurry that transports cuttings from the cutter head (17) out of the tunnel, and a control container for controlling the device (1) at a surface above the tunnel.
To reduce environmental burden, the invention proposes that energy for the boring machine (4), for the jacking and the pumping is buffered.

Description

  • The invention relates to a microtunneling method, comprising providing a boring machine at a starting shaft, and jacking the boring machine towards a target shaft, while electrically rotating about an axis of a tunnel a cutter head at a front end of the boring machine and pumping a slurry that transports cuttings from the cutter head out of the tunnel. The invention further relates to a microtunneling device comprising a boring machine with a cylindrical housing, a cutter head at a front end of the can, and an electric motor for rotating the cutter head about an axis of the can, a jacking station for jacking the boring machine from a starting shaft towards a target shaft of the tunnel, a power generator providing electric energy, at least one pump for pumping a slurry that transports cuttings from the cutter head out of the tunnel, and a control container for controlling the device at a surface above the tunnel.
  • Microtunneling is commonly known for boring in ground soil utility tunnels for distributing service infrastructure (gas and air, water, steam and disposal pipelines, electric power and telecommunication cables, etc.) in urban and rural areas: The starting shaft (or entrance shaft) provides a concrete thrust block for the hydraulic jacking station vis-à-vis an entry eye of the tunnel. The boring machine (MTBM) is jacked through the entry eye with up to several hundred tons of force towards the target shaft (or reception shaft), while cutting into the soil at the head of the machine by rotating the cutter head, discharging the cuttings with a stream of slurry out of the tunnel. Due to small tunnel diameter, the jacking station and the boring machine are monitored and remotely operated from a control container outside the starting shaft on surface level.
  • A microtunneling method and device according to the above are commonly known. Energy from the generator is mostly needed for rotating the cutter head and for the slurry pumps. During downtime of the cutter head and the pumps, the known device thus needs significantly less energy. Diesel generators being best at 60-80 % of their capacity, known devices have additional smaller generators, to avoid operating points far from the optimum. However, even smaller generators burden the environment with significant noise and air pollution, in particular during the night, weekend or holiday operation.
    • Problem
  • The invention aims at reducing environmental burden.
    • Solution
  • Referring to the above-mentioned state of the art method, the invention proposes that energy for the boring machine, for the jacking and the pumping is buffered. Buffering the electric energy in a battery allows to do without spare generator for unplanned power fall, without additional small generator for reduced need of energy and to reduce noise and air pollution during downtime of the cutter head, e.g. in pipe coupling mode when releasing the jacking station for inserting a new can or segment, during night, weekend or holiday operation. The buffered energy allows to keep the necessary slurry pumps in operation to remove present cuttings and to avoid settlement and blocking of the cutting head and of the slurry pipe. Furthermore, the buffering allows to constantly run the generator in its optimal working point, while temporarily storing or supplying excess energy according to the needs of the device.
  • The invention is usable in granular soil, as well as in solid rock. General efficiency of the invention is above 90 %, power usage is dramatically reduced, resulting both in better CO2-footprint and money saving.
  • The slurry can be a bentonite mix, and be recycled, i.e. separated from the cuttings outside the tunnel and fed back into a closed circuit. Bentonite can also be used for lubricating the outer surface of the boring machine and of the subsequent pipe segments outside, in the soil.
  • Preferably, in a method according to the invention a power generator providing the energy starts automatically if a battery for buffering the energy runs low.
  • Preferably, in a method according to the invention the tunnel is a utility tunnel. Utility tunnels usually have 0.5 to 4 m diameter and 50 to 1,300 m length at down to 50 m below the surface.
  • Preferably, in a method according to the invention a voltage of the energy is stepped up at the starting shaft and stepped down for the motor. Higher voltage (and thus lower amperage) reduces both the cable width needed and reduces line loss in particular when boring long tunnels.
  • Preferably, in a method according to the invention cans of the boring machine and/or pipe segments are successively inserted into the tunnel following the cutter head at the starting shaft and jacked towards the target shaft together with the cutter head. For boring very long tunnels, additional intermediate jacking stations (called "interjacks") can then be inserted between segments for jacking groups of segments and thus reducing the force needed for the jacking.
  • Referring to the above-mentioned state of the art device, the invention proposes to include a battery for the energy. The device according to the invention allows for executing and shares the above-mentioned advantages of the method according to the invention over the state of the art. The battery can e.g. be integrated into the control container, or be provided in a separate unit.
  • Preferably, a device according to the invention comprises at least one skid having at least one of the pumps, and optionally having a power transformer and/or a frequency converter for transforming the energy for the at least one of the pumps. Each such skid extends the available length of the slurry pipe and thus of the tunnel.
  • Preferably, in a device according to the invention the boring machine has units contained in separate cans. Splitting the boring machine into separate units allows for providing boring machines that exceed the range of the jacking station. Unit that can be provided in separate cans are e.g. a power transformer for transforming the energy, a frequency converter for converting an electric frequency of the energy for the motor, and/or a cooling system.
    • Use case
  • The invention is explained in a use case. We show in
    • fig. 1
    details of a device according to the invention,
    fig. 2
    a diagram of the device and
    fig. 3
    a detail of the device.
  • The device 1 according to the invention comprises a power generator 2, a control container 3, a jacking station, a boring machine 4, a slurry circuit and electric cables 5 providing electric energy from the generator 2 to each unit.
  • The Diesel generator 2 generates stationary 500 kVA of energy at three-phase current of 400 V and alternating at 50 Hz. The control container 3 comprises an operators stand and a buffer unit 6 having a 655 V 65 kWh LiFe-battery 7, AC/DC converters 8 and rectifiers 9. The buffer unit 6 receives from the generator 2 and provides to the control container 3, jacking station, boring machine 4 and slurry circuit excess energy up to 40 kVA. The hydraulic jacking station is not shown in the figures.
  • The boring machine 4 comprises a cylindrical housing 10 of 0.8 m diameter 11 that consists of four separate cans 12, 13, 14, 15 of approximately 2.5 m length 16 each, a cutter head 17 at the front end 18 of the first can 12 and an 80 kW synchronous reluctance motor 19 for rotating the cutter head 17 inside, a variablefrequency drive (VFD) 20 for the motor 19 in the second can 13, a cooling system 21 in the third can 14, and a 132 kVA power transformer 22 from 960 to 400 V in the fourth can 15. The electric components are liquid ingress protected according to at least IP65. A first trailing pump skid 23 carrying a 45 kW pump for the slurry is energized by the VFD 20.
  • The slurry circuit comprises a separation unit for separating the cuttings from the slurry, pipes 24 with four more pump skids 23 every 250 m behind the boring machine 4 and a stationary pump in the starting shaft connecting the circuit to the boring machine 4 as well as two converter skids 23 with 110 kVA transformer 22 from 960 to 400 V and VFD 20 each for energizing two of the pump skids 23. The stationary pump is energized by the buffer unit 6. The separation unit, the stationary pump and the converter skids are not shown in the figures.
  • For boring a utility tunnel of 1 m diameter and 1,300 m length at 2 m below the surface, the starting shaft and a target shaft each are prepared, and a concrete thrust block in the starting shaft. The tunnel and the shafts are not shown in the figures.
  • The jacking station is positioned in the starting shaft and the control container 3, the electric generator 2 and the separation unit on the surface with the operators stand in view of an entry eye of the tunnel. The boring machine 4 is positioned at the entry eye and connected to the pipes 24 and electric cables 5.
  • Along with the motor 19 and the jacking, the generator 2 starts automatically and constantly provides 500 kVA to the device 1. Excess energy not actually needed by the control container 3, jacking station, boring machine 4 and slurry circuit is stored into the buffer unit 6. During downtime of the cutter head 17, the generator 2 stops and the buffer unit 6 provides energy for releasing the jacking station, and for cleaning the slurry circuit. During night, weekend or holiday operation the buffer energizes the lighting and heating of the control container 3 and thrust pumps in the shafts. The generator 2 starts automatically if the battery 7 runs low.
  • In the figures are shown
    • 1
    microtunneling device
    2
    power generator
    3
    control container
    4
    boring machine
    5
    electric cables
    6
    buffer unit
    7
    battery
    8
    AC/DC converter
    9
    rectifier
    10
    housing
    11
    diameter
    12
    cutter head can
    13
    VFD can
    14
    cooling system can
    15
    transformer can
    16
    length
    17
    cutter head
    18
    front end
    19
    motor
    20
    VFD
    21
    cooling system
    22
    power transformer
    23
    pump skid
    24
    pipe

Claims (8)

  1. A microtunneling method, comprising
    a) providing a boring machine (4) at a starting shaft, and
    b) jacking the boring machine (4) towards a target shaft, while
    c) electrically rotating about an axis of a tunnel a cutter head (17) at a front end (18) of the boring machine (4) and
    d) pumping a slurry that transports cuttings from the cutter head (17) out of the tunnel,
    characterized in that energy for the boring machine (4), for the jacking and the pumping is buffered.
  2. The method according to the preceding claim, characterized in that a power generator (2) providing the energy starts automatically if a battery (7) for buffering the energy runs low.
  3. The method according to any of the preceding claims, characterized in that the tunnel is a utility tunnel.
  4. The method according to any of the preceding claims, characterized in that a voltage of the energy is stepped up at the starting shaft and stepped down for the motor (19).
  5. The method according to any of the preceding claims, characterized in that cans (12, 13, 14, 15) of the boring machine (4) and/or pipe segments are successively inserted into the tunnel following the cutter head (17) at the starting shaft and jacked towards the target shaft together with the cutter head (17).
  6. A microtunneling device (1) comprising
    a) a boring machine (4) with a cylindrical housing (10), a cutter head (17) at a front end (18) of the can, and an electric motor (19) for rotating the cutter head (17) about an axis of the can,
    b) a jacking station for jacking the boring machine (4) from a starting shaft towards a target shaft of the tunnel,
    c) a power generator (2) providing electric energy,
    d) at least one pump for pumping a slurry that transports cuttings from the cutter head (17) out of the tunnel, and
    e) a control container (3) for controlling the device (1) at a surface above the tunnel,
    characterized by a battery (7) for the energy.
  7. The device (1) according to the preceding claim, characterized by at least one skid (23) having at least one of the pumps, and optionally a power transformer (22) and/or a frequency converter for transforming the energy for the at least one of the pumps.
  8. The device (1) according to any of claims 7 and 8, characterized in that the boring machine (4) has units contained in separate cans (12, 13, 14, 15).
EP22168701.5A 2022-04-19 2022-04-19 Microtunneling method and device Withdrawn EP4265885A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22168701.5A EP4265885A1 (en) 2022-04-19 2022-04-19 Microtunneling method and device
US18/135,696 US20230374863A1 (en) 2022-04-19 2023-04-17 Microtunneling method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22168701.5A EP4265885A1 (en) 2022-04-19 2022-04-19 Microtunneling method and device

Publications (1)

Publication Number Publication Date
EP4265885A1 true EP4265885A1 (en) 2023-10-25

Family

ID=81326286

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22168701.5A Withdrawn EP4265885A1 (en) 2022-04-19 2022-04-19 Microtunneling method and device

Country Status (1)

Country Link
EP (1) EP4265885A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09125878A (en) * 1995-11-07 1997-05-13 Nippon Telegr & Teleph Corp <Ntt> Propulsion direction measuring method of tunnel excavating machine and azimuth angle measuring device
US20100206635A1 (en) * 2009-02-11 2010-08-19 Harrison Stuart Tunneling Apparatus Including Vacuum and Method of Use
CN210509030U (en) * 2019-05-08 2020-05-12 漳浦新时代农业开发有限公司 Drilling device for gasoline development

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09125878A (en) * 1995-11-07 1997-05-13 Nippon Telegr & Teleph Corp <Ntt> Propulsion direction measuring method of tunnel excavating machine and azimuth angle measuring device
US20100206635A1 (en) * 2009-02-11 2010-08-19 Harrison Stuart Tunneling Apparatus Including Vacuum and Method of Use
CN210509030U (en) * 2019-05-08 2020-05-12 漳浦新时代农业开发有限公司 Drilling device for gasoline development

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