CN114909141A - Roadway excavation method and projection equipment - Google Patents
Roadway excavation method and projection equipment Download PDFInfo
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- CN114909141A CN114909141A CN202210637004.5A CN202210637004A CN114909141A CN 114909141 A CN114909141 A CN 114909141A CN 202210637004 A CN202210637004 A CN 202210637004A CN 114909141 A CN114909141 A CN 114909141A
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- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000009412 basement excavation Methods 0.000 title claims abstract description 15
- 230000005641 tunneling Effects 0.000 claims abstract description 71
- 238000009434 installation Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000011378 shotcrete Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000003245 coal Substances 0.000 description 1
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- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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Abstract
The invention provides a roadway excavation method and projection equipment, wherein the roadway excavation method comprises the following steps: projecting reference information to a working surface of the roadway to position the tunneling positions of the top surface, the first side surface, the second side surface and the bottom surface of the roadway; tunneling a preset distance to the roadway according to the reference information; the size of the reference information projected on the working face is adjusted according to the tunneling distance of the tunnel, and the reference information is projected on the working face formed after the last tunneling.
Description
Technical Field
The invention relates to the field of tunnel excavation, in particular to a roadway excavation method and projection equipment.
Background
In order to ensure that the tunneling direction of the coal mine tunnel is consistent with the design during tunneling in China, engineering technicians adopt a total station instrument for measurement and then use a laser pointing instrument to measure and position a center line point of the tunnel so as to ensure that the tunneling direction of the tunnel is correct.
However, when the currently used laser direction finder is used for positioning the center line of the roadway, only one laser direction point can be projected at the head of the driving face, and the site constructor can measure and position the center line of the roadway and the waist line of the roadway according to the laser direction point to approximately outline the overall shape of the section of the roadway.
Disclosure of Invention
The invention mainly aims to provide a roadway excavation method and projection equipment to solve the problem that deviation is easy to generate in roadway excavation in the prior art.
In order to achieve the above object, according to an aspect of the present invention, there is provided a tunneling method including: projecting reference information to a working surface of the roadway to position the tunneling positions of the top surface, the first side surface, the second side surface and the bottom surface of the roadway; tunneling a preset distance to the roadway according to the reference information; and adjusting the size of the reference information projected on the working face according to the tunneling distance of the roadway, and projecting the reference information on the working face formed after the last tunneling.
Further, the method for projecting the reference information to the working surface of the roadway comprises the following steps: projecting a first indicating line to a working surface of the roadway to position the tunneling position of the top surface of the roadway; projecting a second indicating line to the working surface of the roadway, wherein the second indicating line is connected with the first indicating line so as to position the tunneling position of the first side surface of the roadway; projecting a third indicating line to the working surface of the roadway, wherein the third indicating line is connected with one end, far away from the second indicating line, of the first indicating line so as to position the tunneling position of the second side surface of the roadway; and a fourth indicating line is projected onto the working surface of the roadway, one end of the fourth indicating line is connected with one end, away from the first indicating line, of the second indicating line, and the other end of the fourth indicating line is connected with one end, away from the second indicating line, of the third indicating line, so that the tunneling position of the bottom surface of the roadway is positioned.
Further, the method for projecting the reference information to the working surface of the roadway comprises the following steps: and a fifth indicating line is projected onto the working surface of the roadway and is connected with the fourth indicating line so as to position the tunneling position of the drainage ditch arranged on the bottom surface.
Further, the method for projecting the reference information to the working surface of the roadway comprises projecting a sixth indicating line to the working surface of the roadway; the sixth indicating line and the first indicating line are arranged in parallel to position the guniting layer coated on the top surface; and/or the sixth indicator line and the second indicator line are arranged in parallel to each other to position the guniting layer coated on the first side face; and/or the sixth indicating line and the third indicating line are arranged in parallel to each other to position the guniting layer coated on the second side surface.
Further, the method for projecting the reference information to the working surface of the roadway comprises the following steps: projecting an indication mark to the working surface of the roadway, wherein the indication marks are arranged on a sixth indication line at intervals; so as to position the installation of anchor rods or anchor cables for supporting the roadway.
Further, the method for projecting the reference information to the working surface of the roadway comprises the following steps: and projecting a seventh indicating line on the working surface of the roadway, wherein the seventh indicating line and the fourth indicating line are arranged in parallel to position the floor layer paved on the bottom surface.
Further, the method for projecting the reference information to the working surface of the roadway comprises the following steps: and projecting an eighth indicating line on the working surface of the roadway, wherein the eighth indicating line is positioned between the seventh indicating line and the fourth indicating line so as to position the metal net arranged in the floor layer.
Further, the method of adjusting the size of the reference information includes: and calculating the size of the dimension which needs to be improved by the reference information according to the preset tunneling distance, and projecting the improved dimension on the working surface.
According to another aspect of the present invention, there is provided a projection apparatus adapted to the tunnel boring method of any one of claims 1 to 8, the projection apparatus including a projector provided on a top surface of the tunnel to project the reference information onto a working surface of the tunnel.
Further, the projection apparatus further includes: the induction device is arranged in the roadway to induce the tunneling position of the roadway; the control device is in signal connection with the sensing device; and the alarm is in signal connection with the control device, and when the tunneling position deviates from the position indicated by the reference information, the alarm is controlled to give an alarm through the control device.
By applying the technical scheme of the invention, the roadway tunneling method comprises the following steps: projecting reference information to a working surface of the roadway to position the tunneling positions of the top surface, the first side surface, the second side surface and the bottom surface of the roadway; tunneling a preset distance to the roadway according to the reference information; and adjusting the size of the reference information projected on the working face according to the tunneling distance of the roadway, and projecting the reference information on the working face formed after the last tunneling. By adopting the method, the laser projector and other technologies are adopted to project the roadway size data (such as roadway height, roadway width, wall height, arch height, guniting thickness, floor thickness, position for subsequently installing the sealing-tape machine, ditch size and the like) on the heading of the tunneling working face, so that constructors can know the size data of the roadway section of the tunneling working face more visually and the construction quality is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic view of the operating state of a projector according to the invention;
fig. 2 is a schematic diagram showing a first embodiment of reference information in the tunneling method of the present invention;
fig. 3 is a schematic structural view showing a working face of a tunnel in the tunnel boring method of the present invention;
fig. 4 is a schematic view showing a second embodiment of reference information in the tunneling method of the present invention;
fig. 5 is a schematic view showing a third embodiment of reference information in the tunneling method of the present invention;
fig. 6 is a schematic view showing a fourth embodiment of reference information in the tunneling method of the present invention;
fig. 7 is a schematic view showing a fifth embodiment of reference information in the tunneling method of the present invention;
fig. 8 is a schematic view showing the working principle of the tunneling method of the present invention.
Wherein the figures include the following reference numerals:
100. a roadway; 110. a working surface; 101. a top surface; 102. a first side surface; 103. a second side surface; 104. a bottom surface; 1041. a terrace layer; 1042. a metal mesh; 105. a guniting layer; 106. a drainage ditch;
10. a projector; 20. reference information; 1. a first indicator line; 2. a second indication line; 3. a third indicator line; 4. a fourth indicator line; 5. a fifth indication line; 6. a sixth indicator line; 7. a seventh indicator line; 8. an eighth indicator line; 9. indicating the identification.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 8, the tunneling method of the present embodiment includes: projecting reference information 20 onto a working surface 110 of the roadway 100 to locate the heading positions of the top surface 101, the first side surface 102, the second side surface 103, and the bottom surface 104 of the roadway 100; tunneling a preset distance to the roadway 100 according to the reference information 20; the size of the reference information projected on the work surface 110 is adjusted according to the excavation distance of the tunnel 100, and the reference information 20 is projected on the work surface 110 formed after the previous excavation. By adopting the method, the laser projector and other technologies are adopted to project the roadway size data (such as roadway height, roadway width, wall height, arch height, guniting thickness, floor thickness, position for subsequently installing the sealing-tape machine, ditch size and the like) on the heading of the tunneling working face, so that constructors can know the size data of the roadway section of the tunneling working face more visually and the construction quality is improved.
In the tunneling method of the present embodiment, referring to fig. 1 to 7, the method of projecting the reference information 20 onto the working face 110 of the roadway 100 includes: projecting a first indicating line 1 onto a working surface 110 of the roadway 100 to locate a driving position of a top surface 101 of the roadway 100; projecting a second indicator line 2 onto the working surface 110 of the roadway 100, wherein the second indicator line 2 is connected with the first indicator line 1 so as to position the tunneling position of the first side surface 102 of the roadway 100; projecting a third indicating line 3 to the working surface 110 of the roadway 100, wherein the third indicating line 3 is connected with one end of the first indicating line 1 far away from the second indicating line 2 so as to position the tunneling position of the second side surface 103 of the roadway 100; and projecting a fourth indicating line 4 onto the working surface 110 of the tunnel 100, wherein one end of the fourth indicating line 4 is connected with one end of the second indicating line 2 far away from the first indicating line 1, and the other end of the fourth indicating line 4 is connected with one end of the third indicating line 3 far away from the second indicating line 2, so as to locate the tunneling position of the bottom surface 104 of the tunnel 100. Therefore, the designed full-section shape of the roadway is directly projected on the heading face of the tunneling working face, so that the operating personnel can obtain more visual reference.
Referring to fig. 1 to 7, in the tunneling method of the present embodiment, the method of projecting the reference information 20 onto the working face 110 of the roadway 100 includes: a fifth indication line 5 is projected onto the working surface 110 of the roadway 100, and the fifth indication line 5 is connected with the fourth indication line 4 to position the excavation position of the drainage ditch 106 provided on the bottom surface 104.
In the tunneling method of the present embodiment, referring to fig. 1 to 7, the method of projecting the reference information 20 onto the working face 110 of the roadway 100 includes projecting a sixth indication line 6 onto the working face 110 of the roadway 100; wherein the sixth indicating line 6 and the first indicating line 1 are arranged in parallel to each other to position the guniting layer 105 coated on the top surface 101; and/or the sixth indicator line 6 and the second indicator line 2 are arranged parallel to each other to position the gunite layer 105 coated on the first side 102; and/or the sixth indicator line 6 and the third indicator line 3 are arranged parallel to each other to position the gunite layer 105 coated on the second side 103.
Referring to fig. 1 to 7, in the tunneling method of the present embodiment, the method of projecting the reference information 20 onto the working face 110 of the roadway 100 includes: projecting indication marks 9 to a working face 110 of the roadway 100, wherein the indication marks 9 are arranged on the sixth indication line 6 at intervals; to locate the installation of anchor or cable bolts for supporting the roadway 100.
In the tunneling method of the present embodiment, referring to fig. 1 to 7, the method of projecting the reference information 20 onto the working face 110 of the roadway 100 includes: a seventh indicating line 7 is projected onto the working surface 110 of the roadway 100, and the seventh indicating line 7 and the fourth indicating line 4 are arranged in parallel to each other to position the terrace layer 1041 laid on the bottom surface 104.
Referring to fig. 1 to 7, in the tunneling method of the present embodiment, the method of projecting the reference information 20 onto the working face 110 of the roadway 100 includes: an eighth indicator line 8 is projected onto the working face 110 of the roadway 100, and the eighth indicator line 8 is located between the seventh indicator line 7 and the fourth indicator line 4, so as to position the metal mesh 1042 arranged in the floor layer 1041.
In the tunneling method of the present embodiment, referring to fig. 1 to 7, the method of adjusting the size of the reference information 20 includes: the size of the size to be modified of the reference information 20 is calculated according to the preset distance of the excavation of the tunnel 100, and the modified size is projected on the working face 110.
The projection apparatus of the present embodiment, which is suitable for the above-described tunnel boring method, includes the projector 10, and the projector 10 is provided on the top surface 101 of the tunnel 100 to project the reference information 20 onto the work surface 110 of the tunnel.
In the projection apparatus of the present embodiment, the projection apparatus further includes: the induction device is arranged in the roadway 100 to induce the tunneling position of the roadway 100; the control device is in signal connection with the sensing device; and the alarm is in signal connection with the control device, and when the tunneling position deviates from the position indicated by the reference information, the alarm is controlled to give an alarm through the control device.
The first embodiment is as follows:
referring to fig. 2, in the present embodiment, the reference information 20 includes a heading section shape of the working face, a heading distance, a date, a shotcrete thickness, a floor thickness, a position of the working equipment, and the like.
Example two:
referring to fig. 4, in the present embodiment, the reference information 20 includes positions of anchor rods and anchor lines for supporting the roadway, distances between the anchor rods and the anchor lines, types and lengths of the anchor rods and the anchor lines, and the like.
Example three:
referring to fig. 5, in the present embodiment, a rectangular lane is shown with reference to the information 20.
Example four:
referring to fig. 6, in the present embodiment, the reference information 20 shows an arch-shaped tunnel, and size information such as arch height, wall height, tunnel width, and the like is indicated.
Example five:
referring to fig. 6, in the present embodiment, a slightly arched roadway is shown with reference to the information 20.
One possible embodiment of the invention is described below:
the projector 10 can project the image of the roadway shape on the heading face of the driving face through the full-face projector 10 after inputting the size data of different roadway section shapes (such as a straight wall semicircular arch, a rectangle, a micro-arch and the like) manually according to the field requirement.
In this embodiment, the projector 10 is fixed in the roadway, because the projector 10 is fixed at one point and cannot move, and the distance between the projector 10 and the head of the heading face is continuously increased along with the continuous forward heading of the working face, if the projection size of the projector 10 is continuously unchanged, the image actually projected at the head of the heading face is continuously reduced, and in order to solve the problem, distance calculation software is arranged in the projector 10, so that the size of the image projected at the head of the heading face can be continuously adjusted according to the distance between the projector 10 and the heading face, and the image projected at the head of the heading face is ensured to be consistent with the size of the designed roadway all the time.
In this embodiment, this kind of projecting apparatus 10 can be with tunnel size data (such as tunnel height, tunnel width, wall height, hunch height, whitewashing thickness, terrace thickness, the position of follow-up installation sealing-tape machine, ditch size etc.) projection at the heading face to the constructor more audio-visual understanding of constructor tunnelling face tunnel section size data, improvement construction quality. And the roadway name, the tunneled length, the remaining tunneling length and the time can be projected to the head of the working face, so that constructors can more intuitively control the construction progress, as shown in fig. 2 and 6.
Only one projector 10 is needed to directly project the positions of the anchor rods and the anchor cables, the distances between the anchor rods and the anchor cables, and the types and the lengths of the anchor rods and the anchor cables (the anchor rods and the anchor cables with different types are marked by different colors) on the heading face of the tunneling working face, so that roadway support personnel can support the roadway support according to the projected data strictly, and the engineering quality is controlled strictly. And an infrared sensing device, a linkage control device and an audible and visual alarm are arranged on the jumbolter, once the deviation exists between the position point projected by the projector 10 and the drill hole constructed by the jumbolter by the support personnel, the linkage control device immediately controls the audible and visual alarm to send an audible and visual alarm signal for reminding the support personnel, so that the actual support position of the site personnel is ensured to be consistent with the designed support position, and the support quality is improved, as shown in fig. 4.
In the embodiment, an infrared sensing device, a linkage control device and an audible and visual alarm are arranged on the cutting part of the heading machine, once the cutting range exceeds the projection range in the cutting process of the cutting part of the heading machine, the linkage controller immediately drives the audible and visual alarm to generate an audible and visual alarm signal to remind an operator of the heading machine to pay attention to the cutting range, and the heading shape of a roadway is strictly controlled to be consistent with the design shape. The schematic diagram of the device is shown in fig. 8.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the roadway tunneling method comprises the following steps: projecting reference information 20 onto a working surface 110 of the roadway 100 to locate the heading positions of the top surface 101, the first side surface 102, the second side surface 103, and the bottom surface 104 of the roadway 100; tunneling a preset distance to the roadway 100 according to the reference information 20; the size of the reference information projected on the work surface 110 is adjusted according to the excavation distance of the tunnel 100, and the reference information 20 is projected on the work surface 110 formed after the previous excavation. By adopting the method, the laser projector and other technologies are adopted to project the roadway size data (such as roadway height, roadway width, wall height, arch height, guniting thickness, floor thickness, position for subsequently installing the sealing-tape machine, ditch size and the like) on the heading of the tunneling working face, so that constructors can know the size data of the roadway section of the tunneling working face more visually and the construction quality is improved.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present application, it is to be understood that the directions or positional relationships indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the directions or positional relationships shown in the drawings, and are for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A roadway driving method is characterized by comprising the following steps:
projecting reference information (20) onto a working surface (110) of a roadway (100) to locate the excavation positions of a top surface (101), a first side surface (102), a second side surface (103), and a bottom surface (104) of the roadway (100);
tunneling the roadway (100) for a preset distance according to the reference information (20);
and adjusting the size of the reference information projected on the working face (110) according to the tunneling distance of the roadway (100), and projecting the reference information (20) on the working face (110) formed after the last tunneling.
2. The method of tunneling according to claim 1, wherein the method of projecting the reference information (20) onto the working face (110) of the roadway (100) comprises:
projecting a first indicating line (1) onto a working surface (110) of the roadway (100) to locate a driving position of a top surface (101) of the roadway (100);
projecting a second indicating line (2) to a working surface (110) of the roadway (100), wherein the second indicating line (2) is connected with the first indicating line (1) so as to position the tunneling position of a first side surface (102) of the roadway (100);
projecting a third indicating line (3) to a working surface (110) of the roadway (100), wherein the third indicating line (3) is connected with one end, away from the second indicating line (2), of the first indicating line (1) so as to position the tunneling position of a second side surface (103) of the roadway (100);
to throw fourth instruction line (4) on working face (110) in tunnel (100), the one end of fourth instruction line (4) with second instruction line (2) are kept away from the one end of first instruction line (1) is connected, the other end of fourth instruction line (4) with third instruction line (3) are kept away from the one end of second instruction line (2) is connected, and it is right to advance the driving position of bottom surface (104) in tunnel (100) fixes a position.
3. The method of tunneling according to claim 2, wherein the method of projecting the reference information (20) onto the working face (110) of the tunnel (100) includes:
and projecting a fifth indicating line (5) to a working surface (110) of the roadway (100), wherein the fifth indicating line (5) is connected with the fourth indicating line (4) so as to position the tunneling position of a drainage ditch (106) arranged on the bottom surface (104).
4. A method of tunnelling in accordance with claim 2, wherein the method of projecting reference information (20) onto the face (110) of a tunnel (100) comprises projecting a sixth indicator line (6) onto the face (110) of the tunnel (100); wherein,
the sixth indicating line (6) and the first indicating line (1) are arranged in parallel to each other to position the guniting layer (105) coated on the top surface (101); and/or the presence of a gas in the gas,
the sixth indicator line (6) and the second indicator line (2) are arranged parallel to each other to position the guniting layer (105) coated on the first side face (102); and/or the presence of a gas in the gas,
the sixth indicating line (6) and the third indicating line (3) are arranged in parallel to each other to locate the guniting layer (105) coated on the second side surface (103).
5. The method of tunneling according to claim 4, wherein the method of projecting the reference information (20) onto the working face (110) of the tunnel (100) includes:
projecting indicating marks (9) onto a working face (110) of the roadway (100), wherein the indicating marks (9) are arranged on the sixth indicating line (6) at intervals; to locate the installation of anchor rods or cables for supporting the roadway (100).
6. The method of claim 2, wherein the method of projecting the reference information (20) onto the face (110) of the roadway (100) comprises:
projecting a seventh indicating line (7) to a working surface (110) of the roadway (100), wherein the seventh indicating line (7) and the fourth indicating line (4) are arranged in parallel to each other so as to position a terrace layer (1041) laid on the bottom surface (104).
7. The method of tunneling according to claim 6, wherein the method of projecting the reference information (20) onto the working face (110) of the tunnel (100) includes:
projecting an eighth indicator line (8) onto a working face (110) of the roadway (100), the eighth indicator line (8) being located between the seventh indicator line (7) and the fourth indicator line (4) to locate a metal mesh (1042) disposed in the floor layer (1041).
8. The method of tunneling according to claim 1, wherein the method of adjusting the size of the reference information (20) includes:
and calculating the size of the size required to be improved of the reference information (20) according to the preset tunneling distance of the roadway (100), and projecting the improved size on the working surface (110).
9. A projection apparatus adapted for use in the tunneling method according to any one of claims 1 to 8, characterized by comprising a projector (10), the projector (10) being provided on a top surface (101) of the roadway (100) to project reference information (20) onto a working surface (110) of the roadway (100).
10. The projection device of claim 9, wherein the projection device further comprises:
the induction device is arranged in the roadway (100) to induce the tunneling position of the roadway (100);
the control device is in signal connection with the sensing device;
and the alarm is in signal connection with the control device, and when the tunneling position deviates from the position indicated by the reference information, the alarm is controlled to give an alarm through the control device.
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| CN202210637004.5A CN114909141A (en) | 2022-06-07 | 2022-06-07 | Roadway excavation method and projection equipment |
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