EP3819433B1 - Dispositif d'enlèvement de sol et procédé de production d'un trou dans le sol - Google Patents

Dispositif d'enlèvement de sol et procédé de production d'un trou dans le sol Download PDF

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Publication number
EP3819433B1
EP3819433B1 EP19207440.9A EP19207440A EP3819433B1 EP 3819433 B1 EP3819433 B1 EP 3819433B1 EP 19207440 A EP19207440 A EP 19207440A EP 3819433 B1 EP3819433 B1 EP 3819433B1
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EP
European Patent Office
Prior art keywords
ground
removal
removal device
soil
tool
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.)
Active
Application number
EP19207440.9A
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German (de)
English (en)
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EP3819433A1 (fr
Inventor
Matthias Semel
Dominic Haidacher
Patrik Wenzl
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.)
Bauer Spezialtiefbau GmbH
Original Assignee
Bauer Spezialtiefbau 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 Bauer Spezialtiefbau GmbH filed Critical Bauer Spezialtiefbau GmbH
Priority to EP19207440.9A priority Critical patent/EP3819433B1/fr
Priority to PCT/EP2020/080970 priority patent/WO2021089627A1/fr
Priority to CN202080025157.3A priority patent/CN113597492B/zh
Publication of EP3819433A1 publication Critical patent/EP3819433A1/fr
Application granted granted Critical
Publication of EP3819433B1 publication Critical patent/EP3819433B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
    • E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D17/00—Excavations; Bordering of excavations; Making embankments
    • E02D17/13—Foundation slots or slits; Implements for making these slots or slits
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/08—Dredgers; Soil-shifting machines mechanically-driven with digging elements on an endless chain
    • 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
    • E21B47/00—Survey of boreholes or wells
    • E21B47/002—Survey of boreholes or wells by visual inspection

Definitions

  • the invention relates to a soil removal device for creating a hole in the ground by means of a removal tool, which is designed and can be driven to remove soil material, according to the preamble of claim 1.
  • the invention further relates to a method for making a hole in the ground, according to the preamble of claim 11.
  • Knowing the type of soil to be worked is essential for efficient soil removal.
  • Each type of soil has a certain strength, for which the appropriate removal parameters, in particular with regard to cutting speed and feed, must be set on a soil removal device.
  • the ground is usually made up of different soil layers. If, for example, machine parameters are set for sand or clay soil, these parameters can be disadvantageous when removing rocky soil layers. In particular, excessive wear on the removal tool can occur if a cutting speed for removal teeth or a feed are set too high.
  • EP 3 536 900 A1 like that EP 3 081 737 A2 a method and a construction device for tillage are known, in which a tillage tool is driven in rotation.
  • the noise produced when working the soil is recorded by means of a noise measuring device.
  • the type of soil is determined by means of a control and evaluation unit based on the recorded sound values. This can be used to control the construction equipment.
  • a determination of the soil type based on the sound radiation of the soil when it is affected represents an indirect determination of the soil type.
  • a prerequisite for determining the soil type is that previous measurements are carried out, on the basis of which a sound radiation behavior of the different soil types is determined.
  • even small changes in the soil for example with regard to the water content of soil layers, the depth of the soil layer or the processing parameters of a machine or even the removal elements themselves, can have an impact on the noise emitted by the soil. This makes it difficult to reliably and quickly detect the ground.
  • press-in probes with a sight glass which can be pressed into a floor.
  • the surrounding soil can be observed through the sight glass by means of a camera arrangement.
  • the images recorded here can be used to make a statement about the structure of the soil.
  • tunnel bores such as those used to build underground or road tunnels. These have a drilling plate with a large number of roller bits, with the drilling plates having a diameter of up to 10 meters and more.
  • a camera unit can be provided on the drill shields.
  • the invention is based on the object of specifying a soil removal device and a method for creating a hole in the ground, which allow soil material to be removed particularly efficiently.
  • the object is achieved on the one hand by a soil removal device having the features of claim 1 and on the other hand by a method having the features of claim 11 .
  • Preferred embodiments of the invention are specified in the respective dependent claims.
  • the soil excavation device is characterized in that at least one image acquisition unit is arranged on the excavation tool, which is designed to create an image of the in-situ soil when the excavation tool is introduced into the soil while soil material is being removed.
  • a basic idea of the invention can be seen in a soil removal device for creating a hole in the ground while removing soil material, ie crushing and removing soil material, with at least one Image acquisition unit to be provided on the removal tool itself, with which one or more images, which can also form a film, are created when the removal tool is introduced into the ground and when the hole is dug.
  • the in-situ soil can already be recorded during the removal of soil material.
  • a direct, immediate recording of the in-situ soil is carried out. Images of the in-situ soil allow direct conclusions to be drawn, in particular about the type of soil, components in the soil and/or properties of the soil.
  • the image acquisition unit can acquire the excavated soil material.
  • the at least one image acquisition unit is arranged on the excavation tool at a point which is directly adjacent to the ground.
  • a particularly accurate soil detection can be carried out by detecting the soil that is as uncultivated as possible.
  • the image acquisition unit can be arranged on an outside of the removal tool, in particular in a lower or lateral area.
  • the image capturing unit can have one or more electronic image capturing sensors, in particular CCD sensors, which enable electronic image capturing.
  • the light-sensitive sensors can be arranged directly on the removal tool or at a distance therefrom, and in the latter case an image can be captured via optics and forwarded to the sensor with a light guide.
  • an illumination element can be provided on the image acquisition unit.
  • the captured images can preferably be forwarded wirelessly or by means of a data line to a corresponding evaluation unit on the soil removal device.
  • a preferred embodiment of the invention is that the removal tool is designed as a drilling tool with a drilling axis about which the drilling tool can be driven in rotation and along which the drilling tool can be advanced.
  • the drilling axis can be arranged essentially vertically, so that a drill hole can be drilled vertically downwards from the ground surface, for example to create a foundation pile in the ground.
  • a Rotary drive and optionally a feed drive can be provided.
  • the drilling tool can be an auger, box drill or other drilling tool.
  • the drilling tool is designed with a pilot tip at a lower end and that the at least one image acquisition unit is arranged in the area of the pilot tip.
  • a pilot point is also referred to as a centering point and is usually arranged at the lower end of the drilling tool in the center of the drilling axis.
  • the pilot tip is the lowest or foremost area of the drilling tool, which penetrates into the largely uncultivated ground. With an image acquisition unit in the area of the pilot tip, images of the immediate ground can be created with high reliability.
  • the pilot tip has a shank, at the lower end of which at least one removal element is arranged, and that the at least one image acquisition unit is arranged on the shank.
  • This front area is formed by one or more removal elements, in particular removal cutters or removal tips.
  • the at least one image acquisition unit is arranged on a preferably cylindrical shank of the pilot tip at the rear in a drilling advance direction.
  • the image acquisition unit is preferably covered and protected by a transparent protective element.
  • the transparent protective element can in particular be hardened mineral glass.
  • the shaft has a corresponding receiving space for the entire image acquisition unit or a part thereof, with the image acquisition unit being held detachably on the pilot tip.
  • the removal tool has at least one cutting wheel and that the at least one image acquisition unit is arranged on the at least one cutting wheel and/or on a transmission plate on which the at least one cutting wheel is mounted so that it can be driven in rotation.
  • At least part of the image acquisition unit can preferably be arranged on an outside of the cutting wheel in its hub area.
  • the hub area can be stationary or rotating with the rotary driven cutting wheel.
  • an image acquisition unit can also be arranged on the gear plate of the soil removal device, in particular a trench wall cutter, on which the at least one cutting wheel is rotatably mounted. At least one pair of milling wheels on both sides of the gear plate or a total of two pairs are preferably rotatably mounted on a gear plate.
  • the removal tool comprises gripper shovels of a gripper.
  • At least one image acquisition unit can preferably be arranged on an outer area of a gripper frame.
  • the soil removal device is designed as a drilling device, a trench wall cutter or a trench wall grab, each of which includes a mobile carrier device.
  • the carrier device can in particular have a crawler chassis on which the drilling tool, the milling machine or the gripper are mounted, preferably so that they can be moved vertically along a mast.
  • a further preferred embodiment of the invention consists in that a computer unit is provided which is connected to the at least one image acquisition unit and is designed to evaluate images which have been recorded by the image acquisition unit and based on this a type of soil, components in the soil and/or or to determine properties of the soil.
  • the computer unit is provided with appropriate evaluation software, which can record, for example, a color of the soil, the consistency, sizes of pores, grain sizes of components of the soil, and a distribution of components. In this way, for example, sand layers, gravel layers, clay layers or rocky soil layers can be detected directly. The proportions of sand or gravel and their grain sizes can also be easily recorded and determined by appropriate evaluation software. Based on this, it can also be determined whether layers contain water, are water-blocking or cohesive.
  • the software can have a database with existing images and assigned soil types, components in the soil and/or properties of the soil, so that if necessary, a particularly precise determination of the soil is made possible by a comparison with stored data.
  • the computer unit is connected to a controller, by means of which at least one drive of the soil removal device can be controlled as a function of the evaluated images. If, for example, the computer unit determines that there is a transition from a sand layer in the ground to a rocky ground layer, the controller can use the evaluated images to change a drive of the soil removal device and adapt it to the new soil. In the case of a drilling device, for example, the rotational speed of the drilling tool can be reduced and a feed force on the drilling tool or feed rate can be reduced. Corresponding values are set by the controller, which are stored in a database for the respective soil type.
  • the method according to the invention is characterized in that the soil removal device according to the invention described above is used, with one or more images of the in-situ soil being captured by means of the at least one image acquisition unit on the excavation tool when the excavation tool is introduced into the soil and soil material is removed.
  • the in-situ soil is recorded immediately when soil material is removed. This enables control in real time, so that it is possible to react immediately to changes in soil layers when soil material is removed.
  • a preferred method variant of the invention is that the images captured by the at least one image capturing unit are forwarded to a computer unit which evaluates the captured images and based on the captured images determines a soil type, components in the soil and/or properties of the soil.
  • the computer unit can preferably be arranged outside the hole in the ground on a carrier device.
  • the computer unit is equipped with a controller is connected, which controls at least one drive of the soil removal device depending on the evaluated images.
  • a further advantageous variant of the method can be seen in the computer unit creating a soil profile over the excavation depth based on the evaluated images.
  • the soil profile can be stored in the computer unit and taken into account when creating further holes in the vicinity. Such a stored soil profile simplifies in particular the recognition of a transition between soil layers during subsequent soil cultivation.
  • a further improvement in the evaluation can be achieved in that the computer unit is previously calibrated by entering images with an associated type of soil, components in the soil and/or properties of the soil.
  • Such a calibration can be achieved in particular by an existing and previously entered database.
  • a first test hole can be created at a processing location, for which a soil profile is then created, in which images the respective soil type, component in the soil and/or properties of the soil are assigned.
  • the soil removal device can essentially be reduced to the removal tool, or it can comprise a device with drive units.
  • a soil removal device 10 according to the invention is shown in the simplest form 1 formed as a removal tool 20, which is a drilling tool 21 in the illustrated embodiment.
  • the excavation tool 20 has a connecting device 26 on its upper side, with which a connection to a drill rod, not shown, can be established, which can be driven by a rotary drive of a basically known drill.
  • the drill rods (not shown) and the drilling device (not shown) can be part of the drilling device 10 according to the invention.
  • a base 40 is arranged with a downwardly projecting pilot tip 30, which is closer to the Figures 2 to 4 are shown.
  • the drilling tool 21 is designed as a fundamentally known box drill, which is also referred to as a drill bucket. This has a cylindrical receiving body 22 on the underside of which a base 40 is mounted via a swivel joint 44 so that it can be swung open.
  • the floor 40 is in a closed or locked position.
  • a locking device 46 is provided for locking, which can be released from the upper side of the removal tool 20 via a release device 48 which is only partially shown. In the released state, the base 40 can be pivoted downwards to empty the receiving body 22 of removed soil material.
  • the base 40 has a lockable base plate 41 on which a rotating base 42 is rotatably mounted, which can be rotated between a closed position and an open position. In the open position, an opening 43 is uncovered, so that soil material removed by excavation teeth 45 attached to the soil can pass through the opening 43 into the inner cavity of the receiving body 22 .
  • the rotating base 42 can be rotated and the opening 43 can be closed in this way. In this closed condition, the filled drilling tool 21 can be pulled out of a wellbore and moved to a dump location.
  • the receiving body 22 is closed at its top with a cover plate 24 to which the connecting device 26 is attached.
  • a pilot tip 30 is arranged on the underside of the floor 40 .
  • the pilot tip 30 has an essentially cylindrical shank 32, at the lower end of which removal elements 34 are formed, which in the illustrated exemplary embodiment, like the removal teeth 45, are designed as removal chisels.
  • Image acquisition unit 50 is arranged in the area of the shaft 32 of the pilot tip 30 .
  • Image acquisition unit 50 is directed essentially radially in order to create preferably colored images of the in-situ soil and to transmit these to a computer unit (not shown), which is at a distance from excavation tool 20, in order to determine a soil type, components in the soil and/or properties of the soil to record and determine soil.

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

Claims (15)

  1. Dispositif d'enlèvement de sol pour la création d'un trou dans le sol au moyen d'un outil d'enlèvement (20) qui est réalisé pour l'enlèvement de matériau de sol et peut être entraîné,
    dans lequel le dispositif d'enlèvement de sol (10) est réalisé comme un appareil de forage, une fraise pour rideau souterrain ou un grappin pour rideau souterrain qui comportent respectivement un appareil de support mobile,
    caractérisé en ce que
    au moins une unité d'acquisition d'images (50) est agencée au niveau de l'outil d'enlèvement (20), laquelle est réalisée pour la création d'une image du sol apparent lors de l'introduction de l'outil d'enlèvement (20) dans le sol en enlevant du matériau de sol.
  2. Dispositif d'enlèvement de sol selon la revendication 1,
    caractérisé en ce que
    l'au moins une unité d'acquisition d'images (50) est agencée au niveau de l'outil d'enlèvement (20) à un endroit, auquel le sol est directement contigu.
  3. Dispositif d'enlèvement de sol selon la revendication 1 ou 2,
    caractérisé en ce que
    l'outil d'enlèvement (20) est réalisé comme un outil de forage (21) avec un axe de forage (28), autour duquel l'outil de forage (21) peut être entraîné en rotation et le long duquel l'outil de forage (21) peut être avancé.
  4. Dispositif d'enlèvement de sol selon la revendication 3,
    caractérisé en ce que
    l'outil de forage (21) est réalisé avec une pointe pilote (30) au niveau d'une extrémité inférieure et
    en ce que l'au moins une unité d'acquisition d'images (50) est agencée dans la zone de la pointe pilote (30).
  5. Dispositif d'enlèvement de sol selon l'une des revendications 3 ou 4,
    caractérisé en ce que
    la pointe pilote (30) présente une tige (32), au niveau de l'extrémité inférieure de laquelle au moins un élément d'enlèvement (34) est agencé, et
    en ce que l'au moins une unité d'acquisition d'images (50) est agencée au niveau de la tige (32).
  6. Dispositif d'enlèvement de sol selon l'une des revendications 1 ou 2,
    caractérisé en ce que
    l'outil d'enlèvement (20) présente au moins une roue de fraisage et
    en ce que l'au moins une unité d'acquisition d'images (50) est agencée au niveau de l'au moins une roue de fraisage et/ou au niveau d'un bouclier d'engrenage, au niveau duquel l'au moins une roue de fraisage est montée de manière entraînable en rotation.
  7. Dispositif d'enlèvement de sol selon l'une des revendications 1 ou 2,
    caractérisé en ce que
    l'outil d'enlèvement (20) comporte des griffes d'un grappin.
  8. Dispositif d'enlèvement de sol selon l'une des revendications 1 ou 7,
    caractérisé en ce que
    l'appareil de forage, la fraise pour rideau souterrain ou le grappin pour rideau souterrain présente un outil de forage, une fraise ou un grappin qui est logé de manière déplaçable verticalement le long d'un mât.
  9. Dispositif d'enlèvement de sol selon l'une des revendications 1 ou 8,
    caractérisé en ce que
    une unité de calcul est prévue, laquelle est en liaison avec l'au moins une unité d'acquisition d'images (50) et est réalisée afin d'évaluer des images qui ont été prises par l'unité d'acquisition d'images (50) et de déterminer sur cette base un type de sol, des constituants dans le sol et/ou des propriétés du sol.
  10. Dispositif d'enlèvement de sol selon la revendication 9,
    caractérisé en ce que
    l'unité de calcul est reliée à une commande, par laquelle au moins un entraînement du dispositif d'enlèvement de sol (10) peut être commandé en fonction des images évaluées.
  11. Procédé de création d'un trou dans le sol,
    caractérisé en ce que
    un dispositif d'enlèvement de sol (10) selon l'une des revendications 1 à 10 est utilisé,
    dans lequel une ou plusieurs images du sol apparent sont acquises au moyen de l'au moins une unité d'acquisition d'images (50) au niveau de l'outil d'enlèvement (20) lors de l'introduction de l'outil d'enlèvement (20) dans le sol et l'enlèvement de matériau de sol.
  12. Procédé selon la revendication 11,
    caractérisé en ce que
    les images acquises par l'au moins une unité d'acquisition d'images (50) sont transmises à une unité de calcul qui évalue les images acquises et détermine sur la base des images acquises un type de sol, des constituants dans le sol et/ou des propriétés du sol.
  13. Procédé selon la revendication 12,
    caractérisé en ce que
    l'unité de calcul est reliée à une commande qui bloque au moins un entraînement du dispositif d'enlèvement de sol (10) en fonction des images sélectionnées.
  14. Procédé selon la revendication 12 ou 13,
    caractérisé en ce que
    un profil de sol sur la profondeur d'enlèvement est créé par l'unité de calcul sur la base des images évaluées.
  15. Procédé selon l'une des revendications 12 à 13,
    caractérisé en ce que
    l'unité de calcul est étalonnée au préalable par entrée d'images avec un type de sol, constituants dans le sol et/ou propriétés associés du sol.
EP19207440.9A 2019-11-06 2019-11-06 Dispositif d'enlèvement de sol et procédé de production d'un trou dans le sol Active EP3819433B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP19207440.9A EP3819433B1 (fr) 2019-11-06 2019-11-06 Dispositif d'enlèvement de sol et procédé de production d'un trou dans le sol
PCT/EP2020/080970 WO2021089627A1 (fr) 2019-11-06 2020-11-04 Dispositif d'enlèvement de terre et procédé de réalisation d'un trou dans la terre
CN202080025157.3A CN113597492B (zh) 2019-11-06 2020-11-04 用于在地面上开设孔洞的土壤去除装置和方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19207440.9A EP3819433B1 (fr) 2019-11-06 2019-11-06 Dispositif d'enlèvement de sol et procédé de production d'un trou dans le sol

Publications (2)

Publication Number Publication Date
EP3819433A1 EP3819433A1 (fr) 2021-05-12
EP3819433B1 true EP3819433B1 (fr) 2022-12-28

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EP19207440.9A Active EP3819433B1 (fr) 2019-11-06 2019-11-06 Dispositif d'enlèvement de sol et procédé de production d'un trou dans le sol

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EP (1) EP3819433B1 (fr)
CN (1) CN113597492B (fr)
WO (1) WO2021089627A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4063567B1 (fr) * 2021-03-25 2023-10-18 BAUER Spezialtiefbau GmbH Procédé de construction et agencement permettant de mettre en oeuvre un projet de construction

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1181879A (ja) * 1997-09-04 1999-03-26 Kajima Corp Ｔｂｍ壁面画像解析装置及び画像解析法
JP2003083956A (ja) * 2001-07-06 2003-03-19 Omron Corp 土壌特性観測装置
DE102007005560B4 (de) 2007-01-24 2009-12-03 Bernhard Sänger Verfahren zum Betrieb einer Tunnelbohrmaschine, Verfahren zum Erkennen von geologischen Strukturen sowie Tunnelbohrmaschine
KR101502321B1 (ko) * 2014-03-19 2015-03-16 대원전기 주식회사 곡선 경사형 철구에 다수의 초경팁이 형성된 천공스크류용 회전깍기식 굴삭헤드
KR20150139108A (ko) * 2014-06-02 2015-12-11 삼성물산 주식회사 Tbm 전방 스캐너
CN204371102U (zh) * 2014-12-12 2015-06-03 中国石油天然气股份有限公司 激光钻头和激光钻具
JP6654504B2 (ja) * 2016-05-17 2020-02-26 株式会社小松製作所 トンネル掘進機
CN107433599A (zh) * 2017-08-28 2017-12-05 安徽智轩咨询有限责任公司 一种农场用监控智能机器人
CN108010091B (zh) * 2017-12-18 2021-10-08 武汉大学 一种基于颜色特征的数字式钻孔图像土层检测定位方法
CN207847535U (zh) * 2018-02-02 2018-09-11 浙江中林勘察研究股份有限公司 一种多功能地质勘探钻头
EP3536900B1 (fr) 2018-03-08 2023-06-07 BAUER Maschinen GmbH Procédé et engin de forage
CN109695418B (zh) * 2019-01-28 2020-03-31 江苏纬信工程咨询有限公司 深层岩体结构可视化钻孔设备及作业方法

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CN113597492A (zh) 2021-11-02
CN113597492B (zh) 2023-09-26
EP3819433A1 (fr) 2021-05-12
WO2021089627A1 (fr) 2021-05-14

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