Intelligent detector stepping automatic installation device and method for TBM (Tunnel Boring Machine) excavation

Abstract

The invention discloses an intelligent detector stepping automatic installation device and method for TBM excavation, and relates to the technical field of tunnel advanced detection.The device comprises two mechanical arms arranged on the front portion and the rear portion of a TBM trailer, charging bins are positioned and placed beside the two mechanical arms, the charging bins are used for arranging and inserting a plurality of detectors, and each detector comprises a cylindrical shell; the end part of the cylindrical shell is rotatably provided with a locking nut, and after the cylindrical shell sleeves the outer side of the anchor rod, the locking nut is screwed with the anchor rod in a threaded manner. The detector at the end of the rear anchor rod is detached and placed in the charging bin to be charged through the rear mechanical arm, a closed operation system for rolling cyclic utilization of the detector is integrally formed, the circulating system is stably and cooperatively carried out along with the tunneling work of the TBM, the workload of manual operation is saved in an automatic mode, and the working efficiency is improved. And the dismounting efficiency and the equidistant arrangement precision of the detector are ensured.

Description

Technical Field

[0001] This invention relates to the field of tunnel advance detection technology, and in particular to an intelligent geophone stepping automatic installation device and method for TBM excavation. Background Technology

[0002] TBM tunnel construction, with its high degree of automation, excellent tunnel quality, good economic benefits, and environmental friendliness, is widely used in major national tunnel projects in transportation, water conservancy, and resource extraction. However, during TBM construction, if the geological conditions ahead of the tunnel face are not investigated in advance, encountering unfavorable geological bodies such as water-rich strata, fracture zones, collapse columns, and karst caves can easily lead to geological disasters such as mudslides, water inrushes, and collapses, as well as accidents such as equipment jamming. This will seriously endanger the safety of workers and the stable operation of machinery and equipment. Therefore, it is crucial to analyze the distribution characteristics and water-bearing status of unfavorable geological bodies ahead of the tunnel face in advance.

[0003] Seismic wave detection is one of the mainstream methods for advanced detection of TBM tunnels, characterized by its long detection range and sensitivity to geological structures. This method uses geophones to receive seismic wave signals reflected from adverse geological bodies, thereby retrieving the geological conditions ahead of the tunnel face. However, the current installation process for multi-channel, high-precision geophones still faces the following problems: ① In complex environments, the error in the equidistant placement of multiple geophones is often overlooked; ② To achieve rigid contact between the geophone and the surrounding rock, a separate opening needs to be made in the surrounding rock; ③ The single function of the geophone components leads to cluttered power supply and signal transmission lines; ④ Geophones are usually placed behind the TBM main unit, meaning they cannot move with the vehicle and miss the optimal detection range; ⑤ Manual installation of geophones is labor-intensive, cumbersome, and inefficient, making it difficult to guarantee the azimuth coupling accuracy of high-precision three-component geophones. Therefore, in order to meet the needs of modern, intelligent and mechanized underground operations in coal mines, it is urgent to innovate the mechanical structure, coupling installation method and signal transmission method of the detector, so as to develop an intelligent detector that can move with the TBM in real time for detection. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, the purpose of this invention is to provide an intelligent step-by-step automatic installation device and method for geophones during TBM excavation, which solves the problems of large workload, cumbersome operation, low efficiency, and difficulty in ensuring the installation accuracy of geophones by manual installation during excavation.

[0005] To address the problems of the prior art, the technical solution of the present invention is as follows: An intelligent detector stepping automatic installation device for TBM tunneling includes two robotic arms positioned at the front and rear of the TBM trailer. A charging compartment is positioned next to each robotic arm, and the charging compartment is used to arrange and insert several detectors. Each detector includes a cylindrical housing with a locking nut rotatably mounted at its end. After the cylindrical housing is fitted onto the outside of an anchor bolt, the locking nut engages with the anchor bolt thread. A self-tapping wrench is mounted on the end face of each robotic arm. The end of each robotic arm is connected to a clamping member via multiple sets of telescopic spring rods. The clamping member is used to clamp the detector, allowing the self-tapping wrench to rotate and lock the nut. The robotic arms, charging compartments, detectors, and self-tapping wrenches are signal-connected to the TBM's IPC.

[0006] Preferably, the detector further includes a three-component sensor, a processing chip, a Wi-Fi communication module, and a battery disposed within a cylindrical housing, with the Wi-Fi communication module, the three-component sensor, and the battery electrically connected to the processing chip.

[0007] Preferably, a pressure sensor is provided on the end face of the cylindrical housing away from the locking nut. The pressure sensor is electrically connected to the processing chip. A positioning nut is threaded onto the surface of the anchor rod. When the cylindrical housing is fitted onto the outside of the anchor rod, the pressure sensor presses against the end face of the positioning nut.

[0008] Preferably, an electrode plate is provided on the end face of the cylindrical housing away from the locking nut. The electrode plate is connected to the battery through a processing chip. The upper surface of the charging compartment has several uniformly arranged slots. The bottom surface of the slots is provided with charging contacts. The charging contacts are connected to an external circuit. When the cylindrical housing is inserted into the slot, the electrode plate contacts the charging contacts.

[0009] Preferably, the bottom surface of the charging compartment has multiple positioning slots, and multiple positioning rods are fixedly installed in the area where the charging compartment is placed on the platform of the TBM trailer, with the positioning rods corresponding to the positioning slots.

[0010] Preferably, the clamping member includes an annular shell, with two arc-shaped pieces symmetrically arranged inside the opening of the annular shell. Magnetic guide posts are symmetrically slidably inserted into the inner surface of the annular shell. The magnetic guide posts are fixedly connected to the arc-shaped pieces and are connected to a tension spring. The tension spring causes the magnetic guide posts to push the two arc-shaped pieces towards each other. An electromagnet is arranged inside the wall of the annular shell, and the position of the electromagnet is aligned with the magnetic guide posts.

[0011] Preferably, an NFC tag is disposed inside the cylindrical shell, and an NFC reader for identifying the NFC tag is disposed inside the wall of the annular shell.

[0012] Preferably, the end face of the cylindrical shell has an inner bushing, and the end face of the locking nut has an outer bushing. The outer bushing is rotatably engaged with the outer side of the inner bushing, so that the locking nut remains coaxially rotated relative to the cylindrical shell.

[0013] Preferably, the robotic arm has two vertically rotating joints and one horizontally rotating joint.

[0014] A method for installing a smart geophone using the aforementioned automatic stepping installation device for TBM tunneling includes the following steps: A. During the forward tunneling process of the TBM, the TBM's anchor bolting machine vertically drives anchor bolts at equal intervals at the top of the tunnel, with the bottom end of the anchor bolts exposed. The IPC obtains the tunneling distance information and controls the front robotic arm to retrieve the detector from the charging compartment next to it for assembly at the set distance node. B. The front robotic arm drives the clamping component to clamp the detector and controls the detector to be in a vertical position so that the cylindrical shell is fitted onto the bottom end of the anchor rod. The locking nut is driven by the self-tapping wrench to engage with the thread at the bottom end of the anchor rod, thus completing the installation of the detector. C. The robotic arm at the rear of the IPC controls the removal of the detector mounted on the end of the rear anchor rod and places it in the charging compartment next to it, using a set distance as the node. D. The rear robotic arm controls the clamping device to hold the detector at the end of the anchor rod. The detector is removed by turning the locking nut with a self-tapping wrench to separate it from the anchor rod. E. The rear charging compartment is filled with the removed detectors and charged. The detectors loaded in the front charging compartment are completely removed. The positions of the fully loaded rear charging compartment and the empty front charging compartment are manually swapped so that the detectors can be used in a rolling cycle.

[0015] Compared with the prior art, the advantages of the present invention are as follows: 1. This invention uses a front-mounted robotic arm to retrieve the detector from the charging compartment and install it at the bottom of the anchor bolt near the tunneling site. A rear-mounted robotic arm then disassembles the detector at the rear end of the anchor bolt and places it in the charging compartment for charging. This forms a closed-loop system for the continuous recycling of the detector. This system operates stably and collaboratively with the TBM's tunneling work, saving manual labor through automation and ensuring efficient detector installation and removal as well as accurate equidistant placement. Furthermore, the continuous recycling of the detector ensures that it can be dynamically and promptly positioned behind the TBM, guaranteeing optimal detection location.

[0016] 2. This invention uses a cylindrical outer shell fitted with an anchor rod, and a locking nut that is threaded onto the anchor rod to ensure a stable connection between the detector and the anchor rod. This convenient connection eliminates the need for a separate installation hole for the detector. Furthermore, the clamping component at the end of the robotic arm grips the detector for easy placement and removal, and a self-tapping wrench drives the locking nut to rotate, making the removal, placement, and disassembly of the detector convenient and rapid. This ensures an orderly and stable rolling cycle for the detector's assembly and disassembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram showing the state of the anchor bolt driven into the rock mass according to the present invention.

[0019] Figure 3 This is a schematic diagram of the clamping component and the self-tapping wrench connecting the robotic arm of the present invention.

[0020] Figure 4 This is a schematic diagram of the clamping component structure of the present invention.

[0021] Figure 5 This is a schematic diagram of the detector structure of the present invention.

[0022] Figure 6 This is a schematic diagram of the locking nut connecting the cylindrical housing structure of the present invention.

[0023] Figure 7 This is a schematic diagram of the charging compartment structure of the present invention.

[0024] Reference numerals: 1. Robotic arm; 2. Charging compartment; 21. Compartment slot; 22. Charging contacts; 23. Positioning slot; 24. Positioning rod; 3. Anchor bolt; 31. Locating nut; 4. Circular electrode; 5. IPC; 6. Detector; 61. Locking nut; 62. Three-component sensor; 63. Processing chip; 64. Wi-Fi communication module; 65. Battery; 66. Electrode plate; 67. NFC tag; 68. Outer bushing; 69. Inner bushing; 610. Pressure sensor; 7. Clamping component; 71. Ring shell; 72. Arc-shaped piece; 73. Magnetic guide post; 74. Electromagnet; 75. NFC reader; 8. Telescopic spring rod; 9. Self-tapping wrench. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] An intelligent geophone stepping automatic installation device for TBM tunneling, such as Figure 1As shown, it includes two robotic arms 1, which are respectively installed at the front and rear of the TBM trailer. The front robotic arm 1 is located behind the anchor bolt machine of the TBM. The robotic arm 1 has two vertical rotating joints and one horizontal rotating joint, which allows the robotic arm 1 to move in all directions. This is existing technology and will not be described in detail here. The operation of the robotic arm 1 is controlled by the TBM's IPC5 programming.

[0027] like Figure 3 As shown, a self-tapping wrench 9 is installed on the end face of the last section of the robotic arm 1. The self-tapping wrench 9 has a sleeve that is adapted to the locking nut 61. The sleeve is driven to rotate by a motor, and the working timing of this motor is controlled by the IPC5 of the TBM.

[0028] like Figure 3 As shown, a clamping member 7 is provided at the end of the robotic arm 1. The clamping member 7 is connected to the end face of the robotic arm by multiple sets of telescopic spring rods 8. The telescopic spring rod 8 has two slidingly inserted rods and a spring is connected between the two rods. The clamping member 7 can move straight towards or away from the self-tapping wrench 9 by the guidance of the telescopic spring rod 8. The telescopic spring rod 8 is normally kept in an extended state.

[0029] like Figure 1 , Figure 7 As shown, a charging compartment 2 is placed next to each of the two robotic arms 1. The bottom surface of the charging compartment 2 has multiple positioning slots 23. Multiple positioning rods 24 are fixedly installed on the platform of the TBM trailer in the area where the charging compartment 2 is placed. The positioning rods 24 are inserted into the positioning slots 23 to keep the charging compartment 2 in a fixed position. The charging compartment 2 can be quickly and accurately positioned after replacement. The upper surface of the charging compartment 2 has several evenly arranged slots 21 for inserting the detector 6.

[0030] like Figure 5 , Figure 6 As shown, the detector 6 includes a cylindrical housing with a locking nut 61 at the bottom end and an inner bushing 69 at the end face of the cylindrical housing. The locking nut 61 has an outer bushing 68 at the end face of the end face. The outer bushing 68 is rotatably engaged with the outer side of the inner bushing 69, so that the locking nut 61 remains coaxially rotated relative to the cylindrical housing.

[0031] The method for automatic step-mounting of intelligent detectors is as follows: A. During the TBM's forward tunneling process, such as Figure 2 As shown, the TBM's anchor bolt machine vertically drives anchor bolts 3 at equal intervals at the top of the tunnel, with the bottom end of the anchor bolts 3 exposed. The IPC5 obtains the tunneling distance information and controls the front robotic arm 1 to retrieve the detector 6 from the charging compartment 2 next to it for assembly, using the set distance as a node. B. The front robotic arm 1 drives the clamping component 7 to clamp the detector 6 and controls the detector 6 to be in a vertical position so that the cylindrical shell is fitted onto the bottom end of the anchor rod 3. The self-tapping wrench 9 drives the locking nut 61 to engage with the thread at the bottom end of the anchor rod 3, thus completing the installation of the detector 6. C. IPC5 controls the rear robotic arm 1 to remove the detector 6 mounted on the end of the rear anchor rod 3 and place it in the charging compartment 2 next to it, using a set distance as the node. D. The rear robotic arm 1 controls the clamping component 7 to clamp the detector 6 at the end of the anchor rod 3. The detector 6 is separated from the anchor rod 3 by rotating the locking nut 61 through the self-tapping wrench 9. E. The rear charging compartment 2 is filled with the removed detectors 6 and charged. The detectors 6 loaded in the front charging compartment 2 are completely removed. The positions of the fully loaded rear charging compartment 2 and the empty front charging compartment 2 are manually swapped so that the detectors 6 can be used in a rolling cycle.

[0032] F. Circular electrodes 4 are arranged in a ring at equal intervals around the shield. The circular electrodes 4 emit strong current pulses to the working face to construct a transient electromagnetic detection environment. Based on the pre-constructed transient electromagnetic detection environment, the electric field multi-components in various directions are collected. The electric field multi-component response curve is plotted with time as the abscissa and response amplitude as the ordinate. Then, the specific range of the anomaly in front of the working face can be analyzed and determined. The circular electrodes 4 are mainly used to monitor the water distribution in front of the working face, and the detector 6 is mainly used to monitor the fault distribution in front of the working face. The combination of the two can accurately obtain the geological distribution information in front of the working face.

[0033] The specific clamping and placement operations for detector 6 are as follows: like Figure 4 As shown, the clamping member 7 includes an annular shell 71, the inner diameter of which is larger than the diameter of the cylindrical shell. Two arc-shaped pieces 72 are symmetrically arranged inside the opening of the annular shell 71. Two magnetic guide posts 73 are symmetrically slidably inserted into the inner surface of the annular shell 71. The cross-section of the magnetic guide posts 73 is non-circular. The magnetic guide posts 73 are made of iron or other materials that can be attracted. The magnetic guide posts 73 are fixedly connected to the arc-shaped pieces 72. A tension spring is connected between the magnetic guide posts 73 and the annular shell 71. The tension spring causes the magnetic guide posts 73 to push the two arc-shaped pieces 72 towards each other. An electromagnet 74 is arranged inside the wall of the annular shell 71. The position of the electromagnet 74 is aligned with the magnetic guide posts 73. The working timing of the electromagnet 74 is controlled by the IPC5 of the TBM.

[0034] When clamping the detector 6, the electromagnet 74 is energized to attract the magnetic guide post 73, so that the two arc-shaped pieces 72 expand against the elastic force. The robotic arm 1 manipulates the inner buckle of the ring shell 71 to fit on the outside of the detector 6. Then the electromagnet 74 is de-energized, and the elastic force makes the two arc-shaped pieces 72 close together to clamp the detector 6. When the detector 6 is installed at the end of the anchor rod 3, the robotic arm 1 controls the cylindrical housing to fit over the outside of the anchor rod 3. After the locking nut 61 abuts against the end of the anchor rod 3, the robotic arm 1 continues to push towards the anchor rod 3. At this time, the telescopic spring rod 8 is compressed, causing the self-tapping wrench 9 to engage with the locking nut 61 and drive the locking nut 61 to rotate and screw into the thread of the anchor rod 3. Then, the electromagnet 74 is energized to attract the magnetic guide post 73, causing the arc-shaped plate 72 to expand and release the detector 6. Finally, the clamping part 7 is moved down by the robotic arm 1 to separate from the detector 6.

[0035] like Figure 5 As shown, the detector 6 also includes a three-component sensor 62, a processing chip 63, a Wi-Fi communication module 64, and a battery 65, all housed within a cylindrical housing. The Wi-Fi communication module 64, the three-component sensor 62, and the battery 65 are electrically connected to the processing chip 63. The battery 65 supplies power to all components. The TBM covers the Wi-Fi network signal. The signal received by the three-component sensor 62 is converted by the processing chip 63 and then fed back to the IPC5 via the Wi-Fi communication module 64.

[0036] like Figure 5 As shown, a positioning nut 31 is pre-threaded onto the surface of the anchor rod 3. A pressure sensor 610 is provided on the end face of the cylindrical housing away from the locking nut 61. The pressure sensor 610 is electrically connected to the processing chip 63. When the detector 6 is installed at the end of the anchor rod 3, the detector 6 is pushed upward by screwing the locking nut 61. The pressure sensor 610 on the upper surface of the detector 6 presses against the end face of the positioning nut 31. The pressure sensor 610 feeds back a pressure signal to the processing chip 63 to control all detectors 6 to maintain the same set installation tightness.

[0037] The specific charging operation for detector 6 is as follows: like Figure 7 As shown, charging contacts 22 are installed on the bottom surface of each compartment 21 of the charging compartment 2. The charging contacts 22 are connected to an external circuit. An electrode plate 66 is provided on the end face of the cylindrical housing away from the locking nut 61. The electrode plate 66 is connected to the battery 65 through the processing chip 63. When the cylindrical housing is inserted into the compartment 21, the electrode plate 66 contacts the charging contacts 22 to charge the detector 6 in time, ensuring that the detector 6 can be used repeatedly.

[0038] Information is transmitted via Wi-Fi signal, and the detector 6 is wirelessly powered by the charging case 2, replacing the traditional method of setting up dedicated lines for communication and power supply, effectively avoiding the problem of messy wiring.

[0039] Each detector 6 has a unique serial number, such as Figure 4 , Figure 5As shown, an NFC tag 67 is installed inside the cylindrical housing of each detector 6. The NFC tag 67 records the corresponding number information of the detector 6. An NFC reader 75 for identifying the NFC tag 67 is installed inside the wall of the annular shell 71. When the front robotic arm 1 picks up the detector 6, it identifies the NFC tag 67 information of the detector 6 through the NFC reader 75 and feeds it back to the IPC5. The IPC5 will assign a temporary "pseudo-number" according to the relative position relationship between the detector 6 and the robotic arm 1. The "pseudo-number" may include parameters such as the number of cycle detections, detection time, and tunneling distance, so as to facilitate further processing of the seismic wave signal.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. An intelligent geophone stepping automatic installation device for TBM tunneling, comprising two robotic arms (1) positioned at the front and rear of the TBM trailer, characterized in that, A charging compartment (2) is positioned next to each of the two robotic arms (1). The charging compartment (2) is used to arrange and insert several detectors (6). The detector (6) includes a cylindrical shell. A locking nut (61) is rotatably provided at the end of the cylindrical shell. After the cylindrical shell is sleeved on the outside of the anchor rod (3), the locking nut (61) is threaded into the anchor rod (3). A self-tapping wrench (9) is installed on the end face of the robotic arm (1). The end of the robotic arm (1) is connected to a clamping member (7) through multiple sets of telescopic spring rods (8). The clamping member (7) is used to clamp the detector (6) so that the self-tapping wrench (9) can rotate the locking nut (61). The robotic arm (1), the charging compartment (2), the detector (6), and the self-tapping wrench (9) are connected to the IPC (5) of the TBM.

2. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 1, characterized in that, The detector (6) also includes a three-component sensor (62), a processing chip (63), a Wi-Fi communication module (64), and a battery (65) disposed in a cylindrical housing. The Wi-Fi communication module (64), the three-component sensor (62), and the battery (65) are electrically connected to the processing chip (63).

3. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 2, characterized in that, A pressure sensor (610) is provided on the end face of the cylindrical housing away from the locking nut (61). The pressure sensor (610) is electrically connected to the processing chip (63). A positioning nut (31) is threaded onto the surface of the anchor rod (3). When the cylindrical housing is fitted onto the outside of the anchor rod (3), the pressure sensor (610) presses against the end face of the positioning nut (31).

4. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 2, characterized in that, An electrode plate (66) is provided on the end face of the cylindrical housing away from the locking nut (61). The electrode plate (66) is connected to the battery (65) through the processing chip (63). The upper surface of the charging compartment (2) has several uniformly arranged compartment slots (21). The bottom surface of the compartment slots (21) is provided with charging contacts (22). The charging contacts (22) are connected to an external circuit. When the cylindrical housing is inserted into the compartment slots (21), the electrode plate (66) contacts the charging contacts (22).

5. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 1, characterized in that, The bottom surface of the charging compartment (2) has multiple positioning slots (23), and multiple positioning rods (24) are fixedly installed in the area where the charging compartment (2) is placed on the platform of the TBM trailer. The positioning rods (24) are inserted into the positioning slots (23).

6. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 1, characterized in that, The clamping member (7) includes an annular shell (71), with two arc-shaped pieces (72) symmetrically arranged inside the opening of the annular shell (71). Magnetic guide posts (73) are symmetrically slidably inserted into the inner surface of the annular shell (71). The magnetic guide posts (73) are fixedly connected to the arc-shaped pieces (72). The magnetic guide posts (73) are connected to a tension spring. The tension spring causes the magnetic guide posts (73) to push the two arc-shaped pieces (72) to move closer together. An electromagnet (74) is arranged inside the wall of the annular shell (71). The position of the electromagnet (74) is aligned with the magnetic guide posts (73).

7. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 6, characterized in that, An NFC tag (67) is disposed inside the cylindrical shell, and an NFC reader (75) for identifying the NFC tag (67) is disposed inside the wall of the ring shell (71).

8. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 1, characterized in that, The end face of the cylindrical shell has an inner bushing (69), and the end face of the locking nut (61) has an outer bushing (68). The outer bushing (68) is rotated and engaged with the outer side of the inner bushing (69), so that the locking nut (61) remains coaxial with the cylindrical shell.

9. The intelligent geophone stepping automatic installation device for TBM tunneling as described in claim 1, characterized in that, The robotic arm (1) has two vertical rotational joints and one horizontal rotational joint.

10. A method for installing an intelligent geophone using the automatic stepping installation device for intelligent geophones in TBM excavation as described in claim 1, characterized in that, Includes the following steps: A. During the forward tunneling process of the TBM, the TBM's anchor bolt machine vertically drives anchor bolts (3) at equal intervals at the top of the tunnel. The bottom end of the anchor bolt (3) is exposed. The IPC (5) obtains the tunneling distance information and controls the front robotic arm (1) to take the detector (6) from the charging compartment (2) next to it for assembly with the set distance as the node. B. The front robotic arm (1) drives the clamping component (7) to clamp the detector (6) and controls the detector (6) to be in a vertical position so that the cylindrical shell is fitted onto the bottom end of the anchor rod (3). The locking nut (61) is driven by the self-tapping wrench (9) to engage with the thread at the bottom end of the anchor rod (3) to complete the installation of the detector (6). C. IPC (5) controls the rear robotic arm (1) to remove the detector (6) assembled at the end of the rear anchor rod (3) and place it in the charging compartment (2) next to it, using the set distance as the node. D. The rear robotic arm (1) controls the clamping device (7) to clamp the detector (6) at the end of the anchor rod (3), and the locking nut (61) is rotated by the self-tapping wrench (9) to separate it from the anchor rod (3), thus completing the removal of the detector (6); E. The rear charging compartment (2) is filled with the removed detectors (6) and charged. The detectors (6) loaded in the front charging compartment (2) are completely removed. The rear fully loaded charging compartment (2) and the front empty charging compartment (2) are manually swapped so that the detectors (6) can be used in a rolling cycle.

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