A fully automatic fine geological detection method and equipment for array acoustic waves carried by a shield tunneling machine

Abstract

An array acoustic full-automatic geological fine detection method and equipment carried by a shield tunneling machine, comprising: using a plurality of acoustic wave probes installed on the cutter head of the shield tunneling machine to perform array acoustic wave detection on the geology in front of the cutter head, and obtaining a three-dimensional image of the bad geology in front of the cutter head; wherein, the installation positions of the acoustic wave probes on the cutter head are determined through an acoustic wave probe optimization model, the acoustic wave probe optimization model aims at the minimum peak sidelobe ratio, and includes a directivity function constructed according to the installation positions of the acoustic wave probes and a peak sidelobe ratio function constructed according to the directivity function. It can accurately obtain the velocity distribution of the front medium and realize the three-dimensional fine imaging of the bad geology during the tunneling process of the shield tunneling machine.

Description

Technical Field

[0001] The present invention relates to the technical field of geological advanced prediction, and particularly to an array acoustic wave full-automatic geological fine detection method and equipment carried by a shield tunneling machine. Background Technique

[0002] The statements in this part only provide background technical information related to the present invention, and do not necessarily constitute prior art.

[0003] The shield tunneling machine has become the dominant construction method for subway construction with the characteristics of safety and high efficiency. However, in the actual shield environment, it often faces disasters such as boulders, karsts, and fractured zones, which cause disasters such as ground instability and collapse, building collapse, and shield machine jamming. Therefore, it is very necessary to accurately detect the disaster source during the construction of the shield tunneling machine. At present, the geological phased array acoustic wave detection is mainly carried out by the acoustic wave probes carried on the shield tunneling machine to obtain the three-dimensional image of the geology. However, for the existing phased array methods, such as ZL201911338546.7, a phased array acoustic wave advanced geological detection system and method carried by a shield tunneling machine, the two-dimensional imaging result is obtained through the one-dimensional linear array arrangement observation, and the poor geological information in the front is supplemented by rotation. The two-dimensional interpretation of the three-dimensional result will cause errors in the imaging result. On the other hand, the wave velocity used in the imaging method is the uniform wave velocity, and for the actual non-uniform medium situation, it will also cause deviations in the imaging result. Therefore, it is difficult to accurately and comprehensively obtain the poor geological information in the front.

[0004] At the same time, the existing methods do not optimize the installation position of the acoustic wave probes, resulting in poor effects of the obtained geological three-dimensional image. Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes an array acoustic wave full-automatic geological fine detection method and equipment carried by a shield tunneling machine. By selecting the installation positions of the acoustic wave probes and installing the acoustic wave probes according to the selected installation positions, and then performing array acoustic wave detection, the velocity distribution of the front medium can be accurately obtained, and the three-dimensional fine imaging of the poor geology during the tunneling process of the shield tunneling machine can be realized.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In the first aspect, an array acoustic wave full-automatic geological fine detection method carried by a shield tunneling machine is proposed, including:

[0008] Using a plurality of acoustic wave probes installed on the cutter head of the shield tunneling machine to perform array acoustic wave detection on the geology in front of the cutter head, and obtaining a three-dimensional image of the poor geology in front of the cutter head;

[0009] Among them, the installation position of the acoustic wave probe on the cutter head is determined by the acoustic wave probe optimization model. The acoustic wave probe optimization model aims to minimize the peak sidelobe ratio and includes a directivity function constructed based on the installation position of the acoustic wave probe and a peak sidelobe ratio function constructed based on the directivity function.

[0010] In a second aspect, an array acoustic wave full-automatic geological fine detection device carried by a shield is proposed, including:

[0011] An array acoustic wave detection main machine, which is used for encoding and transmitting acoustic wave signals, receiving acoustic wave signals, and constructing a three-dimensional image of the bad geology in front of the cutter head according to the acoustic wave signals;

[0012] A plurality of acoustic wave probes installed on the cutter head of the shield machine, which are used to emit the acoustic wave signals transmitted by the array acoustic wave detection main machine, perform array acoustic wave detection on the geology in front of the cutter head, and obtain acoustic wave signals;

[0013] Among them, the installation position of the acoustic wave probe on the cutter head is determined by the acoustic wave probe optimization model. The acoustic wave probe optimization model aims to minimize the peak sidelobe ratio and includes a directivity function constructed based on the installation position of the acoustic wave probe and a peak sidelobe ratio function constructed based on the directivity function.

[0014] In a third aspect, an electronic device is proposed, including a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the steps of an array acoustic wave full-automatic geological fine detection method carried by a shield are completed.

[0015] In a fourth aspect, a computer-readable storage medium is proposed, which is used to store computer instructions. When the computer instructions are executed by the processor, the steps of an array acoustic wave full-automatic geological fine detection method are completed.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. The present invention makes full use of the available space on the cutter head. Through two-dimensional layout, three-dimensional observation in front of the shield machine can be realized. Taking the peak sidelobe ratio as the optimization index for the probe layout position, the installation position of the acoustic wave probe when the peak sidelobe ratio is the smallest is selected. After the acoustic wave probe is installed according to this installation position, the energy focusing of the acoustic wave energy in front of the tunneling face can be realized, and the detection distance and resolution of the array acoustic wave detection method can be improved.

[0018] 2. The present invention is based on the reflection matrix imaging method of Radon transform, and can obtain the velocity distribution of the medium in front of the cutter head. Based on this, three-dimensional geological imaging is carried out to improve the imaging accuracy of bad geology.

[0019] 3. The detection of the present invention takes a short time and can meet the requirements of efficient detection in front during the shield construction process.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments and descriptions thereof of this application are used to explain this application and do not constitute an improper limitation to this application.

[0022] Figure 1 The detection flow chart of the method disclosed in Embodiment 1;

[0023] Figure 2 The layout diagram of acoustic wave probes for the method disclosed in Embodiment 1;

[0024] Figure 3 The schematic diagram of the equipment disclosed in Embodiment 2;

[0025] Figure 4 The structural schematic diagram of the equipment disclosed in Embodiment 2.

[0026] Wherein: 1, poor geological body; 2, excited acoustic wave signal; 3, reflected acoustic wave signal; 4, cutter head of shield machine; 5, acoustic wave probe; 6, shield machine; 7, central swivel joint; 8, power amplifier; 9, array acoustic wave detection host; 10, main beam of cutter head of shield machine; 11, hob; 12, main control room. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The present invention will be further described below in conjunction with the drawings and embodiments.

[0028] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0029] Embodiment 1

[0030] In this embodiment, an array acoustic wave full-automatic geological fine detection method carried by a shield is disclosed. As Figure 1 , Figure 2 shown, it includes:

[0031] Using a plurality of acoustic wave probes installed on the cutter head of the shield machine to perform array acoustic wave detection on the geology in front of the cutter head, and obtaining a three-dimensional image of the poor geology in front of the cutter head;

[0032] Among them, the installation position of the acoustic wave probe on the cutter head is determined by the acoustic wave probe optimization model. The acoustic wave probe optimization model aims to minimize the peak sidelobe ratio and includes a directivity function constructed based on the installation position of the acoustic wave probe and a peak sidelobe ratio function constructed based on the directivity function.

[0033] In this embodiment, an opening is made on the main beam 10 of the cutter head of the shield machine to install the acoustic wave probe 5. The number of acoustic wave probes 5 to be installed is determined based on the actual size and structure of the cutter head 4 of the shield machine, and is at least 6. The peak sidelobe ratio parameter is used as the optimization index for the installation position of the acoustic wave probe, and the installation position of the acoustic wave probe is determined by non-linear optimization methods such as genetic algorithms and particle swarm algorithms.

[0034] Specifically, an acoustic wave probe optimization model is constructed, and the acoustic wave probe optimization model is solved by a non-linear optimization method to obtain the installation position of the acoustic wave probe on the cutter head; the acoustic wave probe is installed on the cutter head of the shield machine according to this installation position.

[0035] The acoustic wave probe optimization model aims to minimize the peak sidelobe ratio and includes a directivity function constructed based on the installation position of the acoustic wave probe and a peak sidelobe ratio function constructed based on the directivity function.

[0036] Among them, the directivity function F(θ) is:

[0037]

[0038] In the formula, θ is the detection pitch angle, and the value range of θ is: -90° to 90°, preferably 0°; N is the number of acoustic wave probes; f i (θ) is the directivity function of each acoustic wave probe, j is the imaginary unit, k is the wave number, x i is the abscissa of each acoustic wave probe, that is, the installation position of each acoustic wave probe, and the coordinate origin of this coordinate is the center of the cutter head.

[0039] The peak sidelobe ratio function is:

[0040]

[0041] In the formula, PLSR represents the peak sidelobe ratio parameter, and the smaller the value, the more reasonable the installation position of the acoustic wave probe. S represents the sidelobe interval of the directivity function.

[0042] Taking the minimum of PLSR as the goal, the directivity function and the peak sidelobe ratio function are solved by a non-linear optimization method to obtain the installation position of the acoustic wave probe.

[0043] The non-linear optimization method can be a genetic algorithm or a particle swarm algorithm, etc.

[0044] After installing the acoustic wave probe on the cutter head of the shield machine according to this installation position, array acoustic wave detection is carried out on the geology in front of the cutter head to obtain a three-dimensional image of the poor geology in front of the cutter head.

[0045] The process of using multiple acoustic wave probes installed on the cutter head of the shield machine to perform array acoustic wave detection on the geology in front of the cutter head and obtain a three-dimensional image of the poor geology in front of the cutter head is as follows:

[0046] Control the cutter head to rotate by a set angle in sequence;

[0047] When the cutter head is not rotating and after each rotation of the cutter head, multiple acoustic wave probes installed on the cutter head are used to individually excite acoustic wave signals; while one of the probes excites the acoustic wave signal, the remaining probes are used to receive the acoustic wave signals.

[0048] Analyze all the obtained acoustic wave signals through the reflection matrix method to determine the velocity distribution of the medium in front of the cutter head;

[0049] Obtain a three-dimensional image of the poor geology in front of the cutter head according to the velocity distribution of the medium in front of the cutter head.

[0050] Taking the set angle set to 60° and the cutter head rotating 5 times as an example, the array acoustic wave detection process is described. Control the cutter head to rotate 60° in sequence, that is, rotate the cutter head 60° for the first time. On the basis of the first rotation, rotate the cutter head 60° for the second time. After the second rotation, the cutter head has rotated a total of 120°. On the basis of the second rotation, perform the third rotation, and so on, to complete 5 rotations.

[0051] When the cutter head is not rotating, that is, when the cutter head is in the initial position, multiple acoustic wave probes installed on the cutter head are used to individually excite acoustic wave signals for detection. After that, after each rotation of the cutter head by a set angle, multiple acoustic wave probes installed on the cutter head are also used to individually excite acoustic wave signals for detection.

[0052] In this embodiment, under the control of the array acoustic wave detection host 9, each acoustic wave probe individually excites acoustic wave signals. Sinusoidal waves and three-peak waves of different frequencies can be selected. The intensity of the excited signals is amplified by the power amplifier 8. While exciting, the other remaining acoustic wave probes receive the reflected acoustic wave signals from the poor geology in front and store the received acoustic wave signals in the array acoustic wave detection host.

[0053] After the cutter head rotates 5 times, a total of 6 groups of acoustic wave signals are collected. The 6 groups of collected acoustic wave signals are represented by D. The data dimension of D is nrot×nsour×nrec×nt, where nrot = 6, representing a total of 6 groups of data for rotations of 0°, 60°, 120° to 300° respectively. nsour represents the number of acoustic wave probes that excite the acoustic wave signals in each group of data. nrec represents the number of acoustic wave probes that receive the acoustic wave signals in each group of data. nt represents the number of data sampling points.

[0054] Perform denoising processing on all acquired acoustic signals D. For the well-denoised acoustic signals, use the reflection matrix method to analyze the denoised acoustic signals and determine the velocity distribution of the medium in front of the cutter head.

[0055] Among them, methods such as predictive filtering or wavelet transform can be used to denoise all the acquired acoustic signals.

[0056] The process of determining the velocity distribution of the medium in front of the shield machine cutter head through the reflection matrix method is as follows:

[0057] Perform Fourier transform on the acoustic signal D to obtain frequency-domain data D f , thereby converting the acoustic signal from the time domain to the frequency domain;

[0058] Perform three-dimensional grid division on the area in front of the shield machine. The xy plane of the three-dimensional grid is parallel to the cutter head plane of the shield machine, and the z direction of the three-dimensional grid is the tunneling direction of the shield machine;

[0059] For each depth z in front of the shield machine, calculate the reflection matrices at different scanning speeds according to the frequency-domain data. Taking the center of the reflection matrix as the coordinate origin, perform Radon transform on different reflection matrices to form a velocity scanning spectrum; select the velocity at this depth z from the velocity scanning spectrum;

[0060] The velocities at all depths Z form the velocity distribution of the medium in front of the cutter head.

[0061] Among them, the calculation method of the reflection matrix is:

[0062]

[0063]

[0064] In the formula, R(J, J, z) represents the reflection matrix at each depth z, J represents the imaging point coordinates J(x, y) on the xy plane at depth z, and G S / R (J, z, f) can be G s (J, z, f) or G R (J, z, f), G s (J, z, f) and G R (J, z, f) respectively represent the Green's functions at the excitation acoustic probe end and the receiving acoustic probe end, * represents the matrix conjugate operator, T represents the transpose conjugate operator, C sour and C rec are respectively the coordinates C sour (x, y) and C rec (x, y), v scanv is the scanning speed value, and f is the frequency of the acoustic wave signal.

[0065] At each depth z, the origin of coordinates is taken as the center of the reflection matrix at that depth. For different scanning speeds v scan perform the Radon transform on the reflection matrix, take the Radon domain data when k = 1, and combine them into a velocity scanning spectrum according to different scanning speeds. The abscissa of the velocity scanning spectrum is the scanning speed spectrum, and the ordinate is the intercept in the Radon domain.

[0066] Select the velocity corresponding to the position with the highest vertical resolution from the scanning speed spectrum as the velocity at depth z.

[0067] When there are multiple positions with the highest vertical resolution on the scanning speed spectrum, select the velocity corresponding to the position with the strongest amplitude energy from all the positions with the highest vertical resolution as the velocity at depth z.

[0068] The velocities at all depths Z form the velocity distribution of the medium in front of the cutter head.

[0069] After obtaining the velocity distribution of the medium in front of the cutter head, calculate the reflection matrix at each depth according to the velocity of the medium in front of the shield cutter head; obtain the imaging result at each depth according to the reflection matrix as the three-dimensional image at that depth; the three-dimensional images at all depths constitute the three-dimensional image of the bad geology in front of the cutter head.

[0070] Specifically, according to the velocity distribution of the medium in front of the cutter head, calculate the Green's function G' s (J, z, f) of the acoustic wave excitation probe and the Green's function G' R (J, z, f) of the acoustic wave receiving probe:

[0071]

[0072]

[0073] where S sour is the distance between the imaging point and the excitation point, S rec is the distance from the imaging point to the receiving point, L is the depth of the imaging point in the z direction, l m and v m are the thickness and velocity of each layer along the acoustic wave propagation path respectively, and nlayer is the total number of velocity layers passed by the acoustic wave propagation path.

[0074] According to the calculated Green's function G' s (J, z, f) of the acoustic wave excitation probe and the Green's function G' R (J, z, f) of the acoustic wave receiving probe, calculate the reflection matrix R'(J, J, z) at each depth.

[0075] The imaging result at each depth is obtained through the main diagonal value of the reflection matrix at each depth. That is, the main diagonal value of the reflection matrix is taken to obtain the imaging result Imag(x, y, z) = Imag(J, z) = diag(|R'(J, J, z)|) at each depth z, where diag represents the operation of taking the diagonal value.

[0076] The method disclosed in this embodiment makes full use of the available space on the cutter head. Through two-dimensional layout, three-dimensional observation in front of the shield machine can be realized. Taking the peak sidelobe ratio as the optimization index for the probe layout position, the installation position of the acoustic probe when the peak sidelobe ratio is the smallest is selected. After the acoustic probe is installed according to this installation position, the focusing of acoustic energy in front of the tunneling face can be realized, and the detection distance and resolution of the array acoustic detection method can be improved.

[0077] This embodiment also uses the reflection matrix imaging method based on the Radon transform to obtain the velocity distribution of the medium in front of the cutter head, and performs three-dimensional geological imaging based on this to improve the imaging accuracy of bad geology.

[0078] Embodiment 2

[0079] In this embodiment, an array acoustic full-automatic geological fine detection equipment carried by a shield is disclosed. As Figure 3 、 Figure 4 shown, it includes:

[0080] An array acoustic detection host 9, which is used for encoding and transmitting acoustic signals, receiving acoustic signals, and constructing a three-dimensional image of bad geology in front of the cutter head according to the acoustic signals;

[0081] A plurality of acoustic probes 5 installed on the cutter head 4 of the shield machine, which are used to emit the acoustic signals transmitted by the array acoustic detection host, perform array acoustic detection on the geology in front of the cutter head, and obtain acoustic signals;

[0082] Among them, the installation position of the acoustic probe on the cutter head is determined through an acoustic probe optimization model. The acoustic probe optimization model aims at the minimum peak sidelobe ratio and includes a directivity function constructed according to the installation position of the acoustic probe and a peak sidelobe ratio function constructed according to the directivity function.

[0083] Specifically, the cutter head 4 of the shield machine includes a hob 11 and a main beam 10 of the shield machine cutter head. There are 6 acoustic probes in total, which are installed on the main beam 10 of the shield machine cutter head according to the determined installation positions. Each acoustic probe can realize the excitation and reception of acoustic signals.

[0084] A central rotary joint 7 is arranged inside the shield machine 6. Through the central rotary joint 7, cables such as circuits and oil circuits connecting the acoustic probe and the array acoustic host are accommodated, ensuring the automatic control of the array acoustic detection host 9 over the acoustic probe and realizing the signal transmission between the acoustic probe 7 and the array acoustic detection host 9.

[0085] A power amplifier 8 is also provided between the acoustic wave probe 7 and the array acoustic wave detection host 9, and the array acoustic wave detection host 9 and the power amplifier 8 are installed in the main control room 12 of the shield machine.

[0086] The power amplifier 8 enhances the energy of the acoustic wave signal encoded and transmitted by the array acoustic wave detection host 9 and then sends it to the acoustic wave probe, and the acoustic wave probe emits the enhanced acoustic wave signal to improve the penetration distance of the acoustic wave.

[0087] The acoustic wave probe can emit high-frequency acoustic wave signals (main frequency 4 kHz), and at the same time can receive broadband acoustic wave signals in the range of 0 - 200 kHz. The acoustic wave probe realizes the automatic expansion and contraction of the probe through a hydraulic expansion and contraction device.

[0088] The array acoustic wave detection host 9 can encode and form an emitted acoustic wave signal and transmit it to the acoustic wave probe, and store the reflected signal received by the acoustic wave probe, and process the reflected signal to realize three-dimensional fine imaging of the poor geology ahead.

[0089] The detection process of the detection equipment disclosed in this embodiment is as follows:

[0090] (1) The signal emission module in the array acoustic wave detection host encodes and emits a signal, transmits it to the power amplifier for signal energy amplification, and then transmits it to the acoustic wave probe on the cutter head through the central swivel joint to realize the excitation of the acoustic wave signal.

[0091] (2) The emitted acoustic wave signal 2 propagates to the poor geological body 1 to generate a reflected acoustic wave signal 3, which is received by other acoustic wave probes and transmitted to the receiving module of the array acoustic wave detection host for data storage.

[0092] (3) Continue to collect the acoustic wave data excited by the remaining acoustic wave probes according to steps (1) and (2).

[0093] (4) The array acoustic wave detection host controls the cutter head to rotate by an angle and continues the data acquisition operation in steps (1) - (3).

[0094] (5) The geological imaging module of the array acoustic wave detection host uses the imaging module to perform geological imaging on the collected acoustic wave signals.

[0095] The detection equipment disclosed in this embodiment makes full use of the available space on the cutter head. Through two-dimensional layout, three-dimensional observation in front of the shield machine can be realized; taking the peak sidelobe ratio as the optimization index for the probe layout position, energy focusing of the acoustic wave in front of the tunneling face can be realized, improving the detection distance and resolution of the array acoustic wave detection method; based on the reflection matrix imaging method of Radon transform, the acoustic wave velocity distribution of the geology ahead can be obtained, and three-dimensional geological imaging is carried out based on this to improve the imaging accuracy of poor geology; the detection time is short, which can meet the requirements of efficient detection in front during the shield construction process.

[0096] Example 3

[0097] In this embodiment, an electronic device is disclosed, which includes a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the steps of an array acoustic full-automatic geological fine detection method carried by a shield tunneling machine disclosed in Example 1 are completed.

[0098] Example 4

[0099] In this embodiment, a computer-readable storage medium is disclosed, which is used to store computer instructions. When the computer instructions are executed by a processor, the steps of an array acoustic full-automatic geological fine detection method carried by a shield tunneling machine disclosed in Example 1 are completed.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the specific implementation manners of the present invention can still be modified or equivalently replaced, and any modification or equivalent replacement without departing from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An array acoustic full-automatic geological fine detection method carried by a shield tunneling machine, characterized in that, it includes: Using multiple acoustic wave probes installed on the cutter head of the shield tunneling machine to perform array acoustic wave detection on the geology in front of the cutter head, and obtaining a three-dimensional image of the bad geology in front of the cutter head. The specific process is as follows: Controlling the cutter head to rotate by a set angle in sequence; When the cutter head does not rotate and after each rotation of the cutter head, multiple acoustic wave probes installed on the cutter head are used to individually excite acoustic wave signals; while one of the probes excites the acoustic wave signal, the remaining probes are used to receive the acoustic wave signals; Through the reflection matrix method, analyze all the obtained acoustic wave signals to determine the medium velocity distribution in front of the cutter head. The specific process is as follows: Perform Fourier transform on the acoustic wave signals to obtain frequency domain data; Perform three-dimensional grid division on the area in front of the shield tunneling machine. The xy plane of the three-dimensional grid is parallel to the cutter head plane of the shield tunneling machine, and the z direction of the three-dimensional grid is the tunneling direction of the shield tunneling machine; For each depth in the tunneling direction of the shield tunneling machine, calculate the reflection matrix at different scanning speeds according to the frequency domain data. Taking the center of the reflection matrix as the coordinate origin, perform Radon transform on different reflection matrices to form a velocity scanning spectrum, and select the velocity at this depth from the velocity scanning spectrum; The velocities at all depths in the tunneling direction of the shield tunneling machine form the medium velocity distribution in front of the cutter head; According to the medium velocity distribution in front of the cutter head, obtain a three-dimensional image of the bad geology in front of the cutter head; Among them, the installation position of the acoustic wave probes on the cutter head is determined through an acoustic wave probe optimization model. The acoustic wave probe optimization model aims at the minimum peak sidelobe ratio and includes a directivity function constructed according to the installation position of the acoustic wave probes and a peak sidelobe ratio function constructed according to the directivity function.

2. The array acoustic full-automatic geological fine detection method carried by a shield tunneling machine according to claim 1, characterized in that, Solve the acoustic wave probe optimization model through a non-linear optimization method to obtain the installation position of the acoustic wave probes on the cutter head; the acoustic wave probes are installed on the cutter head of the shield tunneling machine according to this installation position.

3. The array acoustic full-automatic geological fine detection method carried by a shield tunneling machine according to claim 1, characterized in that, Select the velocity value corresponding to the position with the highest vertical resolution on the scanning velocity spectrum as the velocity at the depth in the tunneling direction of the shield tunneling machine.

4. The array acoustic full-automatic geological fine detection method carried by a shield tunneling machine according to claim 1, characterized in that, Calculate the reflection matrix at each depth according to the medium velocity in front of the cutter head of the shield tunneling machine; Obtain the imaging result at each depth according to the reflection matrix as the three-dimensional image at this depth; The three-dimensional images at all depths constitute a three-dimensional image of the bad geology in front of the cutter head.

5. The array acoustic full-automatic geological fine detection method carried by a shield tunneling machine according to claim 4, characterized in that, Obtain the imaging result at each depth through the main diagonal value of the reflection matrix at each depth.

6. Equipment for the array acoustic full-automatic geological fine detection method carried by a shield tunneling machine according to any one of claims 1-5, characterized in that, it includes: An array acoustic detection host, which is used for encoding and transmitting acoustic signals and receiving acoustic signals, and constructing a three-dimensional image of bad geology in front of the cutter head according to the acoustic signals; A plurality of acoustic probes installed on the cutter head of the shield machine, which are used to emit the acoustic signals transmitted by the array acoustic detection host, perform array acoustic detection on the geology in front of the cutter head, and obtain acoustic signals; Among them, the installation position of the acoustic probe on the cutter head is determined by an acoustic probe optimization model. The acoustic probe optimization model aims to minimize the peak sidelobe ratio, and includes a directivity function constructed according to the installation position of the acoustic probe and a peak sidelobe ratio function constructed according to the directivity function.

7. An electronic device, characterized in that, it includes a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the steps of a full-automatic array acoustic fine geological detection method carried by a shield as described in any one of claims 1-5 are completed.

8. A computer-readable storage medium, characterized in that, it is used to store computer instructions. When the computer instructions are executed by the processor, the steps of a full-automatic array acoustic fine geological detection method carried by a shield as described in any one of claims 1-5 are completed.

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