Shield-carried sliding rail type geological forecasting device and method and shield tunneling machine

Abstract

The invention belongs to the technical field of shield method construction tunnel engineering, and provides a shield-carried sliding rail type geological forecasting device and method and a shield tunneling machine. An adjusting mechanism is carried on the shield tunneling machine; the second sliding rail moves on the first sliding rail in the direction opposite to the tunneling direction, so that the tunnel geology advanced forecasting equipment stays still for a certain time relative to the tunnel, and the problems that when the tunnel geology advanced forecasting equipment is independently arranged, extra workload is increased, and a shield tunneling machine needs to be shut down are solved; the tunnel geology advanced forecasting equipment is static for a certain time relative to the tunnel, so that the aim of staying and detecting specific points, problem points or detection points in the tunnel is fulfilled, and the detection and forecasting precision is ensured; and meanwhile, the tunnel geology advanced forecasting equipment can move on the second sliding rail, so that the tunnel geology advanced forecasting equipment is close to a detection position on the inner wall of the tunnel, and the operability and precision of detecting specific points, problem points or detection points in the tunnel are further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel engineering construction by shield method, and in particular relates to a slide rail type geological prediction device and method carried by a shield machine, and a shield machine. Background Art

[0002] The shield machine has gradually become one of the mainstream methods of tunnel construction due to its advantages such as fast excavation speed and small impact on the environment. During the construction process, tunnels constructed by the shield method often face problems such as complex geological environment and frequent geological disasters such as sudden water and mud. Therefore, ensuring the safe advancement of the shield machine has become an important topic and key problem. It is particularly important to carry out advanced geological forecasts and scientifically and efficiently explore the occurrence characteristics and spatial location of the unfavorable geological bodies in front of the excavation face.

[0003] The inventors found that during shield construction, there is almost no exposed surrounding rock area in the tunnel, which is completely blocked by prefabricated concrete segments. The excavation face is affected by the cutterhead and there is no observation space available, so the common advanced geological prediction method is difficult to apply. In addition, the tunnel construction speed of shield construction is relatively fast, which poses a huge challenge to the timeliness of the data collection and interpretation of the advanced geological prediction process. The main problem in actual construction is that if the tunnel geological advance prediction equipment is set up separately, not only the cost and workload will be increased, but the environmental complexity under the working state of the shield machine will also affect the independent working setting of the tunnel geological advance prediction equipment. When necessary, the shield machine needs to be stopped for operation, which affects the construction progress. Although the tunnel geological advance prediction equipment is mounted on the shield machine for operation, although the workload is reduced and the number of shield machine shutdowns is avoided, the advance prediction equipment needs to run at the excavation speed of the shield machine. During this process, the advance prediction equipment is not allowed to stop, and only a quick and simple detection of the tunnel can be performed, resulting in the advance prediction equipment being unable to perform a good detection and prediction of specific points, problem points or detection points in the tunnel. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a slide rail type geological prediction device, method and shield machine carried by a shield machine, which can move on the first slide rail in the opposite direction to the excavation direction through the second slide rail, so that the tunnel geological advance prediction equipment is stationary relative to the tunnel for a certain period of time, avoiding the problems of increasing extra workload when setting up the tunnel geological advance prediction equipment separately and the need to stop the shield machine, thereby achieving the purpose of stopping and detecting specific points, problem points or detection points in the tunnel, and ensuring the detection and prediction accuracy.

[0005] In order to achieve the above-mentioned purpose, in a first aspect, the present invention provides a slide rail type geological prediction device carried by a shield machine, which adopts the following technical scheme:

[0006] A slide rail type geological prediction device carried by a shield machine, comprising an adjustment mechanism carried on the shield machine, and a tunnel geological advance prediction device arranged on the adjustment mechanism;

[0007] The adjustment mechanism includes a first slide rail fixed on the shield machine, and a second slide rail arranged on the first slide rail; the tunnel geology advance prediction device is arranged on the second slide rail; the movement direction of the second slide rail on the first slide rail is parallel to the excavation direction of the shield machine, and the second slide rail can be used to move on the first slide rail in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device remains stationary relative to the tunnel for a certain period of time; the movement direction of the tunnel geology advance prediction device on the second slide rail is perpendicular to the excavation direction of the shield machine, and the tunnel geology advance prediction device can be moved on the second slide rail to be close to the detection position on the inner wall of the tunnel.

[0008] Furthermore, the shield machine is provided with two mutually parallel first slide rails, and two ends of the second slide rail are respectively vertically connected to the two first slide rails.

[0009] Furthermore, two second slide rails parallel to each other are arranged on the first slide rail, and two ends of the tunnel geology advance prediction device are connected on the two second slide rails through running wheels.

[0010] Furthermore, the tunnel geology advance prediction device includes a fuselage and running wheels arranged on the fuselage.

[0011] Furthermore, an electromagnet is provided on the walking wheel.

[0012] Furthermore, an electromagnetic locking mechanism is provided on the second slide rail.

[0013] Furthermore, the tunnel geological advance prediction device is provided with a first mechanical arm for hammering the inner wall of the tunnel to generate a seismic source, and a second mechanical arm for receiving a waveform signal.

[0014] Furthermore, the tunnel geology advance prediction device is wirelessly connected to a remote processing terminal.

[0015] In order to achieve the above-mentioned purpose, in a second aspect, the present invention also provides a slide rail type geological prediction method carried by a shield machine, which adopts the following technical scheme:

[0016] A shield-mounted sliding rail type geological prediction method adopts the shield-mounted sliding rail type geological prediction device as described in the first aspect, comprising:

[0017] The tunnel geology advance prediction device moves following the excavation direction and speed of the shield machine; when a certain detection position in the tunnel is detected and predicted, the second slide rail moves on the first slide rail in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device remains stationary relative to the tunnel for a certain period of time. At the same time, the tunnel geology advance prediction device moves on the second slide rail to approach the detection position on the inner wall of the tunnel.

[0018] In order to achieve the above-mentioned purpose, in a third aspect, the present invention further provides a shield machine, which adopts the following technical solution:

[0019] A shield machine comprises a shield machine body and a slide rail type geological prediction device carried by the shield machine as described in the first aspect and carried on the shield machine body.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] In the present invention, the adjustment mechanism is mounted on the shield machine; the adjustment mechanism includes a first slide rail fixed on the shield machine, and a second slide rail arranged on the first slide rail; the tunnel geology advance prediction device is arranged on the second slide rail; the movement direction of the second slide rail on the first slide rail is parallel to the excavation direction of the shield machine, and the second slide rail can be used to move on the first slide rail in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device is stationary relative to the tunnel for a certain period of time, avoiding the increase of additional workload when the tunnel geology advance prediction device is set separately, and the need to stop the shield machine, and during the normal excavation of the shield machine , the second slide rail can move in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device can be stationary relative to the tunnel for a certain period of time, thereby achieving the purpose of stopping and detecting specific points, problem points or detection points in the tunnel, and ensuring the detection and prediction accuracy; at the same time, the movement direction of the tunnel geology advance prediction device on the second slide rail is perpendicular to the excavation direction of the shield machine, and the tunnel geology advance prediction device can be moved on the second slide rail to be close to the detection position on the inner wall of the tunnel, further increasing the operability and accuracy of detecting specific points, problem points or detection points in the tunnel.

[0022] The geological prediction device in the present invention can be carried on a shield machine, and as the shield machine continues to move forward, uninterrupted geological prediction is achieved, and the normal construction process on site is not affected during operation; the mechanical arm automatically arranges the detectors and realizes the source excitation, which shortens the time for geological prediction data collection compared with conventional methods, improves work efficiency, and complements the fast construction of the shield tunnel; the mechanical arm accurately arranges the detectors and the source excitation in space according to the established observation system, effectively avoiding the spatial coordinate errors caused by the manual arrangement of the detectors and the excitation of the source, thereby improving the accuracy of the geological prediction results; mechanized operation can ensure the stability of the source energy, ensuring that each prediction effect will not cause errors due to inconsistent source energy; the on-site operation of the geological prediction device is completely realized through remote control, the collected data is wirelessly transmitted, and the collected data can be viewed and processed in real time at the terminal, realizing unmanned operation on site and effectively reducing the construction risk of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0024] Figure 1 Schematic diagram of the adjustment mechanism of Example 1 of the present invention;

[0025] Figure 2 This is a schematic diagram of the first slide rail direction of Example 1 of the present invention;

[0026] Figure 3 This is a schematic diagram of the direction of the second slide rail of Example 1 of the present invention;

[0027] Figure 4 This is a schematic diagram of the relationship between the tunnel geology advance prediction device and the shield machine according to Example 1 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of a tunnel geology advance prediction device according to Embodiment 1 of the present invention;

[0029] Among them, 1. adjustment mechanism; 101. first slide rail; 102. second slide rail; 2. shield segment; 3. tunnel; 4. tunnel geological advance prediction equipment; 401. fuselage; 402. walking wheel; 403. first mechanical arm; 404. second mechanical arm; 5. shield machine; 6. cutterhead. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0032] Embodiment 1:

[0033] As recorded in the background technology, when currently conducting tunnel geological advance prediction, when the tunnel geological advance prediction equipment is used to operate independently, there are problems such as high cost, large workload and the need to shut down the shield machine; when the shield machine is used to carry the tunnel geological advance prediction equipment, there is a problem that the tunnel geological advance prediction equipment cannot be stopped to perform good detection and prediction of specific points, problem points or detection points.

[0034] In response to the above problems, Figure 1 and Figure 4 As shown, this embodiment provides a slide rail type geological prediction device carried by a shield machine, which can improve the accuracy and timeliness of advanced geological prediction of a shield tunnel. The device includes an adjustment mechanism 1 carried on a shield machine 5, and a tunnel geological advance prediction device 4 arranged on the adjustment mechanism 1;

[0035] like Figure 1 , Figure 2 and Figure 3 As shown, the adjustment mechanism 1 includes a first slide rail 101 fixed on the shield machine 5, and a second slide rail 102 arranged on the first slide rail 101; the tunnel geology advance prediction device 4 is arranged on the second slide rail 102; the movement direction of the second slide rail 102 on the first slide rail 101 is parallel to the excavation direction of the shield machine 5, and the second slide rail 102 can move on the first slide rail 101 in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device 4 is stationary relative to the tunnel 3 for a certain period of time; the movement direction of the tunnel geology advance prediction device 4 on the second slide rail 102 is perpendicular to the excavation direction of the shield machine 5, and the tunnel geology advance prediction device 4 can be moved on the second slide rail 102 to be close to the detection position on the inner wall of the tunnel 3.

[0036] The tunnel geology advance prediction device 4 is arranged on the second slide rail 102. The movement of the second slide rail 102 on the first slide rail 101 can enable the tunnel geology advance prediction device 4 to move horizontally along the axial direction of the tunnel. The movement of the tunnel geology advance prediction device 4 on the second slide rail 102 can enable the tunnel geology advance prediction device 4 to move horizontally along the radial direction of the tunnel. The shield segment 2 is located below the tunnel 3. The tunnel geology advance prediction device 4 is advanced forward together with the shield machine 5. Unfavorable geological detection is performed in front of the excavation face at a certain advancement distance. The detection process will not affect the normal construction process of the shield machine.

[0037] Specifically, the tunnel geology advance prediction device 4 is mounted on the shield machine 5 through the adjusting mechanism 1, and can move on the first slide rail in the opposite direction to the excavation direction through the second slide rail, so that the tunnel geology advance prediction device 4 is stationary relative to the tunnel for a certain period of time, and the problems of increasing the extra workload when the tunnel geology advance prediction device 4 is set separately and requiring the shield machine to stop are avoided. During the normal excavation of the shield machine, the tunnel geology advance prediction device 4 can be moved relative to the tunnel through the second slide rail 102 in the opposite direction to the excavation direction. The tunnel 3 is stationary for a certain period of time, so as to achieve the purpose of stopping and detecting specific points, problem points or detection points in the tunnel 3, and ensure the detection and prediction accuracy; at the same time, the movement direction of the tunnel geology advanced prediction device 4 on the second slide rail 102 is perpendicular to the excavation direction of the shield machine 5, and the tunnel geology advanced prediction device 4 can be moved on the second slide rail 102 to make the tunnel geology advanced prediction device 4 close to the detection position on the inner wall of the tunnel 3, thereby further increasing the operability and accuracy of detecting specific points, problem points or detection points in the tunnel 3.

[0038] In some embodiments, optionally, Figure 1 As shown, the first slide rail 101 can be fixed to the rear of the shield machine 5 or other position that can accommodate the adjustment mechanism by welding or other means. The first slide rail 101 can be set in the form of a slide groove, a slideway, etc., and a motor is set on the second slide rail 102 by welding or bolting, and a running wheel is set on the output shaft of the motor. The running wheel is located in the slide groove of the first slide rail 101; when the motor drives the running wheel to rotate, the running wheel can drive the second slide rail 102 to move on the first slide rail 101.

[0039] In some embodiments, an electromagnetic locking mechanism is provided on the second slide rail 102. The electromagnetic locking mechanism can be optionally provided by providing an electromagnet on the running wheel of the second slide rail 102. When the second slide rail 102 needs to be fixed on the first slide rail 101 after moving, the running wheel can be magnetically attracted to the first slide rail 101 after the electromagnet is energized and magnetized. It can be understood that the running wheel and the first slide rail 101 are made of metal; or, an electromagnet is provided on the first slide rail 101. When the second slide rail 102 needs to be fixed on the first slide rail 101 after moving, the running wheel can be magnetically attracted to the first slide rail 101 after the electromagnet is energized and magnetized, thereby ensuring stability. When it is not necessary to carry out geological forecasting, the electromagnet is energized, and the second slide rail 102 and the first slide rail 101 are in a locked state. When the work at a certain position is completed and it is necessary to move to other target positions, the running wheel on the second slide rail 102 is first unlocked.

[0040] In some embodiments, Figure 1 and Figure 5 As shown, optionally, the second slide rail 102 can be set to a slide groove, slideway, etc.; the tunnel geology advance prediction equipment 4 includes a fuselage 401, and a running wheel 402 arranged on the fuselage 401, and optionally, a motor is arranged on the fuselage 401 by welding or bolting, and a running wheel 402 is arranged on the output shaft of the motor, and the running wheel 402 is located in the slide groove of the second slide rail 102; when the motor drives the running wheel 402 to rotate, the running wheel 402 can drive the tunnel geology advance prediction equipment 4 to move on the second slide rail 102.

[0041] In some embodiments, an electromagnet is optionally provided on the running wheel 402. When the running wheel 402 needs to be fixed on the second slide rail 102 after movement, the running wheel 402 can be magnetically attracted to the second slide rail 102 by energizing the electromagnet. It can be understood that the running wheel 402 and the second slide rail 102 are made of metal; or, an electromagnet is provided on the second slide rail 102. When the running wheel 402 needs to be fixed on the second slide rail 102 after movement, the running wheel 402 can be magnetically attracted to the second slide rail 102 by energizing the electromagnet, thereby ensuring stability. When it is not necessary to carry out geological forecasting, the electromagnet is energized, and the running wheel 402 and the second slide rail 102 are in a locked state.

[0042] In some embodiments, Figure 1As shown, optionally, two mutually parallel first slide rails 101 are provided on the shield machine 5, and the two ends of the second slide rail 102 are respectively vertically connected to the two first slide rails 101; two mutually parallel second slide rails 102 are provided on the first slide rail 101, and the two ends of the tunnel geology advance prediction equipment 4 are respectively connected on the two second slide rails 102 through walking wheels 401; the setting of two mutually parallel first slide rails 101 and two mutually parallel second slide rails 102 improves the stability of the tunnel geology advance prediction equipment 4 during the movement process.

[0043] In some embodiments, Figure 1 and Figure 5 As shown, optionally, the tunnel geology advance prediction device 4 is also provided with a first mechanical arm 403 for hammering the inner wall of the tunnel to generate a seismic source, and a second mechanical arm 404 for receiving waveform signals. Among them, by moving the tunnel geology advance prediction device 4 on the second slide rail 102, the tunnel geology advance prediction device 4 is close to the detection position on the inner wall of the tunnel 3, which can ensure the operability of the first mechanical arm 403 and the second mechanical arm 404 on the inner wall of the tunnel 3; and, by moving the second slide rail 102 on the first slide rail 101 in the opposite direction to the excavation direction, the tunnel geology advance prediction device 4 is stationary relative to the tunnel 3 for a certain period of time, which can ensure the stability and number of hammering of the inner wall of the tunnel 3 by the first mechanical arm 403, and can ensure the stability and time of receiving waveform data by the second mechanical arm 404.

[0044] It can be understood that the interior of the fuselage 401 of the tunnel geological advance prediction device 4 can be implemented by a traditional tunnel geological advance prediction system. In some embodiments, the fuselage 401 of the tunnel geological advance prediction device 4 can be provided with a detector storage platform, a power supply system, a wireless communication module, a control system and a 360° real-time monitoring system. The first mechanical arm 403 can be equipped with a hammer or a pneumatic impact hammer installed on a six-axis mechanical arm or other multi-degree-of-freedom mechanical arm, and the inner wall of the tunnel 3 can be hammered through the action of the first mechanical arm 403. The second mechanical arm 404 can be equipped with a detector installed on a six-axis mechanical arm or other multi-degree-of-freedom mechanical arm, and the detector is brought into contact with the inner wall of the tunnel 3 through the second mechanical arm 403 to receive the waveform signal. The detector can be a three-component detector or other waveform detector.

[0045] The motor on the second slide rail 102, the motor on the tunnel geology advance prediction device 4, and the tunnel geology advance prediction device 4 are all connected to a remote processing terminal through wireless connection or the like, and the remote processing terminal may include a data processor or the like.

[0046] In some embodiments, the control action of the second mechanical arm 404 with a detector can be optionally controlled by inverse kinematics, that is, according to the desired position and posture of the end of the mechanical arm, the position to which each joint should rotate is calculated inversely, and then each joint is moved to the calculated position by means of PD (proportional-differential) control and other means. When it is necessary to carry out on-site advanced geological forecasting, instructions are issued remotely and wirelessly transmitted to the tunnel geological advance forecasting device 4, and the tunnel geological advance forecasting device 4 reaches the specified position with the help of the walking wheels, and the second mechanical arm 404 performs the detector deployment action. The specific action execution sequence and time nodes are realized by combining computer programming, motion planning and control system design and other technical means.

[0047] In some embodiments, optionally, the laser radar arranged on the arm of the second mechanical arm 404 can also be used to sense the surrounding environment and obstacles, so as to predict and avoid possible collisions in the path planning stage, and then the three-component geophone can be accurately arranged at the corresponding coordinate point according to the established spatial coordinate position for sensing seismic wave information. After the seismic wave information is collected, the second mechanical arm 404 also uses inverse kinematics and computer programming and other technical means to realize the geophone retrieval operation, and the retrieved geophone is stored in the geophone storage platform area of ​​the system body.

[0048] In some embodiments, optionally, the first robotic arm 403 serves as a source hammer robotic arm and can be controlled by inverse kinematics, that is, after the detector is deployed, the body 401 of the tunnel geological advance prediction equipment 4 is moved to a specified position with the help of running wheels, and the running wheels are locked. Through computer programming, motion planning and control system design, the source hammer robotic arm is extended to the source excitation point along a predetermined path.

[0049] In some embodiments, optionally, the arm of the first robotic arm 403 is equipped with a visual system, that is, precise positioning is achieved with the assistance of a computer vision module.

[0050] In some embodiments, optionally, a pneumatic seismic source is provided at the end of the first mechanical arm 403, and the hammering action of the pneumatic seismic source is realized through multi-dimensional control instructions such as torque, angle, angular velocity, etc., and finally the artificial seismic wave is accurately and effectively excited at a predetermined spatial position; the energy of the pneumatic seismic source comes from a special air pump carried in the main body of the fuselage. The three-component detector is used to sense the seismic wave information transmitted from the front of the excavation face after the source hammers. A lifting system is set between the mechanical arm and the fuselage 401, or between the walking wheel 402 and the fuselage 401. The lifting system is mounted on the fuselage 401. When the two mechanical arms need to excite artificial seismic waves and lay and collect detectors respectively, the lifting system moves the fuselage main body to a suitable position to facilitate the work of the mechanical arm; the lifting system can reduce the length of the mechanical arm itself, and improve the portability of the tunnel geological advance prediction device 4 in the limited space of the shield machine.

[0051] In some embodiments, the detector storage platform is optionally used for storing detectors, that is, before and after the geological advance prediction is performed, an area is set in the fuselage 401 for storing all three-component detectors; the contact area between the detector storage platform and each detector is set to be made of magnetic steel material, and the magnetic steel is adsorbed to the metal components on the surface of the detector to play a good fixing role; the energy supply system includes a drive motor and an AC power adapter and other devices to drive the normal operation of the mechanical arm, the fuselage, the wireless communication module, the intelligent control system, and the 360° real-time monitoring system; the wireless communication module is used for the tunnel geological advance prediction device The wireless connection between the equipment 4 and the remote processing terminal; the control system is used to control the movement of the fuselage body on the track and the action control of the mechanical arm; the 360° real-time monitoring system is used to remotely observe the operation of each part of the tunnel geological advance prediction equipment 4 in real time to realize unmanned operation on site; the remote processing terminal is first used to remotely control the tunnel geological advance prediction equipment 4 to realize a series of advanced geological prediction related actions, and wirelessly transmit the data collected by the tunnel geological advance prediction equipment 4 to the remote processing terminal, and secondly to realize the preprocessing, denoising, imaging and other processes of seismic wave data information.

[0052] The geological prediction device in this embodiment can be carried on a shield machine, and as the shield machine continues to move forward, it can achieve uninterrupted geological prediction, and the normal construction process on site will not be affected during operation; the mechanical arm automatically arranges detectors and realizes source excitation, which shortens the time for geological prediction data collection compared with conventional methods, improves work efficiency, and complements the fast construction of shield tunnels; the mechanical arm accurately arranges detectors and source excitation in space according to the established observation system, effectively avoiding the spatial coordinate errors caused by manual arrangement of detectors and source excitation, thereby improving the accuracy of geological prediction results; mechanized operation can ensure the stability of source energy, ensuring that each forecast effect will not cause errors due to inconsistent source energy; the on-site operation of the geological prediction device is completely realized through remote control, the collected data is wirelessly transmitted, and the collected data can be viewed and processed in real time at the terminal, realizing unmanned operation on site and effectively reducing the risk of personnel construction.

[0053] The working process or principle of this embodiment is:

[0054] S1. Before using the slide rail type geological prediction device carried by the shield machine, it is necessary to load the relevant equipment and modules onto the shield machine 5, including the installation of the first slide rail 101 and the second slide rail 102, the coupling of the tunnel geological advance prediction device 4 with the second slide rail 102, and the setting of 220V AC power supply, etc. There is a certain distance between the tunnel geological advance prediction device 4 and the cutter head 6 on the shield machine 5.

[0055] S2. According to a predetermined observation system, the operation trajectories of the first robotic arm 403, the second robotic arm 404 and the fuselage 401 can be set in advance through computer programming, and can be adjusted at any time according to changes in the observation system later.

[0056] S3. After the preparatory work is completed, according to the on-site construction situation, start collecting advance forecast data on the geology at a certain distance in front of the excavation face.

[0057] S4. First, the geophones are arranged through a predetermined trajectory and the second mechanical arm 404 arranges the geophones one by one, and the geophones are wirelessly connected to each other.

[0058] S5. Remotely check whether all detectors have been deployed to the predetermined positions through the 360° real-time monitoring system.

[0059] S6. After all the geophones are deployed, the first mechanical arm 403 is started to hammer the predetermined position to stimulate artificial seismic waves. The deployed geophones will receive seismic wave signals from the front of the tunnel excavation face.

[0060] S7. After the detector has collected the seismic data, the data is wirelessly transmitted to a remote terminal for digital processing and geological interpretation of the data.

[0061] S8. The first robotic arm 403 is recovered to a predetermined position of the fuselage 401 , and the second robotic arm 404 collects the detectors one by one and places them on a detector storage platform in the fuselage 401 .

[0062] S9. After the on-site data collection is completed, the remote processing terminal will promptly process and interpret the data and issue relevant reports, thus completing the advanced geological forecasting work.

[0063] Embodiment 2:

[0064] This embodiment provides a shield-mounted sliding rail type geological prediction method, which uses the shield-mounted sliding rail type geological prediction device as described in Example 1, including:

[0065] The tunnel geology advance prediction device 4 moves following the excavation direction and speed of the shield machine 5; when a certain detection position in the tunnel 3 is detected and predicted, the second slide rail 102 moves on the first slide rail 101 in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device 4 remains stationary relative to the tunnel 3 for a certain period of time. At the same time, through the movement of the tunnel geology advance prediction device 4 on the second slide rail 102, the tunnel geology advance prediction device 4 is close to the detection position on the inner wall of the tunnel 3.

[0066] Optionally, S1, before using the slide rail type geological prediction device carried by the shield machine, it is necessary to load the relevant equipment and modules onto the shield machine 5, including the installation of the first slide rail 101 and the second slide rail 102, the coupling of the tunnel geological advance prediction equipment 4 with the second slide rail 102, and the setting of 220V AC power supply, etc., and a certain distance is set between the tunnel geological advance prediction equipment 4 and the cutter head 6 on the shield machine 5.

[0067] S2. According to a predetermined observation system, the operation trajectories of the first robotic arm 403, the second robotic arm 404 and the fuselage 401 can be set in advance through computer programming, and can be adjusted at any time according to changes in the observation system later.

[0068] S3. After the preparatory work is completed, according to the on-site construction situation, start collecting advance forecast data on the geology at a certain distance in front of the excavation face.

[0069] S4. First, the geophones are arranged through a predetermined trajectory and the second mechanical arm 404 arranges the geophones one by one, and the geophones are wirelessly connected to each other.

[0070] S5. Remotely check whether all detectors have been deployed to the predetermined positions through the 360° real-time monitoring system.

[0071] S6. After all the geophones are deployed, the first mechanical arm 403 is started to hammer the predetermined position to stimulate artificial seismic waves. The deployed geophones will receive seismic wave signals from the front of the tunnel excavation face.

[0072] S7. After the detector has collected the seismic data, the data is wirelessly transmitted to a remote terminal for digital processing and geological interpretation of the data.

[0073] S8. The first robotic arm 403 is recovered to a predetermined position of the fuselage 401 , and the second robotic arm 404 collects the detectors one by one and places them on a detector storage platform in the fuselage 401 .

[0074] S9. After the on-site data collection is completed, the remote processing terminal will promptly process and interpret the data and issue relevant reports, thus completing the advanced geological forecasting work.

[0075] Embodiment 3:

[0076] This embodiment provides a shield machine, including a shield machine body, and a slide rail type geological prediction device carried by the shield machine as described in Example 1 and mounted on the shield machine body; the shield machine body can be implemented using a conventional shield machine and will not be described in detail here.

[0077] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A slide rail geological prediction device carried by a shield machine. It is characterized in that It includes an adjustment mechanism carried on a shield machine, and a tunnel geology advance prediction device arranged on the adjustment mechanism; The adjustment mechanism includes a first slide rail fixed on the shield machine, and a second slide rail arranged on the first slide rail; the tunnel geology advance prediction device is arranged on the second slide rail; the movement direction of the second slide rail on the first slide rail is parallel to the excavation direction of the shield machine, and the second slide rail can be used to move on the first slide rail in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device remains stationary relative to the tunnel for a certain period of time; the movement direction of the tunnel geology advance prediction device on the second slide rail is perpendicular to the excavation direction of the shield machine, and the tunnel geology advance prediction device can be moved on the second slide rail to be close to the detection position on the inner wall of the tunnel.

2. A slide rail type geological prediction device carried by a shield machine as claimed in claim 1, It is characterized in that The shield machine is provided with two mutually parallel first slide rails, and two ends of the second slide rail are respectively vertically connected to the two first slide rails.

3. A slide rail type geological prediction device carried by a shield machine as claimed in claim 1, It is characterized in that Two second slide rails parallel to each other are arranged on the first slide rail, and two ends of the tunnel geology advance prediction device are connected on the two second slide rails through running wheels.

4. A slide rail type geological prediction device carried by a shield machine as claimed in claim 1, It is characterized in that The tunnel geology advance prediction device comprises a fuselage and running wheels arranged on the fuselage.

5. A slide rail type geological prediction device carried by a shield machine as claimed in claim 4, It is characterized in that An electromagnet is arranged on the traveling wheel.

6. A slide rail type geological prediction device carried by a shield machine as claimed in claim 1, It is characterized in that The second slide rail is provided with an electromagnetic locking mechanism.

7. A slide rail type geological prediction device carried by a shield machine as claimed in claim 1, It is characterized in that The tunnel geological advance prediction device is provided with a first mechanical arm for hammering the inner wall of the tunnel to generate a seismic source, and a second mechanical arm for receiving a waveform signal.

8. A slide rail type geological prediction device carried by a shield machine as claimed in claim 1, It is characterized in that The tunnel geology advance prediction device is wirelessly connected to a remote processing terminal.

9. A slide rail geological prediction method for shield machine. It is characterized in that The slide rail type geological prediction device carried by the shield machine as claimed in any one of claims 1 to 8 is adopted, comprising: The tunnel geology advance prediction device moves following the excavation direction and speed of the shield machine; when a certain detection position in the tunnel is detected and predicted, the second slide rail moves on the first slide rail in the opposite direction to the excavation direction, so that the tunnel geology advance prediction device remains stationary relative to the tunnel for a certain period of time. At the same time, the tunnel geology advance prediction device moves on the second slide rail to approach the detection position on the inner wall of the tunnel.

10. A shield machine, It is characterized in that It comprises a shield machine body, and a slide rail type geological prediction device carried by the shield machine as described in any one of claims 1 to 8 and carried on the shield machine body.

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