A shield-mounted sliding rail geological prediction device, method, and shield machine

Abstract

The present invention belongs to the technical field of tunnel engineering construction using the shield method, and proposes a shield-mounted slide rail type geological prediction device, method and shield machine, wherein an adjustment mechanism is mounted on the shield machine; a second slide rail is moved on a first slide rail in the opposite direction of excavation, so that the tunnel geological advance prediction device is stationary relative to the tunnel for a certain period of time, thereby avoiding the problems of increasing additional workload when setting up the tunnel geological advance prediction device separately and requiring the shield machine to stop. The tunnel geological advance prediction device is stationary relative to the tunnel for a certain period of time, thereby achieving the purpose of performing stop detection on specific points, problem points or detection points in the tunnel, and ensuring the detection and prediction accuracy; at the same time, the tunnel geological advance prediction device can be moved on the second slide rail so that the tunnel geological advance prediction device is 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.

Description

Technical Field

[0001] The present invention belongs to the technical field of shield tunnel construction, and in particular relates to a shield-mounted sliding rail geological prediction device, method and shield machine. Background Art

[0002] Shield machines, with their advantages of high excavation speed and minimal environmental impact, have gradually become a mainstream method of tunnel construction. Shield tunnel construction often faces complex geological environments and frequent geological hazards such as sudden water and mud bursts. Therefore, ensuring the safe advancement of shield machines has become a key issue and a key challenge. Advanced geological forecasting is particularly important to scientifically and efficiently explore the occurrence characteristics and spatial location of unfavorable geological bodies ahead of the excavation face.

[0003] The inventors discovered that during shield tunneling, there is almost no exposed surrounding rock in the tunnel, as it is completely obscured by precast concrete segments. The excavation face is affected by the cutterhead and there is no available observation space, making conventional advanced geological prediction methods difficult to apply. Furthermore, shield tunneling operates at a high speed, which poses a significant challenge to the timeliness of data collection and interpretation for advanced geological prediction. A major problem during actual construction is that installing a separate tunnel geological prediction device not only increases cost and workload, but the environmental complexity of the shield machine during operation also affects its independent operation, requiring the shield machine to be shut down for operation when necessary, impacting construction progress. While mounting the tunnel geological prediction device on the shield machine reduces workload and avoids issues such as frequent shield machine shutdowns, the device must operate at the same speed as the shield machine. During this process, the device is not allowed to stop, and can only perform quick and simple tunnel inspections. This results in the device being unable to effectively detect and predict specific points, problem points, or inspection points within the tunnel. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes a shield-mounted sliding rail geological prediction device, method and shield machine, which can move in the opposite direction of excavation on the first sliding rail through the second sliding 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 additional workload when setting up the tunnel geological advance prediction equipment separately and the need to shut down the shield machine, thereby achieving the purpose of stopping and detecting specific points, problem points or detection points in the tunnel, and ensuring the accuracy of detection and prediction.

[0005] In order to achieve the above-mentioned objectives, 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 solutions:

[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 both 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 provided on the first slide rail, and both ends of the tunnel geology advance prediction device are connected to 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 robotic arm for hammering the inner wall of the tunnel to generate a seismic source, and a second robotic arm for receiving waveform signals.

[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 further provides a shield-mounted sliding rail geological prediction method, which adopts the following technical solution:

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

[0017] The tunnel geology advance prediction device moves following the excavation direction and speed of the shield machine; when performing detection and prediction on a certain detection position in the tunnel, 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, through the movement of the tunnel geology advance prediction device on the second slide rail, the tunnel geology advance prediction device is close to 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 shield-mounted sliding rail geological prediction device as described in the first aspect and mounted on the shield machine body.

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

[0021] In the present invention, an adjusting mechanism is mounted on the shield machine; the adjusting 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, avoiding the problems of increasing extra workload when setting up the tunnel geology advance prediction device separately and requiring the shield machine to stop, and during the normal excavation process 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, so that the tunnel geology advance prediction device can 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 continuously advances with the shield machine to achieve uninterrupted geological prediction, and the normal construction process on site is not 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 excitation of sources, thereby improving the accuracy of geological prediction results; mechanized operation can ensure the stability of 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 risk of personnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation 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 direction of the first slide rail in Example 1 of the present invention;

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

[0027] Figure 4 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 structural diagram of a tunnel geology advance prediction device according to Example 1 of the present invention;

[0029] Among them, 1. Adjustment mechanism; 101. First slide rail; 102. Second slide rail; 2. Shield segments; 3. Tunnel; 4. Tunnel geological advance prediction equipment; 401. Machine body; 402. Traveling wheels; 403. First robotic arm; 404. Second robotic arm; 5. Shield machine; 6. Cutterhead. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to 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 meaning as commonly understood by those skilled in the art to which the present application belongs.

[0032] Example 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 mounted on a shield machine, which can improve the accuracy and timeliness of advanced geological prediction of shield tunnels. The device includes an adjustment mechanism 1 mounted on a shield machine 5, and a tunnel geological advance prediction device 4 provided 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 be used to 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 advances forward with the shield machine 5, and performs unfavorable geological detection 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 of 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. On the basis of avoiding the problems of increasing the extra workload when setting up the tunnel geology advance prediction device 4 separately and requiring the shield machine to stop, during the normal excavation process of the shield machine, the tunnel geology advance prediction device 4 can be stationary relative to the tunnel through the movement of the second slide rail 102 in the opposite direction of 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, 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 location that can accommodate the adjustment mechanism by welding or other means. The first slide rail 101 can be configured as a slide groove, slideway, etc., and a motor is installed on the second slide rail 102 by welding or bolting. The output shaft of the motor is provided with a running wheel, which 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 optionally be provided by providing an electromagnet on the travel wheel of the second slide rail 102. When the second slide rail 102 needs to be fixed to the first slide rail 101 after movement, the electromagnet can be energized and magnetized to magnetically attract the travel wheel to the first slide rail 101. It is understandable that the travel wheel and the first slide rail 101 are made of metal. Alternatively, an electromagnet is provided on the first slide rail 101. When the second slide rail 102 needs to be fixed to the first slide rail 101 after movement, the electromagnet can be energized and magnetized to magnetically attract the travel wheel to the first slide rail 101, thereby ensuring stability. When geological forecasting is not needed, the electromagnet is energized, and the second slide rail 102 and the first slide rail 101 are in a locked state. When work at a certain position is completed and it is necessary to move to another target position, the travel wheel on the second slide rail 102 is first unlocked.

[0040] In some embodiments, as 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 walking wheel 402 arranged on the fuselage 401. Optionally, a motor is set on the fuselage 401 by welding or bolting, and a walking wheel 402 is set on the output shaft of the motor. The walking wheel 402 is located in the slide groove of the second slide rail 102; when the motor drives the walking wheel 402 to rotate, the walking 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 to the second slide rail 102 after movement, the electromagnet can be energized and magnetized to magnetically attract the running wheel 402 to the second slide rail 102. It is understandable 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 to the second slide rail 102 after movement, the electromagnet can be energized and magnetized to magnetically attract the running wheel 402 to the second slide rail 102, thereby ensuring stability. When geological forecasting is not required, the electromagnet is energized, and the running wheel 402 and the second slide rail 102 are in a locked state.

[0042] In some embodiments, as 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 geological advance prediction device 4 are respectively set on the two second slide rails 102 and connected through the walking wheels 402; the setting of two mutually parallel first slide rails 101 and two mutually parallel second slide rails 102 improves the stability of the tunnel geological advance prediction device 4 during the movement process.

[0043] In some embodiments, as Figure 1 and Figure 5 As shown, optionally, the tunnel geology advance prediction device 4 is further 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. The tunnel geology advance prediction device 4 is moved on the second slide rail 102 so that the tunnel geology advance prediction device 4 is close to the detection position on the inner wall of the tunnel 3, thereby ensuring the operability of the first mechanical arm 403 and the second mechanical arm 404 on the inner wall of the tunnel 3; and the second slide rail 102 is moved 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, thereby ensuring the stability and number of hammering of the inner wall of the tunnel 3 by the first mechanical arm 403, and ensuring the stability and time of receiving waveform data by the second mechanical arm 404.

[0044] It is understood that the interior of the body 401 of the tunnel geology advance prediction device 4 can be implemented using a traditional tunnel geology advance prediction system. In some embodiments, the body 401 of the tunnel geology advance prediction device 4 can be equipped with a detector storage platform, a power supply system, a wireless communication module, a control system, and a 360-degree real-time monitoring system. The first robotic arm 403 can be equipped with a hammer or a pneumatic impact hammer installed on a six-axis robotic arm or other multi-degree-of-freedom robotic arm, and the first robotic arm 403 can be used to hammer the inner wall of the tunnel 3. The second robotic arm 404 can be equipped with a detector installed on a six-axis robotic arm or other multi-degree-of-freedom robotic arm, and the second robotic arm 404 can be used to contact the detector with the inner wall of the tunnel 3 to receive waveform signals. 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 manipulation of the second robotic arm 404 with a detector can optionally be controlled by inverse kinematics, that is, based on the desired position and posture of the robotic arm end, the position to which each joint should rotate is inversely calculated, and then each joint is moved to the calculated position through PD (proportional-differential) control and other means. When it is necessary to carry out on-site advanced geological prediction, a manual remote instruction is issued and wirelessly transmitted to the tunnel geological advanced prediction device 4. The tunnel geological advanced prediction device 4 reaches the designated position via the running wheels, and the second robotic arm 404 executes the detector deployment action. The specific sequence and time nodes of the execution of the actions are achieved through a combination of computer programming, motion planning, and control system design.

[0047] In some embodiments, a laser radar system deployed within the second robotic arm 404 can optionally be used to sense the surrounding environment and obstacles, thereby predicting and avoiding potential collisions during path planning. This allows the three-component geophones to be precisely positioned at the corresponding coordinate points according to predetermined spatial coordinates for sensing seismic wave information. Once seismic wave information is collected, the second robotic arm 404 also utilizes inverse kinematics and computer programming to retrieve the geophones, storing them in the geophone storage platform area within the system's main 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 walking wheels, the walking wheels are locked, and the source hammer robotic arm is extended to the source excitation point along a predetermined path through computer programming, motion planning and control system design.

[0049] In some embodiments, optionally, the arm of the first robotic arm 403 is equipped with a vision 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 manipulator 403, and the hammering action of the pneumatic seismic source is realized through multi-dimensional control instructions such as torque, angle, and angular velocity, ultimately achieving accurate and effective excitation of artificial seismic waves at a predetermined spatial position; the energy of the pneumatic seismic source comes from a dedicated air pump carried in the main body of the machine. The three-component geophone is used to sense the seismic wave information transmitted from the front of the excavation face after the seismic source hammers. A lifting system is provided between the manipulator arm and the machine body 401, or between the walking wheel 402 and the machine body 401. The lifting system is mounted on the machine body 401. When the two manipulator arms need to excite artificial seismic waves and deploy and collect geophones respectively, the lifting system moves the machine body to a suitable position to facilitate the work of the manipulator arms; the lifting system can reduce the length of the manipulator arm itself, thereby improving the portability of the tunnel geological advance prediction device 4 within 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 on 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, which are used 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 robotic 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 the completion of 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 continuously advance with the shield machine to achieve uninterrupted geological prediction, and the normal construction process on site is not affected during operation; the robotic arm automatically deploys 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 robotic arm accurately deploys detectors and source excitation in space according to the established observation system, effectively avoiding the spatial coordinate errors caused by manual deployment 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 as follows:

[0054] S1. Before using the slide rail type geological prediction device carried by the shield machine, it is necessary to carry 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. The movement trajectories of the first robotic arm 403, the second robotic arm 404 and the fuselage 401 can be set in advance through computer programming according to a predetermined observation system, and can be adjusted at any time according to changes in the observation system.

[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 according to a predetermined trajectory, and the second robotic arm 404 arranges the geophones one by one, with the geophones being wirelessly connected to each other.

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

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

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

[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 geophones one by one and places them on the geophone storage platform inside 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 a relevant report, thus completing the advanced geological forecast work.

[0063] Example 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 described in Example 1, including:

[0065] The tunnel geology advance prediction device 4 moves in the direction and speed of the shield machine 5; when performing detection and prediction on a certain detection position in the tunnel 3, the second slide rail 102 moves on the first slide rail 101 in the opposite direction of 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 carry 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 left between the tunnel geological advance prediction equipment 4 and the cutter head 6 on the shield machine 5.

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

[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 according to a predetermined trajectory, and the second robotic arm 404 arranges the geophones one by one, with the geophones being wirelessly connected to each other.

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

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

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

[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 geophones one by one and places them on the geophone storage platform inside 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 a relevant report, thus completing the advanced geological forecast work.

[0075] Example 3:

[0076] This embodiment provides a shield machine, including a shield machine body, and a sliding rail type geological prediction device carried by the shield machine as described in Example 1; 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 merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A slide rail type geological prediction device carried by a shield machine, characterized in that: It includes an adjustment mechanism mounted 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 shield-mounted sliding rail geological prediction device according to claim 1, 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. The slide rail type geological prediction device carried by a shield machine as claimed in claim 1, characterized in that: Two second slide rails parallel to each other are arranged on the first slide rail, and both ends of the tunnel geology advance prediction device are respectively arranged on the two second slide rails through running wheels.

4. The shield-mounted sliding rail geological prediction device according to claim 1, characterized in that: The tunnel geology advance prediction device comprises a body and running wheels arranged on the body.

5. The shield-mounted sliding rail geological prediction device according to claim 4, characterized in that: An electromagnet is provided on the walking wheel.

6. The shield-mounted sliding rail geological prediction device according to claim 1, characterized in that: The second slide rail is provided with an electromagnetic locking mechanism.

7. The shield-mounted sliding rail geological prediction device according to claim 1, 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. The shield-mounted sliding rail geological prediction device according to claim 1, characterized in that: The tunnel geology advance prediction device is wirelessly connected to a remote processing terminal.

9. A shield-mounted sliding rail geological prediction method, characterized in that: A slide rail type geological prediction device mounted on a shield machine as claimed in any one of claims 1 to 8 is used, comprising: The tunnel geology advance prediction device moves following the excavation direction and speed of the shield machine; when performing detection and prediction on a certain detection position in the tunnel, 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, through the movement of the tunnel geology advance prediction device on the second slide rail, the tunnel geology advance prediction device is close to the detection position on the inner wall of the tunnel.

10. A shield machine, characterized in that: The invention comprises a shield machine body, and a shield-mounted sliding rail type geological prediction device as claimed in any one of claims 1 to 8, which is mounted on the shield machine body.

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