TBM tunnel construction seismic exploration carrying type detector positioning method and system

Abstract

The invention belongs to the technical field of tunnel seismic exploration, and provides a TBM tunnel construction seismic exploration carrying type detector positioning method and system, and the method comprises the steps: obtaining ultrasonic signals, preset on a full-section hard rock tunnel boring machine, of an ultrasonic transmitter and an ultrasonic sensor; obtaining a linear distance between each detector and each ultrasonic transmitter according to the obtained ultrasonic signal; based on the triangulation principle, the linear distance between the same detector and each ultrasonic transmitter is combined to obtain the three-dimensional position of the detector. The ultrasonic transmitters and the ultrasonic sensors are arranged on the full-section hard rock tunnel boring machine, the linear distances between the same detector and the ultrasonic transmitters are combined according to the triangulation principle, the three-dimensional position of the detector can be obtained, manual measurement in a tunnel is not needed, and the measurement efficiency is improved. And the spatial position of each detector in the TBM tunnel can be accurately obtained.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel seismic exploration, and in particular relates to a method and system for positioning a mounted geophone for seismic exploration in TBM tunnel construction. Background Art

[0002] For unfavorable geological conditions such as fault fracture zones and weak surrounding rocks, the tunnel seismic wave reflection method is the most commonly used advance detection method. It has the advantages of long detection distance and sensitivity to interfaces, and has been widely used in many projects. The tunnel seismic wave detection method is to install detectors on the rock wall or shield in the tunnel to stimulate seismic waves by explosive sources or hammering. The seismic waves propagate toward the tunnel working surface and are emitted when they encounter structures such as rock interfaces. They propagate back to the tunnel side walls and are received by the detectors. The seismic exploration method for full-section hard rock tunnel boring machine (TBM) tunnel construction has developed rapidly in recent years, and the seismic observation system has developed from ordinary detectors to TBM tunnel construction seismic exploration mounted observation systems. In order to obtain accurate reflection surface information, it is necessary to accurately record the spatial layout of the detectors to minimize the errors caused by the detectors.

[0003] The inventors have found that the current layout of detectors in TBM tunnels is generally planned by manual measurement of detection points, and the method of manpower going into the tunnel to conduct measurements increases the cost investment; in addition, the internal structure of the TBM is complex, and there are many instruments, which are difficult to locate through instruments such as theodolites and total stations. There are large deviations in the positions of the detectors, which can easily make the seismic imaging results inconsistent with the actual situation. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a method and system for positioning a geophone carried in seismic exploration for TBM tunnel construction. The present invention arranges an ultrasonic transmitter and an ultrasonic sensor on a full-section hard rock tunnel boring machine, and obtains the ultrasonic signals of the ultrasonic transmitter and the ultrasonic sensor to obtain the straight-line distance between each geophone and each ultrasonic transmitter; then, by using the triangulation principle, the straight-line distance between the same geophone and each ultrasonic transmitter is combined to obtain the three-dimensional position of the geophone, without the need for manpower to measure in the tunnel, and the spatial position of each geophone in the TBM tunnel can be accurately obtained, thereby reducing the error between the seismic imaging result and the actual situation.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a method for positioning a geophone for seismic exploration during TBM tunnel construction, comprising:

[0007] Acquire ultrasonic signals emitted by an ultrasonic transmitter and an ultrasonic sensor preset on a full-face hard rock tunnel boring machine;

[0008] According to the acquired ultrasonic signal, the straight-line distance between each detector and each ultrasonic transmitter is obtained;

[0009] Using the principle of triangulation, the straight-line distance between the same detector and each ultrasonic transmitter is combined to obtain the three-dimensional position of the detector.

[0010] Furthermore, the noise signal in the interference frequency band is filtered out by bandpass filtering, and the interference noise is filtered out by a structure-oriented median filtering method.

[0011] Furthermore, the ultrasonic signal in the time-space domain is Fourier transformed into the frequency-wavenumber domain, and a selection is made based on the inclination angle of the event axis of the effective signal to select the energy group corresponding to the effective signal in the frequency-wavenumber domain, and other energies are filtered out and then transformed back to the time-space domain.

[0012] Furthermore, the coordinates of the three ultrasonic transmitters are obtained as follows:

[0013] P1(x1,y1,z1),P2(x2,y2,z2),P3(x3,y3,z3)

[0014] Set the three-dimensional coordinates of the target detector to:

[0015] P(x, y, z)

[0016] According to the Euclidean distance formula, the distances d1, d2 and d3 from the detector to the three ultrasonic transmitters are calculated as follows:

[0017]

[0018] Furthermore, according to the arrival time difference, the distance difference is expressed as:

[0019] d2-d1=c·(t2-t1)

[0020] d3-d1=c·(t3-t1)

[0021] d3-d2=c·(t3-t2)

[0022] Among them, t1, t2 and d3 are the times when the target sound wave signal reaches the three receivers respectively; c is the propagation speed of the sound wave.

[0023] Furthermore, the distance difference is used to establish the equation system:

[0024]

[0025] The equations are solved numerically to obtain the three-dimensional coordinates (x, y, z) of the target detector.

[0026] In a second aspect, the present invention further provides a TBM tunnel construction seismic exploration onboard geophone positioning system, comprising:

[0027] The data acquisition module is configured to: obtain ultrasonic signals emitted by an ultrasonic transmitter and an ultrasonic sensor preset on a full-face hard rock tunnel boring machine;

[0028] The straight-line distance calculation module is configured to: obtain the straight-line distance between each detector and each ultrasonic transmitter according to the acquired ultrasonic signal;

[0029] The position determination module is configured to: utilize the triangulation principle to combine the straight-line distances between the same geophone and each ultrasonic transmitter to obtain the three-dimensional position of the geophone.

[0030] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for positioning a mounted geophone for seismic exploration in TBM tunnel construction described in the first aspect.

[0031] In a fourth aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the program, the steps of the method for positioning a mounted detector for seismic exploration in TBM tunnel construction described in the first aspect are implemented.

[0032] In a fifth aspect, the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for positioning a mounted detector for seismic exploration in TBM tunnel construction described in the first aspect are implemented.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In the present invention, an ultrasonic transmitter and an ultrasonic sensor are arranged on a full-section hard rock tunnel boring machine, and the straight-line distance between each detector and each ultrasonic transmitter is obtained by acquiring the ultrasonic signals of the ultrasonic transmitter and the ultrasonic sensor; then, the straight-line distance between the same detector and each ultrasonic transmitter is combined by utilizing the triangulation principle, so that the three-dimensional position of the detector can be obtained, and no manpower is required to measure in the tunnel, and the spatial position of each detector in the TBM tunnel can be accurately obtained, thereby reducing the error between the seismic imaging result and the actual situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 This is a schematic diagram of a TBM tunnel construction seismic exploration onboard geophone positioning system according to Example 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of a mounted ultrasonic sensor for seismic exploration in TBM tunnel construction according to Example 1 of the present invention;

[0038] Figure 3 This is a data processing flow chart of the spatial information data interpretation system of Example 1 of the present invention;

[0039] Among them, 1. ultrasonic transmitter; 2. ultrasonic sensor; 201. ultrasonic sensor housing; 202. battery module; 203. functional module; 204. signal indicator light; 3. data interpretation unit. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] 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.

[0042] Embodiment 1:

[0043] With the development of infrastructure, tunnel construction has entered a golden age. The full-section rock tunnel boring machine (TBM) has significant advantages such as "fast excavation speed, high tunnel quality, safety and environmental protection". It has been used more and more widely in actual projects and has gradually become the first choice for tunnel construction. However, TBM has poor adaptability to complex geology. If faults, broken zones, composite formations, boulders, karst and other unfavorable geology are not carefully explored, landslides, sudden water and mud, machine jams and other disasters are likely to occur during construction, causing economic losses and adverse social impacts.

[0044] For unfavorable geological conditions such as fault fracture zones and weak surrounding rocks, tunnel seismic wave reflection method is the most commonly used advance detection method. It has the advantages of long detection distance and sensitivity to interfaces, and has been widely used in many projects. The tunnel seismic wave detection method is to install detectors on the rock wall or shield in the tunnel to stimulate seismic waves by explosive sources or hammering. When the seismic waves propagate toward the tunnel working surface and encounter structures such as rock interfaces, they are emitted and propagate back to the tunnel side walls to be received by the detectors. The seismic exploration method for TBM tunnel construction has developed rapidly in recent years, and the seismic observation system has developed from ordinary detectors to TBM tunnel construction seismic exploration mounted observation systems. In order to obtain accurate reflection surface information, it is necessary to accurately record the spatial layout of the detectors and minimize the errors caused by the detectors. However, the layout of the detectors in the current TBM tunnel is generally planned by manual measurement. The detection points are also planned by manual measurement. In addition, the internal structure of the TBM is complex, and there are many instruments. It is difficult to locate them by instruments such as theodolites and total stations. There is a large deviation in the position of the detectors, which easily makes the seismic imaging results inconsistent with the actual situation.

[0045] The accurate position of the detector is related to the accuracy of the tunnel advance prediction results. The arrangement of the detectors in the tunnel is a three-dimensional structure. If the position of each detector cannot be determined accurately, it will have an adverse effect on the final inverted wave velocity and the position of the structural reflection surface.

[0046] In summary, one of the key issues currently facing seismic exploration in TBM tunnel construction is the accurate positioning of the geophone. At present, there is no spatial positioning system for geophones in tunnels, especially no positioning system for geophones mounted on TBM tunnels.

[0047] In response to at least one of the above problems, the present embodiment provides a method for positioning a mounted geophone for seismic exploration during TBM tunnel construction, wherein an ultrasonic transmitter and an ultrasonic sensor are arranged on a full-section hard rock tunnel boring machine, and the straight-line distance between each geophone and each ultrasonic transmitter is obtained by acquiring ultrasonic signals from the ultrasonic transmitter and the ultrasonic sensor; then, the straight-line distance between the same geophone and each ultrasonic transmitter is combined using the principle of triangulation to obtain the three-dimensional position of the geophone, without the need for manpower to perform measurements in the tunnel, and the spatial position of each geophone in the TBM tunnel can be accurately obtained, thereby reducing the error between the seismic imaging result and the actual situation.

[0048] In order to implement the geophone positioning method, the present embodiment further provides a TBM tunnel construction seismic exploration mounted geophone positioning system, comprising an ultrasonic transmitter 1, an ultrasonic sensor 2 and a data interpretation unit 3. Optionally, the ultrasonic transmitter 1 is a TBM tunnel construction seismic exploration mounted geophone ultrasonic transmitter, the ultrasonic sensor 2 is a TBM tunnel construction seismic exploration mounted ultrasonic sensor, and the data interpretation unit 3 is a spatial information data interpretation system.

[0049] The ultrasonic transmitter 1 is provided in a plurality and arranged along the length direction of the full-section hard rock tunnel boring machine. The ultrasonic sensor 2 is provided in front of the dust removal fan of the full-section hard rock tunnel boring machine to ensure the cleanliness of the ultrasonic sensor 2. The data interpretation unit 3 is provided in the main control room of the full-section hard rock tunnel boring machine.

[0050] Optionally, the ultrasonic transmitter 1 is used to transmit ultrasonic signals outwardly, and transmit information such as ultrasonic signal frequency and emission time to the spatial information data interpretation system via wireless signals. The ultrasonic sensor 2 is used to receive the ultrasonic signal emitted by the ultrasonic transmitter 1, and transmit the collected information such as the arrival time of each ultrasonic wave to the data interpretation unit 3 via wireless signals. At least three ultrasonic transmitters 1 are fixedly installed on the TBM.

[0051] Optionally, the working process of the data interpretation unit 3 is:

[0052] S1, receiving information such as ultrasonic frequency, phase and emission time transmitted by the ultrasonic transmitter 1;

[0053] It can be understood that the ultrasonic frequency can be used to distinguish effective positioning signals from interference noise signals. The frequency affects the resolution and penetration ability: high frequency can usually provide higher spatial resolution, that is, it can more accurately locate the position or boundary of the target object; low-frequency ultrasound can penetrate more tissues or substances, which is suitable for situations where deep penetration is required, but the spatial resolution may be reduced. Phase affects positioning accuracy and beamforming: phase information can be used to accurately locate the position of the target, especially in multi-sensor systems, where the direction and distance of the target can be determined through phase information; in ultrasonic imaging, phase can be used to form a beam, that is, to control the emission direction and focal position of the ultrasound, thereby improving the imaging quality. Emission time affects distance measurement and speed measurement: emission time can be used to measure the time from the emission to the reception of the ultrasound, thereby calculating the distance from the target object to the sensor; the speed of the target object can be calculated by the difference in arrival time between different sensors.

[0054] S2, receiving each ultrasonic signal collected by the ultrasonic sensor 2 and information such as arrival time;

[0055] S3, performing data processing such as noise filtering, signal correction and error correction on the collected ultrasonic signals;

[0056] It is understandable that TBM will generate various noises during the excavation process, including vibration noise generated by various mechanical operations of TBM in the tunnel, rock breaking vibration noise during TBM excavation, and various ultrasonic equipment such as walkie-talkies. Among them, the noise frequency generated by mechanical vibration noise machine ultrasonic equipment is relatively high, which will cause strong interference to the positioning ultrasonic signal. If it is not processed, the accuracy of positioning will be affected. When processing, the noise signal in the interference frequency band is first filtered out by bandpass filtering, and then the interference noise coupled in the effective signal is further filtered out by methods such as structure-oriented median filtering and FK domain inclination filtering. Optionally, FK domain inclination filtering: First, the ultrasonic signal in the time-space domain is Fourier transformed and transformed into the frequency-wavenumber domain (FK domain), and the inclination angle of the phase axis of the effective signal is selected, and the energy group corresponding to the effective signal in the FK domain is selected, and other energies are filtered out, and then transformed back to the time-space domain.

[0057] S4. Calculate the straight-line distance between each detector and each ultrasonic transmitter 1.

[0058] S4.1. Assume that there are three ultrasonic transmitters 1, and the three-dimensional coordinates of the three ultrasonic transmitters 1 are known quantities, which are defined as follows:

[0059] P1(x1,y1,z1),P2(x2,y2,z2),P3(x3,y3,z3)

[0060] The three-dimensional coordinates of the target detector are unknown quantities and are defined as:

[0061] P(x, y, z)

[0062] S4.2. Define the propagation speed of sound waves as c; optionally, the speed is, with a typical value of 343 m / s in air, and the specific value may also depend on factors such as temperature and humidity.

[0063] S4.3. By measuring, the distances between the target detector and the three ultrasonic transmitters 1 are obtained, which are d1 (the distance from P to P1), d2 (the distance from P to P2) and d3 (the distance from P to P3).

[0064] Optionally, according to the Euclidean distance formula, the distances from the target P(x, y, z) to each known point P1(x1, y1, z1), P2(x2, y2, z2) and P3(x3, y3, z3) are respectively expressed as:

[0065]

[0066] S4.4. Calculate the arrival time difference. Based on the arrival time difference, the distance difference can be expressed as:

[0067] d2-d1=c·(t2-t1)

[0068] d3-d1=c·(t3-t1)

[0069] d3-d2=c·(t3-t2)

[0070] Among them, t1, t2 and d3 are the times when the target sound wave signal arrives at the three receivers respectively.

[0071] S5. Calculate the position of the detector in three-dimensional space using triangulation.

[0072] Using the principle of triangulation, the linear distance information between the same detector and each ultrasonic transmitter is combined to calculate the three-dimensional position of the detector. Optional:

[0073] S5.1. Establish an equation group. The distance difference measured in step S4.4 can be used to establish the following equation group:

[0074]

[0075] S5.2. Solve the target coordinates:

[0076] The equations in step S5.1 are nonlinear equations, which are usually solved using numerical methods, such as the Newton-Raphson method, an iterative method, or an optimization algorithm. By solving the equations, the three-dimensional coordinates (x, y, z) of the target detector can be obtained.

[0077] S6. Multi-point measurement:

[0078] Increase the number of measurement points and provide redundant information to improve positioning accuracy. For example, use ultrasonic transmitters at different positions to form multiple groups of ultrasonic transmitters including three ultrasonic transmitters, and use multiple groups of ultrasonic transmitters to calculate the three-dimensional coordinates of multiple target detectors; take the middle position of the multiple three-dimensional coordinates as the reference coordinate, delete the three-dimensional coordinates whose position difference with the reference coordinate is greater than the preset difference, and solve the mean of the corresponding coordinate values ​​in the remaining three-dimensional coordinates as the final three-dimensional coordinates of the target detector.

[0079] In some other embodiments, the ultrasonic transmitter 1 and the detector may be designed as an integrated whole. In this case, when calculating the three-dimensional coordinates of the target detector, parameters such as the time it takes for the ultrasonic transmitter 1 to reach the ultrasonic receiver are used, and the three-dimensional coordinates of the target detector are determined by calculating the distance from the ultrasonic transmitter 1 to the ultrasonic receiver.

[0080] In some other embodiments, such as Figure 2As shown, the ultrasonic transmitter 1 includes an ultrasonic sensor housing 201, and a battery module 202, a functional module 203 and a signal indicator light 204 arranged in the ultrasonic sensor housing 201; wherein the functional module 203 includes an ultrasonic transmitting module, a wireless signal receiving and transmitting module and a time module.

[0081] In some other embodiments, the ultrasonic transmitter 1 is an air ultrasonic transmitter; the frequency band of the ultrasonic signal emitted by the ultrasonic transmitter 1 may be between 40kHz and 100kHz, and the frequency bands of the ultrasonic signals emitted by each ultrasonic transmitter should be different; the ultrasonic transmitter 1 transmits information such as the frequency band, phase, and emission time of the excited ultrasonic signal to the spatial information data interpretation system;

[0082] In some other embodiments, there are at least three ultrasonic sensors 2 fixed on the TBM, and the spatial position between each ultrasonic sensor can be obtained by calculation. The spatial position between the ultrasonic sensor 2 and the center of the TBM cutter disc can be determined; the ultrasonic sensor 2 can receive ultrasonic signals and store and transmit them; the frequency band of the ultrasonic signal emitted by the ultrasonic sensor 2 should be between 40kHz and 100kHz. The ultrasonic sensor 2 includes an ultrasonic transmitting and receiving module, a wireless signal receiving and transmitting module, a time module and a power supply module, etc. The ultrasonic sensor 2 is an air ultrasonic sensor;

[0083] In some other embodiments, the data interpretation unit 3 controls each ultrasonic transmitter 1 and the ultrasonic sensor 2 to perform time synchronization before positioning.

[0084] Embodiment 2:

[0085] This embodiment provides a TBM tunnel construction seismic exploration onboard geophone positioning system, including:

[0086] The data acquisition module is configured to: obtain ultrasonic signals emitted by an ultrasonic transmitter and an ultrasonic sensor preset on a full-face hard rock tunnel boring machine;

[0087] The straight-line distance calculation module is configured to: obtain the straight-line distance between each detector and each ultrasonic transmitter according to the acquired ultrasonic signal;

[0088] The position determination module is configured to: utilize the triangulation principle to combine the straight-line distances between the same geophone and each ultrasonic transmitter to obtain the three-dimensional position of the geophone.

[0089] The working method of the system is the same as the method for positioning the onboard geophone for seismic exploration in TBM tunnel construction in Example 1, and will not be described in detail here.

[0090] Embodiment 3:

[0091] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method for positioning a mounted geophone for seismic exploration in TBM tunnel construction described in Example 1 are implemented.

[0092] Embodiment 4:

[0093] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the steps of the method for positioning a mounted detector for seismic exploration of TBM tunnel construction described in Example 1 are implemented.

[0094] Embodiment 5:

[0095] This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for positioning a mounted geophone for seismic exploration in TBM tunnel construction described in Example 1 are implemented.

[0096] 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 method for positioning a geophone for seismic exploration during TBM tunnel construction, characterized in that: include: Acquire ultrasonic signals emitted by an ultrasonic transmitter and an ultrasonic sensor preset on a full-face hard rock tunnel boring machine; According to the acquired ultrasonic signal, the straight-line distance between each detector and each ultrasonic transmitter is obtained; Using the principle of triangulation, the straight-line distance between the same detector and each ultrasonic transmitter is combined to obtain the three-dimensional position of the detector.

2. The method for positioning a mounted geophone for seismic exploration in TBM tunnel construction according to claim 1, characterized in that: The noise signal in the interference frequency band is filtered out by bandpass filtering, and the interference noise is filtered out by the structure-oriented median filtering method.

3. The method for positioning a geophone for seismic exploration during TBM tunnel construction according to claim 2, characterized in that: The ultrasonic signal in the time-space domain is Fourier transformed into the frequency-wavenumber domain. According to the inclination angle of the event axis of the effective signal, the energy group corresponding to the effective signal in the frequency-wavenumber domain is selected, and other energies are filtered out, and then transformed back to the time-space domain.

4. The method for positioning a geophone for seismic exploration during TBM tunnel construction according to claim 1, characterized in that: Get the coordinates of the three ultrasonic transmitters: P1(x1,y1,z1),P2(x2,y2,z2),P3(x3,y3,z3) Set the three-dimensional coordinates of the target detector to: P(x, y, z) According to the Euclidean distance formula, the distances d1, d2 and d3 from the detector to the three ultrasonic transmitters are calculated as follows:

5. The method for positioning a mounted geophone for seismic exploration in TBM tunnel construction according to claim 4, characterized in that: Based on the arrival time difference, the distance difference is expressed as: d2-d1=c·(t2-t1) d3-d1=c·(t3-t1) d3-d2=c·(t3-t2) Among them, t1, t2 and d3 are the times when the target sound wave signal reaches the three receivers respectively; c is the propagation speed of the sound wave.

6. The method for positioning a mounted geophone for seismic exploration in TBM tunnel construction according to claim 5, characterized in that: Use the distance differences to create a system of equations: The equations are solved numerically to obtain the three-dimensional coordinates (x, y, z) of the target detector.

7. The TBM tunnel construction seismic exploration mounted geophone positioning system is characterized by: include: The data acquisition module is configured to: obtain ultrasonic signals emitted by an ultrasonic transmitter and an ultrasonic sensor preset on a full-face hard rock tunnel boring machine; The straight-line distance calculation module is configured to: obtain the straight-line distance between each detector and each ultrasonic transmitter according to the acquired ultrasonic signal; The position determination module is configured to: utilize the triangulation principle to combine the straight-line distances between the same geophone and each ultrasonic transmitter to obtain the three-dimensional position of the geophone.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for positioning a mounted geophone for seismic exploration in TBM tunnel construction as described in any one of claims 1 to 6 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the steps of the method for positioning a mounted geophone for seismic exploration in TBM tunnel construction as described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method for positioning a mounted geophone for seismic exploration in TBM tunnel construction as described in any one of claims 1 to 6 are implemented.

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