TBM tunneling and exploring integrated intelligent monitoring and early warning system and monitoring and early warning method

Abstract

The invention discloses a TBM tunneling and exploring integrated intelligent monitoring and early warning system and a monitoring and early warning method.The system comprises an underground system and a ground system, the underground system comprises a TBM, multi-parameter sensors and an acquisition station, and the multi-parameter sensors at least comprise a seismic field sensor and an electric field sensor; the seismic field sensor is used for collecting seismic wave signals generated by coal and rock mass fracture in the TBM tunneling process, at least one of a cutterhead and a shield body of the TBM is used for emitting current into the coal and rock mass in the TBM tunneling process, and the collection station is used for configuring parameters of the multi-parameter sensor and collecting monitoring data of the multi-parameter sensor. And the ground system is used for receiving, storing and processing the monitoring data. According to the TBM, in the tunneling process, risks such as structure abnormity and water disaster abnormity in front of the tunneling face can be detected in real time, the technical effect of exploration while tunneling is achieved, the tunneling efficiency of the TBM is improved, and the problem that tunneling operation and advanced detection cannot be conducted at the same time is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunneling detection, and in particular relates to a TBM tunneling and detection integrated intelligent monitoring and early warning system and a monitoring and early warning method. Background Art

[0002] Coal plays a bottom-line guarantee role in my country's main energy sources, and the high-quality development of the coal industry is being led by the core driving force of intelligent construction. However, the complex hydrogeological and structural geological conditions pose severe challenges to mining in the mining area. The TBM method has become the preferred technology for coal mine tunnel excavation with its high-efficiency excavation and safe support. However, the TBM method has obvious limitations. For example, the detection space is limited, and the traditional advance detection method cannot be carried out simultaneously with the excavation operation. Advance detection must be carried out when the TBM stops running. Therefore, the traditional advance detection method can no longer meet the continuity, rapidity and efficiency requirements of safe production.

[0003] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated intelligent monitoring and early warning system for TBM excavation and exploration, which is used to solve the problem that traditional advanced detection methods cannot meet the needs of TBM rapid excavation.

[0005] In order to achieve the above-mentioned purpose, a specific embodiment of the present invention provides an integrated intelligent monitoring and early warning system for TBM excavation and exploration, which includes an underground system and a ground system. The underground system includes a TBM, a multi-parameter sensor and a collection station. The multi-parameter sensor includes at least a seismic field sensor and an electric field sensor for detecting structural anomalies and water hazards in front of the excavation face. The seismic field sensor is used to collect seismic wave signals generated by coal rock fractures during TBM excavation. At least one of the cutter head and shield of the TBM is used to emit an electric current that can be received by the electric field sensor into the coal rock during TBM excavation. The collection station is used to configure the parameters of the multi-parameter sensor and collect monitoring data of the multi-parameter sensor. The ground system is used to receive, store and process the monitoring data transmitted by the collection station.

[0006] In one or more embodiments of the present invention, the seismic field sensor includes a plurality of pilot sensors and a plurality of measuring sensors, wherein the plurality of pilot sensors are installed on the cutterhead or shield of the TBM, and the plurality of measuring sensors are installed on the shield, on a trailer behind the TBM, or on the surrounding rock of the tunnel behind the TBM.

[0007] In one or more embodiments of the present invention, the electric field sensor includes a plurality of measuring electrodes, a reference electrode and a negative power supply electrode electrically connected to the cutterhead and the shield of the TBM. The plurality of measuring electrodes are installed on the shield, on the trailer behind the TBM or on the surrounding rock of the tunnel behind the TBM. Any one of the cutterhead, the shield and the measuring electrode emits current into the coal rock body, and the other two receive current in the coal rock body.

[0008] In one or more embodiments of the present invention, a plurality of measuring electrodes are provided, one of which transmits current into the coal rock body, and the remaining measuring electrodes receive the current in the coal rock body.

[0009] In one or more embodiments of the present invention, when neither the seismic field sensor nor the electric field sensor detects abnormal data, the seismic field sensor is in a low-frequency acquisition state.

[0010] In one or more embodiments of the present invention, when any one of the seismic field sensor and the electric field sensor detects abnormal data, the seismic field sensor switches to a high-frequency acquisition state.

[0011] In one or more embodiments of the present invention, when the seismic field sensor and the electric field sensor do not monitor abnormal data, the electric field sensor collects electrical monitoring data in an active and passive parallel manner;

[0012] In one or more embodiments of the present invention, when the electric field sensor detects abnormal data in the passive source collection state, the electric field sensor immediately performs active source collection and increases the data collection frequency of the active source collection.

[0013] In one or more embodiments of the present invention, when the seismic field sensor detects abnormal data, the electric field sensor immediately performs active source acquisition and increases the data acquisition frequency of the active source acquisition.

[0014] In one or more embodiments of the present invention, the multi-parameter sensor further includes any one or more of a magnetic field sensor, a temperature sensor, and an orientation gamma sensor.

[0015] In one or more embodiments of the present invention, the underground system also includes a central control platform and a switch. The central control platform is connected to the collection station via an optical fiber or a network cable. The central control platform is used to control the operation of the TBM and to display field parameters. The field parameters include at least one or more of the excavation mileage, the operation parameters of the TBM, the parameters of the multi-parameter sensor, and the three-dimensional model in front of the excavation face. The switch is connected to the collection station via an optical fiber or a network cable.

[0016] In one or more embodiments of the present invention, a multi-parameter sensor control system and a TBM main control system are configured in the central control platform, and are used to control the operation of the TBM, and to display and update in real time the three-dimensional geological model of the excavation face, abnormal structural conditions in front of the excavation face, and abnormal water hazards in front of the excavation face.

[0017] In one or more embodiments of the present invention, the ground system includes a server, a workstation and a monitoring platform. The server is used to receive and store monitoring data transmitted by the switch, the workstation is used to process and display monitoring data, and the monitoring platform is used to display monitoring data and TBM operating status.

[0018] Another aspect of the present invention provides a TBM excavation and exploration integrated intelligent monitoring and early warning method, which comprises the following steps:

[0019] During TBM excavation, seismic field sensors collect seismic wave signals generated by coal and rock mass fractures at the excavation face. The ground system inverts the seismic wave signals to obtain a three-dimensional model of structural anomalies and water damage anomalies in front of the excavation face.

[0020] The cutterhead or shield of the TBM emits current into the coal rock, the electric field sensor receives the current, and the ground system obtains resistivity data and performs offset imaging on it to obtain a three-dimensional model of structural anomalies and water damage anomalies in front of the excavation face.

[0021] In one or more embodiments of the present invention, the integrated intelligent monitoring and early warning method for TBM exploration and excavation also includes: when neither the seismic field sensor nor the electric field sensor detects abnormal data, the seismic field sensor is in a low-frequency acquisition state.

[0022] In one or more embodiments of the present invention, the integrated intelligent monitoring and early warning method for TBM exploration and excavation also includes: when any one of the seismic field sensor and the electric field sensor detects abnormal data, the seismic field sensor switches to a high-frequency acquisition state.

[0023] In one or more embodiments of the present invention, the integrated intelligent monitoring and early warning method for TBM exploration and excavation also includes: when neither the seismic field sensor nor the electric field sensor detects abnormal data, the electric field sensor collects electrical monitoring data in an active and passive parallel manner.

[0024] In one or more embodiments of the present invention, the integrated intelligent monitoring and early warning method for TBM exploration and excavation also includes: when the electric field sensor detects abnormal data in the passive source collection state, the electric field sensor immediately performs active source collection and increases the data collection frequency of the active source collection.

[0025] In one or more embodiments of the present invention, the integrated intelligent monitoring and early warning method for TBM exploration and excavation also includes: when the seismic field sensor detects abnormal data, the electric field sensor immediately performs active source collection and increases the data collection frequency of the active source collection.

[0026] In one or more embodiments of the present invention, after the multi-parameter sensor detects structural anomalies or water hazard anomalies, the TBM locks the hazard source and stops excavation work. After the hidden danger is eliminated, the TBM continues to operate and perform excavation work.

[0027] Compared with the prior art, the TBM of the present invention can conduct real-time detection of risks such as structural anomalies and water hazards in front of the excavation face during excavation, achieve the technical effect of exploration while excavating, improve the excavation efficiency of the TBM, and solve the problem that excavation operations and advance detection cannot be carried out simultaneously.

[0028] In addition, the working states of the seismic sensors and electric field sensors can be linked to each other to improve the detection accuracy and efficiency of structural anomalies and water damage anomalies.

[0029] In addition, the multi-parameter sensor is integrated with the TBM and can automatically move forward with the TBM during excavation without the need for manual movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 It is a structural schematic diagram of a TBM excavation and exploration integrated intelligent monitoring and early warning system in one embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the structure of a downhole system in one embodiment of the present invention;

[0033] Figure 3 A flowchart of a seismic sensor in one embodiment of the present invention;

[0034] Figure 4 This is a working diagram of an electric field sensor in one embodiment of the present invention;

[0035] Figure 5 The figure is a flow chart of an integrated intelligent monitoring and early warning method for TBM exploration and excavation in one embodiment of the present invention.

[0036] Explanation of main figure marks: 1. Excavation face, 2. Cutter head, 3. Shield body, 4. Seismic field sensor, 41. Pilot sensor, 42. Measuring sensor, 5. Electric field sensor, 51. Measuring electrode, 52. Reference electrode, 53. Negative power supply electrode, 6. Magnetic field sensor. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] In one embodiment, referring to Figure 1 and Figure 2 As shown, the present invention provides an integrated intelligent monitoring and early warning system for TBM exploration and excavation, which specifically includes an underground system and a ground system.

[0039] The underground system includes a TBM, a multi-parameter sensor, a collection station, a central control platform and a switch. The multi-parameter sensor is integrated with the TBM and is used to detect structural anomalies and water damage anomalies in front of the excavation face 1 during TBM excavation. The collection station is electrically connected to the multi-parameter sensor and connected to the switch through an optical fiber or a network cable. The collection station is used to configure the parameters of the multi-parameter sensor, collect the monitoring data of the multi-parameter sensor in real time during the excavation process, and is also used to transmit the collected monitoring data to the switch in real time. The switch sends the monitoring data to the ground system, and the monitoring data is processed by the ground system. The central control platform is connected to the collection station through an optical fiber or a network cable. The central control platform is used to control the operation of the TBM and to display the field parameters. The field parameters include at least one or more of the excavation mileage, the operating parameters of the TBM, the parameters of the multi-parameter sensor and the three-dimensional model in front of the excavation face 1, wherein the three-dimensional model in front of the excavation face 1 can be obtained by feedback from the ground system.

[0040] Furthermore, the central control platform is set in the operation room of the TBM. The central control platform has the functions of control and display. It is internally configured with a multi-parameter sensor control system and a TBM main control system. The operator can control the start and stop of the TBM, TBM operation parameter configuration and multi-parameter sensor monitoring parameter configuration through the central control platform, thereby improving the system's integration.

[0041] In addition, the central control platform is equipped with an operation panel and a display screen. Workers can control the operation of the TBM through the operation panel, and the display screen can display and update the TBM's operating status, TBM's operating parameters, the three-dimensional geological model of the excavation face, abnormal structures in front of the excavation face, and abnormal water hazards in front of the excavation face in real time, thereby realizing the transparency of the geological conditions of the excavation face and improving the safety of excavation operations.

[0042] In one embodiment, referring to Figure 1 and Figure 2 As shown, the multi-parameter sensor includes a seismic field sensor 4. The coal rock fracture caused during the TBM excavation process serves as the seismic source. The seismic waves emitted by the seismic source are collected by the seismic field sensor 4 to form a seismic wave signal. After the seismic wave signal is transmitted to the ground system, the ground system can perform inversion imaging on it to obtain a three-dimensional model of structural anomalies and water hazard anomalies in front of the excavation face 1.

[0043] Furthermore, the seismic field sensor 4 includes a plurality of pilot sensors 41 and a plurality of measuring sensors 42. The plurality of pilot sensors 41 are installed on the cutter head 2 or the shield body 3 of the TBM. When the TBM adopts an open or semi-open construction method for excavation, the measuring sensor 42 is installed on the surrounding rock of the tunnel behind the TBM. When the TBM adopts a closed construction method for excavation, the measuring sensor 42 is integrated on the TBM. Specifically, the measuring sensor 42 can be installed on the shield body 3, or on the trailer behind the TBM, or on both the shield body 3 and the trailer.

[0044] The distance between the leading sensor 41 and the excavation face 1 is relatively close. The seismic waves generated by the rupture of the coal rock mass during excavation are transmitted to the leading sensor 41 to form a leading seismic signal. The seismic waves are transmitted to the measuring sensor 42 to form a measuring seismic signal. After the leading seismic signal and the measuring seismic signal are transmitted to the ground system, they are subjected to cross-correlation interference and other processing to form a three-dimensional model of structural anomalies and water hazard anomalies in front of the excavation face 1.

[0045] In one embodiment, two pilot sensors 41 may be provided, and more than two measuring sensors 42 may be provided. The measuring sensors 42 are distributed substantially along a straight line in the tunnel, and the distance between two adjacent measuring sensors 42 may be controlled to be between 1.2m and 2m. When the TBM adopts an open or semi-open construction method for excavation, the measuring sensors 42 may be installed on the side wall or roof of the tunnel.

[0046] In another embodiment, the number of the pilot sensors 41 may also be set to one or more than three, and the distance between two adjacent measuring sensors 42 may also be adaptively adjusted according to the on-site conditions.

[0047] In one embodiment, the multi-parameter sensor includes an electric field sensor 5, which includes a plurality of measuring electrodes 51, a reference electrode 52, and a negative power supply electrode 53 electrically connected to the cutter head 2 of the TBM and the shield body 3 of the TBM. The measuring electrode 51 is located behind the TBM. When the TBM adopts an open or semi-open construction method for excavation, the measuring electrode 51 is installed on the surrounding rock of the tunnel behind the TBM. When the TBM adopts a closed construction method for excavation, the measuring electrode 51 is integrated on the TBM. Specifically, the measuring electrode 51 can be installed on the shield body 3 of the TBM, or on the trailer behind the TBM, or on the shield body 3 and the trailer at the same time. The reference electrode 52 is adjacent to the TBM, and the negative power supply electrode 53 is located 100m behind the TBM.

[0048] After the conductor parts of the cutter head 2 and shield body 3 of the TBM come into contact with the coal rock mass, current can be emitted into the coal rock mass, and the cutter head 2 and shield body 3 are used as emitting electrodes. The cutter head 2, shield body 3, measuring electrode 51, reference electrode 52 and power supply negative electrode 53 together constitute a distributed parallel electrode potential difference signal acquisition system.

[0049] The cutter head 2 can be used as the positive power supply electrode A1, the shield body 3 can be used as the positive power supply electrode A2, and the measuring electrodes 51 are marked as measuring electrode A3, measuring electrode A4, ... measuring electrode An in the direction away from the TBM.

[0050] In actual application, the power supply positive electrode A1, the power supply positive electrode A2 and all the measuring electrodes 51 act as transmitting sources in turn according to a preset order to transmit current into the coal rock body. When one of them acts as a transmitting source, the others act as receiving electrodes to receive the above current. For example, when the power supply positive electrode A1 transmits current, the power supply positive electrode A2, the measuring electrode A3, the measuring electrode A4... the measuring electrode An act as receiving electrodes. When the power supply positive electrode A2 transmits current, the power supply positive electrode A1, the measuring electrode A3, the measuring electrode A4... the measuring electrode An act as receiving electrodes. When the measuring electrode A3 transmits current, the power supply positive electrode A1, the power supply positive electrode A2, the measuring electrode A4... the measuring electrode An act as receiving electrodes.

[0051] Of course, in actual application, the emission sequence of the emission sources may be adjusted according to the on-site conditions, or only any one or more of the cutter head 2, the shield body 3 and the plurality of measuring electrodes 51 may be selected as the emission source.

[0052] In addition, only one of the cutter head 2 and the shield body 3 may be selected as the emission source. Alternatively, other conductor parts of the TBM may be used as the emission source.

[0053] In one embodiment, the measuring electrodes 51 can be arranged substantially in a straight line in a direction away from the TBM, and the distance between two adjacent measuring electrodes 51 can be controlled between 4m and 8m, and can be adaptively adjusted according to the on-site conditions in actual application. When the TBM adopts an open or semi-open construction method for excavation, the measuring electrodes 51 can be installed on the side wall or top plate of the tunnel. When the TBM adopts a closed construction method for excavation, the measuring electrodes 51 can be integrated with the seismic sensor 3.

[0054] In one embodiment, referring to Figure 3 and Figure 4 As shown, the seismic field sensor 4 and the electric field sensor 5 are linked to each other for monitoring and early warning, and the corresponding working state of the electric field sensor 5 can be set based on the actual monitoring situation of the seismic field sensor 4. Conversely, the corresponding working state of the seismic field sensor 4 can also be set based on the actual monitoring situation of the electric field sensor 5.

[0055] As an example, the seismic field sensor 4 has a low-frequency acquisition state and a high-frequency acquisition state. When the electric field sensor 5 does not detect abnormal data, the seismic field sensor 4 is in the low-frequency acquisition state. When the electric field sensor 5 detects abnormal data, the seismic field sensor 4 immediately switches to the high-frequency acquisition state to increase the data acquisition frequency and improve the acquisition accuracy. Of course, when the seismic field sensor 4 detects abnormal seismic data in the low-frequency acquisition state, the seismic field sensor 4 should also immediately switch to the high-frequency acquisition state.

[0056] As another example, the electric field sensor 5 collects electrical monitoring data in an active and passive parallel manner. The electric field sensor 5 has an active source collection state and a passive source collection state. In the active source collection state, the cutter head 2, the shield body 3 or the measuring electrode 51 transmits current to the surrounding coal rock body to form an artificial current field. In the passive source collection state, there is no need to actively transmit current. By measuring the natural current field formed in the surrounding coal rock body, the structural anomalies and water hazard anomalies in front of the excavation face 1 are monitored. When the seismic field sensor 4 detects abnormal data, the electric field sensor 5 immediately switches to the active source collection state, actively transmits current to the coal rock body, and increases the data collection frequency of the active source collection to improve the collection accuracy. Of course, when the electric field sensor 5 detects abnormal electrical data in the passive source collection state, the electric field sensor 5 should also immediately switch to the active source collection state.

[0057] In addition, the collection frequency of the electric field sensor 5 in the active source collection state and the passive source collection state can also be set differently. For example, the collection frequency in the active source collection state can be set higher than the collection frequency in the passive source collection state.

[0058] In one embodiment, the multi-parameter sensor further includes a magnetic field sensor 6, a temperature sensor, an azimuth gamma sensor or other sensors with geological detection functions.

[0059] During the excavation process of the TBM, the magnetic field sensor 6 can detect the resistivity distribution of the rock in front of the excavation face 1 and the surrounding rock of the tunnel, and then conduct real-time monitoring of the structural anomalies and water damage anomalies in front of the excavation face 1 and the surrounding rock of the tunnel. The magnetic field sensor 6 can be installed on the shield body 3 of the TBM and integrated with the TBM. The magnetic field sensor 6 does not need to be moved when the TBM moves forward.

[0060] When TBM uses an open or semi-open construction method for excavation operations, the temperature sensor is installed in the tunnel floor behind the TBM by drilling a hole to monitor limestone water damage in the floor. When there is deep limestone water in the floor, the temperature of the temperature sensor rises and an early warning is issued.

[0061] The magnetic field sensor 6, the temperature sensor and the azimuth gamma sensor can be linked with the seismic field sensor 4 and the electric field sensor 5. For example, when the magnetic field sensor 6 or the temperature sensor detects abnormal data, the sampling frequency of the seismic field sensor 4 and the electric field sensor 5 can be increased. The magnetic field sensor 6, the temperature sensor and the azimuth gamma sensor can also be integrated into the TBM, or directly integrated with the seismic field sensor 4 and the electric field sensor 5.

[0062] In one embodiment, referring to Figure 1 As shown in the figure, the ground system is used to receive, store and process the monitoring data transmitted by the collection station. The ground system specifically includes a server, a workstation and a monitoring platform. The server is used to receive and store the monitoring data of the multi-parameter sensor transmitted by the switch, the workstation is used to process and display the monitoring data of the multi-parameter sensor, and the monitoring platform is used to display the monitoring data of the multi-parameter sensor and the TBM operation status, so as to realize real-time monitoring of the excavation situation and disaster risks.

[0063] In one embodiment, referring to Figure 5 As shown, based on the above-mentioned TBM excavation and exploration integrated intelligent monitoring and early warning system, the present invention also provides a TBM excavation and exploration integrated intelligent monitoring and early warning method, which is characterized in that the monitoring and early warning method includes the following steps:

[0064] Step 1: During the TBM excavation process, each sensor of the multi-parameter sensor collects corresponding monitoring data, and the monitoring data is transmitted to the workstation for processing.

[0065] Specifically, during the excavation process, the seismic field sensor 4 collects seismic wave signals generated by the fracture of the coal and rock mass at the excavation face 1 , and the workstation inverts the seismic wave signals to obtain a three-dimensional model of structural anomalies and water hazard anomalies in front of the excavation face 1 .

[0066] The cutter head 2 or shield 3 of the TBM emits current into the coal rock body, the electric field sensor 5 receives the current, the workstation obtains resistivity data and performs offset imaging on it, and obtains a three-dimensional model of structural anomalies and water hazard anomalies in front of the excavation face 1.

[0067] The magnetic field sensor 6, the temperature sensor and the azimuth gamma sensor also transmit the monitoring data collected to the workstation respectively, and the workstation processes them accordingly to obtain the structural anomalies and water damage anomalies in front of the excavation face 1.

[0068] Step 2: When one of the multi-parameter sensors detects structural anomalies or water damage anomalies, the TBM will lock the hazard source, stop excavation, and on-site personnel will investigate the hidden dangers. During the investigation, manual drilling and other detection methods can be used to further identify the hazard source. After the hazard source is accurately identified, the on-site personnel will use targeted methods to eliminate the hazard source. Only after the hidden danger is eliminated can the TBM continue to operate and carry out excavation work.

[0069] Specifically, in step 2, when the multi-parameter sensor is used for advanced detection, when neither the seismic field sensor nor the electric field sensor detects abnormal data, the seismic field sensor is in a low-frequency acquisition state.

[0070] When any one of the seismic field sensor and the electric field sensor detects abnormal data, the seismic field sensor switches to a high-frequency acquisition state.

[0071] When neither the seismic field sensor nor the electric field sensor detects abnormal data, the electric field sensor collects electrical monitoring data in an active and passive parallel manner.

[0072] When the electric field sensor detects abnormal data in the passive source collection state, the electric field sensor immediately performs active source collection and increases the data collection frequency of the active source collection.

[0073] When the seismic field sensor detects abnormal data, the electric field sensor immediately performs active source acquisition and increases the data acquisition frequency of active source acquisition.

[0074] Alternatively, in step two, corresponding risk levels can be set for the monitoring parameters of different sensors, and corresponding thresholds can be set for each risk level. The real-time risk level corresponding to the monitoring parameter can be determined based on the real-time monitoring data. Then, a comprehensive evaluation of the current risk can be performed based on the weights of each monitoring parameter and the real-time risk level. Whether excavation needs to be stopped can be determined based on the comprehensive evaluation results.

[0075] The specific embodiments described above in conjunction with the accompanying drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of protection of the claims. The term "exemplary" used throughout this specification means "used as an example, instance or illustration" and does not mean "preferred" or "having advantages" over other embodiments. For the purpose of providing an understanding of the described technology, the specific embodiments include specific details. However, these technologies can be implemented without these specific details. In some instances, in order to avoid making the concepts of the described embodiments difficult to understand, well-known structures and devices are shown in block diagram form.

[0076] The above description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles corresponding to the present disclosure may be applied to other variations without departing from the scope of protection of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the widest range of principles and novel features disclosed herein.

Claims

1. An integrated intelligent monitoring and early warning system for TBM excavation and exploration, characterized in that: The invention comprises an underground system and a ground system, wherein the underground system comprises a TBM, a multi-parameter sensor and a collection station, wherein the multi-parameter sensor comprises at least a seismic field sensor and an electric field sensor for detecting structural anomalies and water hazard anomalies in front of the tunneling face, wherein the seismic field sensor is used to collect seismic wave signals generated by coal rock mass fracture during TBM tunneling, wherein at least one of the cutter head and the shield of the TBM is used to emit an electric current which can be received by the electric field sensor into the coal rock mass during TBM tunneling, wherein the collection station is used to configure the parameters of the multi-parameter sensor and collect monitoring data of the multi-parameter sensor, and wherein the ground system is used to receive, store and process the monitoring data transmitted by the collection station.

2. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 1 is characterized in that: The seismic field sensor includes a plurality of pilot sensors and a plurality of measuring sensors, wherein the plurality of pilot sensors are installed on the cutter head or shield of the TBM, and the plurality of measuring sensors are installed on the shield, on the trailer behind the TBM or on the surrounding rock of the tunnel behind the TBM.

3. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 1 is characterized in that: The electric field sensor includes a plurality of measuring electrodes, a reference electrode and a negative power supply electrode electrically connected to the cutterhead and the shield of the TBM. Several of the measuring electrodes are installed on the shield, on the trailer behind the TBM or on the surrounding rock of the tunnel behind the TBM. Any one of the cutterhead, the shield and the measuring electrode emits current into the coal rock body, and the other two receive the current in the coal rock body.

4. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 3 is characterized in that: There are multiple measuring electrodes, one of which transmits current into the coal rock body, and the other measuring electrodes receive the current in the coal rock body.

5. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 1 is characterized in that: When neither the seismic field sensor nor the electric field sensor detects abnormal data, the seismic field sensor is in a low-frequency acquisition state; When any one of the seismic field sensor and the electric field sensor detects abnormal data, the seismic field sensor switches to a high-frequency acquisition state.

6. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 1 is characterized in that: When the seismic field sensor and the electric field sensor do not detect abnormal data, the electric field sensor collects electrical monitoring data in an active and passive parallel manner; When the electric field sensor detects abnormal data in the passive source collection state, the electric field sensor immediately performs active source collection and increases the data collection frequency of the active source collection; When the seismic field sensor detects abnormal data, the electric field sensor immediately performs active source acquisition and increases the data acquisition frequency of the active source acquisition.

7. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 1 is characterized in that: The multi-parameter sensor also includes any one or more of a magnetic field sensor, a temperature sensor, and an orientation gamma sensor.

8. The integrated intelligent monitoring and early warning system for TBM excavation and exploration according to claim 1 is characterized in that: The underground system further includes a central control platform and a switch. The central control platform is connected to the collection station via an optical fiber or a network cable. The central control platform is used to control the operation of the TBM and to display field parameters. The field parameters include at least one or more of the excavation mileage, the operation parameters of the TBM, the parameters of the multi-parameter sensor, and the three-dimensional model in front of the excavation face. The switch is connected to the collection station via an optical fiber or a network cable. The central control platform is equipped with a multi-parameter sensor control system and a TBM main control system, and is used to control the operation of the TBM, and to display and update the three-dimensional geological model of the excavation face, abnormal structural conditions in front of the excavation face, and abnormal water hazards in front of the excavation face in real time; The ground system includes a server, a workstation and a monitoring platform. The server is used to receive and store monitoring data transmitted by the switch, the workstation is used to process and display monitoring data, and the monitoring platform is used to display monitoring data and TBM operating status.

9. A monitoring and early warning method using the TBM excavation and exploration integrated intelligent monitoring and early warning system as claimed in any one of claims 1 to 8, characterized in that: The monitoring and early warning method comprises the following steps: During TBM excavation, seismic field sensors collect seismic wave signals generated by coal and rock mass fractures at the excavation face. The ground system inverts the seismic wave signals to obtain a three-dimensional model of structural anomalies and water damage anomalies in front of the excavation face. The cutterhead or shield of the TBM emits current into the coal rock, the electric field sensor receives the current, and the ground system obtains resistivity data and performs offset imaging on it to obtain a three-dimensional model of structural anomalies and water damage anomalies in front of the excavation face.

10. The monitoring and early warning method according to claim 9, characterized in that: The monitoring and early warning method also includes: When neither the seismic field sensor nor the electric field sensor detects abnormal data, the seismic field sensor is in a low-frequency acquisition state; and / or, When any one of the seismic field sensor and the electric field sensor detects abnormal data, the seismic field sensor switches to a high-frequency acquisition state; and / or, When the seismic field sensor and the electric field sensor do not detect abnormal data, the electric field sensor collects electrical monitoring data in an active and passive parallel manner; and / or, When the electric field sensor detects abnormal data in the passive source collection state, the electric field sensor immediately performs active source collection and increases the data collection frequency of the active source collection; and / or, When the seismic field sensor detects abnormal data, the electric field sensor immediately performs active source acquisition and increases the data acquisition frequency of the active source acquisition.

11. The monitoring and early warning method according to claim 9, characterized in that: The monitoring and early warning method also includes: When the multi-parameter sensor detects structural anomalies or water damage anomalies, the TBM will lock the hazard source and stop excavation work. After the hidden dangers are eliminated, the TBM will continue to operate and carry out excavation work.

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