A method and device for automatically installing and recovering a microseismic sensor in TBM construction

Abstract

A kind of TBM construction microseismic sensor full-automatic installation recovery method and device, the device includes microseismic sensor mobile base, further includes microseismic sensor arrangement arch support, arch support moving guide rail, cable automatic take-up device, electric lifting rod, rod camera and laser calibration device.Microseismic sensor mobile base can move on microseismic sensor arrangement arch support, it contains base power and control box, moving wheel, electric lifting rod, vacuum sponge suction cup suction device and microseismic sensor magnetic clamp.Base power and control box can control the movement of microseismic sensor mobile base and provide power.Vacuum sponge suction cup suction device includes sponge, suction cup base and suction port, suction cup base is provided with the cylindrical recess of sensor, sponge is also dug out hole to facilitate microseismic sensor direct contact rock wall, using fixed mode to fix microseismic sensor in recess, utilize the air pressure difference between inside and outside of sponge suction cup to absorb in rock wall surface.The present application does not need to operate personnel to dismantle and assemble in hole site, compared with traditional manual measurement, has higher precision while realizing automation, and then improve the precision of microseismic monitoring and rock burst early warning.

Description

Technical Field

[0001] This invention belongs to the field of microseismic monitoring technology and relates to a fully automatic installation and recovery method and device for microseismic sensors during TBM construction, which is applicable to the microseismic monitoring process during TBM construction in underground rock engineering. Background Technology

[0002] Tunnel Boring Machines (TBMs), as highly integrated and mechanized rock tunnel boring machines, are increasingly widely used in modern underground engineering construction. However, in deep underground environments, the redistribution of ground stress caused by rock excavation can easily lead to rockburst disasters. These disasters can range from minor rock fragments affecting the lining effect to serious incidents such as flying rocks injuring people, damaging equipment, and even causing TBM jamming or local collapses, severely impacting the safety of personnel and equipment and the normal progress of the project.

[0003] Microseismic monitoring technology, by monitoring the elastic waves released from rock fractures in the surrounding rock and analyzing their spatiotemporal and energy levels, can achieve relatively accurate rockburst early warning. During TBM tunnel construction, the microseismic monitoring system focuses on the area surrounding the tunnel face, requiring the sensor placement to change with the face's location. This necessitates frequent sensor disassembly and reinstallation based on the tunneling distance. The time spent on sensor disassembly, rewiring, and installation by workers is lengthy, posing a serious safety threat. Furthermore, during sensor disassembly and installation, effective microseismic monitoring cannot be carried out, creating a microseismic monitoring and early warning gap, which adversely affects the overall safety monitoring of the tunnel. Therefore, a method is needed to avoid frequent manual sensor disassembly and installation and to shorten the microseismic early warning gap. Summary of the Invention

[0004] To address the existing technical problems, this invention provides a fully automated method and apparatus for installing and retrieving microseismic sensors during TBM construction.

[0005] This invention is achieved through the following technical solution:

[0006] A fully automated installation and recovery device for microseismic sensors used in TBM construction includes a movable base for the microseismic sensor, an arched support for arranging the microseismic sensor, a movable guide rail for the arched support, an automatic cable winding and unwinding device, an electric lifting pole, a pole camera, and a laser calibration device.

[0007] The microseismic sensor mobile base can move on the arched support for arranging the microseismic sensors. It includes a base power and control box, moving wheels, an electric lifting rod, a vacuum sponge suction cup adsorption device, and a magnetic clamp for the microseismic sensors.

[0008] The aforementioned base power and control box can control the movement of the micro-vibration sensor mobile base and provide power. Above the moving wheels is the tray of the micro-vibration sensor mobile base, on which are installed an electric lifting rod, a sponge suction cup fixing device, and a magnetic clamp for the micro-vibration sensor.

[0009] The vacuum sponge suction cup adsorption device mainly includes a sponge, a suction cup base, and an air inlet. The suction cup base is provided with a cylindrical groove for the sensor. The sponge is also hollowed out to facilitate direct contact between the micro-vibration sensor and the rock wall. The micro-vibration sensor is fixed in the groove using a fixing method. The sponge suction cup is adsorbed onto the rock wall surface by utilizing the air pressure difference between the inside and outside of the sponge suction cup.

[0010] The aforementioned micro-vibration sensor magnetic clamp includes an electromagnet and a sensor clamp. The sensor clamp has a strong magnetic shielding layer for the sensor and can fix the sensor in place. When the electromagnet is energized, it can fix the sensor clamp and the sensor to the iron anchor rod.

[0011] Two electrically operated lifting rods are installed on the movable base of the microseismic sensor. One of the lifting rods has a sponge suction cup at its end, which is fixed to the rod to hold the vacuum sponge suction cup adsorption device. The up-and-down movement of the lifting rod completes the adsorption and separation of the vacuum sponge suction cup device from the rock wall. Additionally, a positive-to-negative pressure converter is installed on the movable base of the microseismic sensor to convert the positive air pressure provided by the TBM into negative air pressure, providing a pressure difference for the sponge suction cup. The other lifting rod has an electromagnet at its end; when energized, the magnetic clamp of the microseismic sensor is fixed to the lifting rod. Due to varying rock wall conditions, in some areas with fractured surrounding rock, sponge suction cups cannot be used for adsorption; therefore, magnetic attraction can be used to fix the sensor to the anchor rod.

[0012] The tray of the micro-vibration sensor's mobile base is also equipped with a camera and a laser calibration device to assist the electric lifting rod in docking and raising / lowering.

[0013] The arched support for the microseismic sensors is located in the upper part of the TBM. Mobility devices, including wheels and motors, are installed at both ends of the arched support, along with an automatic cable retraction device. Moving tracks for the microseismic sensor bases are mounted on the arched support. The arched support is positioned above the protective canopy at the front of the TBM, with sufficient clearance from the rock wall. Several microseismic sensor bases can move along the arched support, allowing for successful installation of the microseismic sensors.

[0014] Arched support guide rails are installed on both sides of the central partition of the TBM, with a length equal to the distance the TBM microseismic sensor needs to be repositioned. These arched support guide rails ensure that the arched support for the microseismic sensor can move back and forth without collapsing. An automatic cable retraction device is also installed at the end of the arched support guide rails for the microseismic sensor, retracting or extending the cable as the arched support for the microseismic sensor moves.

[0015] The automatic cable winding and unwinding device is equipped with an electric wheel. As the micro-vibration sensor base moves on the arched support where the micro-vibration sensor is arranged, the electric wheel rotates accordingly, automatically winding and unwinding the cable.

[0016] The above-mentioned fully automated installation and recovery method for microseismic sensors during TBM construction includes the following steps:

[0017] Step 1, Micro-vibration sensor disassembly stage:

[0018] Step 1.1: Before disassembling the micro-vibration sensor, move and adjust the micro-vibration sensor base to align it with the position of the micro-vibration sensor.

[0019] Step 1.2: Send a remote command to the moving base of the micro-vibration sensor to raise the electric lifting rod;

[0020] Step 1.3: If the sensor is fixed using a vacuum sponge suction cup adsorption device, after the end of the electric lifting rod is attached to the vacuum sponge suction cup adsorption device, gradually reduce the airflow of the vacuum sponge suction cup adsorption device and increase the airflow of the sponge suction cup on the lifting rod. When using a micro-vibration sensor magnetic clamp to fix the sensor, reduce the current of the electromagnet on the micro-vibration sensor magnetic clamp and increase the current of the electromagnet on the lifting rod.

[0021] Step 1.4: After the vacuum sponge suction cup adsorption device detaches from the rock wall or the micro-vibration sensor magnetic clamp detaches from the anchor rod, lower the electric lifting rod.

[0022] Step 2, Microseismic Sensor Installation Stage:

[0023] Step 2.1: Move the arched bracket of the micro-vibration sensor to the front of the guide rail, adjust the position of the arched bracket and the moving base of the micro-vibration sensor to find a suitable position for the installation of the micro-vibration sensor. During the movement of the arched bracket and the sensor base, the automatic cable winding and unwinding device will also wind up and unwind the cable.

[0024] Step 2.2: Raise the electric lifting rod. After the vacuum sponge suction cup adsorption device is attached to the rock wall, turn on the airflow switch of the vacuum sponge suction cup adsorption device and gradually turn off the airflow of the sponge suction cup at the end of the electric lifting rod. When the airflow drops to a certain level, slowly lower the electric lifting rod and check whether the vacuum sponge suction cup adsorption device is firmly attached to the rock wall. If it is not firmly attached, re-adsorb or change the position to install the micro-vibration sensor. When using the micro-vibration sensor magnetic clamp, turn on the current switch of the micro-vibration sensor magnetic clamp, and then turn off the current switch of the electromagnet on the electric lifting rod.

[0025] Step 2.3: After confirming that the micro-vibration sensor is fixed, lower the electric lifting rod.

[0026] Step 3, Microseismic Monitoring Stage:

[0027] Step 3.1: The micro-vibration sensor is fixed at the monitoring position and separated from the micro-vibration sensor moving base. The cable of the micro-vibration signal is fixedly connected through the micro-vibration sensor moving base.

[0028] Step 3.2: As the TBM advances forward, the arched support for the micro-vibration sensor moves on the moving guide rail, keeping the spatial relative position of the micro-vibration sensor and the arched support unchanged. During the movement, the automatic cable retraction device at the end of the moving guide rail retracts or extends the cable according to the moving distance of the arched support for the micro-vibration sensor.

[0029] Step 3.3: Calculate the real-time coordinates of the microseismic sensor, analyze and process the monitored microseismic signals based on the real-time coordinates of the microseismic sensor, and output the analysis and processing results to the TBM main control console and central control console.

[0030] Step 3.4: If the TBM tunneling distance is greater than or equal to the tunneling spacing for reinstalling and disassembling the sensor, then the automatic disassembly and reassembly process of the micro-vibration sensor is triggered again, and steps 1 to 3 are repeated; otherwise, the analysis and processing of the micro-vibration signal continues.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] 1. It can realize automatic remote control assembly and disassembly of micro-vibration sensors without the need for operators to enter the tunnel for on-site assembly and disassembly, thus ensuring personnel safety and reducing labor costs;

[0033] 2. It can automatically reel in and out the cable, which greatly reduces the time required for sensor assembly and disassembly, and ensures the continuity of micro-vibration monitoring.

[0034] 3. It can realize automated intelligent correction of microseismic sensor coordinates. Compared with traditional manual measurement, it has higher accuracy while achieving automation, thereby improving the accuracy of microseismic monitoring and rockburst early warning.

[0035] 4. It can realize automated microseismic monitoring, and improve the mechanization and automation of TBM construction operations. Attached Figure Description

[0036] Figure 1 This is a cross-sectional view of a typical arrangement of the microseismic monitoring equipment in the device of the present invention;

[0037] Figure 2 This is a front view of the moving base of the micro-vibration sensor of the present invention;

[0038] Figure 3 Left view of a typical arrangement of the microseismic monitoring equipment in the device of the present invention;

[0039] Figure 4 This is a top view of the vacuum sponge suction cup adsorption device of the present invention;

[0040] Figure 5 This is a flowchart of the vacuum sponge suction cup adsorption device for fixing sensors according to the present invention;

[0041] Figure 6 This is a flowchart illustrating the process of fixing the sensor with a magnetic clamp for the micro-vibration sensor according to the present invention.

[0042] Figure 7 This is a flowchart of the present invention.

[0043] In the diagram: 1. TBM protective canopy; 2. Arched support for microseismic sensor arrangement; 3. Moving guide rail for the arched support; 4. Moving base for the microseismic sensor.

[0044] 5. Surrounding rock; 6. Vacuum sponge suction cup adsorption device; 7. Micro-vibration sensor; 8. Electric lifting rod sponge suction cup; 9. Positive and negative pressure converter; 10. Cable;

[0045] 11 Electric lifting mast; 12 Lifting mast control system and motor; 13 Electromagnet for electric lifting mast; 14 Micro-vibration sensor magnetic clamp;

[0046] 15TBM cutterhead; 16 Automatic cable reel-in / out device; 17 Anchor bolt; 18 Electric wheel. Detailed Implementation

[0047] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0048] Example 1: A fully automated installation and recovery device for microseismic sensors during TBM construction

[0049] Figure 1This is a cross-sectional layout diagram of the fully automated installation and recovery device for microseismic sensors under TBM construction conditions. The arched support 2 for the microseismic sensors is located in the upper part of the TBM body. The moving base 4 for the microseismic sensors is located on the arched support 2. The arched support 2 must be positioned above the protective canopy 1 with sufficient space to ensure the normal movement of both the arched support 2 and the moving base 4. The height space must be less than the maximum height of the moving base 4 and greater than its minimum height. The moving guide rails 3 are located on the far left and far right of the TBM body. The end positions of the moving guide rails 3 are generally set at the maximum sensor distance required for TBM microseismic monitoring. The moving guide rails 3 are equipped with dustproof covers to ensure cleanliness and sturdiness, allowing the arched support 2 for the microseismic sensors to move smoothly.

[0050] Figure 3 This is a side view of the equipment layout for the fully automatic installation and retrieval device for microseismic sensors. The arched support moving guide rail 3 is located behind the TBM cutterhead 15 and at a certain distance. An automatic cable retraction device 16 is installed at the end of the arched support moving guide rail 3. The arched support 2 for microseismic sensors is required to have a suitable height and cannot be jammed by the anchor rod 17 during movement. In the arrangement of microseismic monitoring sensors in the TBM, the microseismic sensors are required to be distributed at different cross-sectional positions. Therefore, multiple arched support moving guide rails 3 and multiple arched support 2 for microseismic sensors can be set up.

[0051] Figure 2 This is a cross-sectional view of the microseismic sensor moving base 3, which is located on the arched support 2 for arranging the microseismic sensors. Guide rails are required on the arched support 2 to ensure the movement of the microseismic sensor moving base 3 within it. A signal transmission section is also included, allowing real-time wireless communication between the overall position, attitude, and control information of the microseismic sensor moving base 3 and the TBM microseismic monitoring control cabinet.

[0052] like Figure 4As shown, the vacuum sponge suction cup adsorption device 6 includes a micro-vibration sensor 7. A groove is provided on the suction cup base of the vacuum sponge suction cup adsorption device 6 to ensure better adhesion between the micro-vibration sensor 7 and the rock wall. The micro-vibration sensor 7 and the sponge suction cup have a stable fit, ensuring it will not fall off. The lifting rod control system and motor 13 are responsible for raising and lowering the electric lifting rod 11. At the end of the electric lifting rod 11, there is also an electric lifting rod sponge suction cup 8, whose function is to firmly adhere to the sponge suction cup where the sensor is located when the sensor stops monitoring; this is the vacuum sponge suction cup adsorption device 6. The sponge suction cup has two cables: a micro-vibration signal cable and an air tube. The cables have sufficient slack to allow the lifting rod to fully extend. The micro-vibration signal cable passes through the micro-vibration sensor moving base 4 and the arched bracket 2 for the micro-vibration sensor arrangement, finally connecting to the TBM micro-vibration system control cabinet. The TBM's air valve provides positive air pressure. The air tube passes through the arched bracket 2 and the micro-vibration sensor moving base 4, finally connecting to the positive / negative pressure converter 9. This device uses Bernoulli's principle to convert positive pressure into negative pressure, providing negative pressure for the sponge suction cup. The lifting rod control system and motor are responsible for raising and lowering the lifting rod. A camera and laser calibration device are also installed on the tray of the micro-vibration sensor moving base 4 to provide position information during the installation and removal of the micro-vibration sensor.

[0053] The micro-vibration sensor mobile base 4 also includes another electrically operated lifting rod. Unlike the previous electrically operated lifting rod, this one has an electrically operated lifting rod electromagnet 13 at its end instead of a sponge suction cup. When energized, this electromagnet generates a magnetic force that completely holds the micro-vibration sensor magnetic clamp 14 in place, preventing it from falling. The micro-vibration sensor magnetic clamp 14 also includes an electromagnet, which is tightly fixed to the sensor housing. When the electromagnet on the sensor is energized, it generates a magnetic force that attracts the sensor to the iron anchor rod. To prevent the magnetic field from affecting the micro-vibration monitoring, a magnetic shielding layer is installed inside the sensor.

[0054] During monitoring, the arched support 2 for the microseismic sensors moves in the opposite direction on the moving guide rail 3 as the TBM advances, remaining relatively stationary with the microseismic sensors adsorbed on the rock wall or fixed to the anchor bolts. The TBM microseismic system control cabinet receives tunneling displacement information from the TBM control room. The arched support 2 for the microseismic sensors receives control signals from the TBM microseismic system control cabinet in real time during its movement. Simultaneously, the automatic cable retraction device 16 receives corresponding displacement information and rotates the electric wheel 18 to automatically retract and extend the cable.

[0055] Example 2: A fully automated installation and recovery method for microseismic sensors during TBM construction.

[0056] Combination Figure 5 , Figure 6 and Figure 7 This includes the following steps:

[0057] Step 1, Micro-vibration sensor disassembly stage:

[0058] Step 1.1: Before disassembling the micro-vibration sensor 7, move and adjust the micro-vibration sensor moving base 4 to align it with the position of the micro-vibration sensor.

[0059] Step 1.2: Send a remote command to the micro-vibration sensor moving base 4 to raise the electric lifting rod 11;

[0060] Step 1.3: If the micro-vibration sensor is fixed by the vacuum sponge suction cup adsorption device 6, after the end of the electric lifting rod 11 is attached to the vacuum sponge suction cup adsorption device 6, gradually reduce the airflow of the sponge suction cup adsorption device 6 and increase the airflow of the electric lifting rod sponge suction cup 8 on the electric lifting rod 11. When fixing the micro-vibration sensor using the micro-vibration sensor magnetic clamp 14, reduce the current of the electromagnet on the micro-vibration sensor magnetic clamp 14 and increase the current of the electromagnet 13 on the electric lifting rod.

[0061] Step 1.4: After the vacuum sponge suction cup adsorption device 6 detaches from the rock wall or the micro-vibration sensor magnetic clamp 14 detaches from the anchor rod 17, the electric lifting rod 11 is lowered.

[0062] Step 2, Microseismic Sensor Installation Stage:

[0063] Step 2.1: Move the arched bracket 2 of the micro-vibration sensor arrangement to the front of the arched bracket moving guide rail 3, adjust the position of the arched bracket 2 and the moving base 4 of the micro-vibration sensor arrangement to find a suitable position where the vacuum sponge suction cup adsorption device 6 or the magnetic clamp 14 of the micro-vibration sensor can adsorb. During the movement of the arched bracket 2 and the moving base 4 of the micro-vibration sensor arrangement, the automatic cable winding and unwinding device 16 also winds up and unwinds the cable.

[0064] Step 2.2: Raise the electric lifting rod 11, attach the vacuum sponge suction cup adsorption device 6 to the rock wall, then turn on the airflow switch of the vacuum sponge suction cup adsorption device 6, and gradually turn off the airflow of the electric lifting rod sponge suction cup 8. When the airflow drops to a certain level, slowly lower the electric lifting rod 11 and check whether the vacuum sponge suction cup adsorption device 6 is firmly attached to the rock wall. If it is not firmly attached, re-adsorb or change the position to install the sensor. When using the micro-vibration sensor magnetic clamp 14, turn on the current switch of the electromagnet on the micro-vibration sensor magnetic clamp 14, and then turn off the current switch of the lifting rod electromagnet 13.

[0065] Step 2.3: After confirming that the sensor is fixed, lower the electric lifting rod 11.

[0066] Step 3, Microseismic Monitoring Stage:

[0067] Step 3.1: The micro-vibration sensor 7 is fixed at the monitoring position by suction cup or magnetic attraction and separated from the micro-vibration sensor moving base 4. The micro-vibration signal cable 10 is fixedly connected through the micro-vibration sensor moving base 4.

[0068] Step 3.2: As the TBM advances forward, the arched support 2 for the micro-vibration sensor moves on the moving guide rail 3, keeping the spatial relative position of the sensor 7 and the arched support 2 unchanged. During the movement, the automatic cable rewinding device 16 at the end of the guide rail rewinds or unwinds the cable according to the moving distance of the arched support 2.

[0069] Step 3.3: Calculate the real-time coordinates of the micro-seismic sensor, analyze and process the monitored micro-seismic signals in combination with the real-time coordinates of the micro-seismic sensor 7, and output the analysis and processing results to the TBM main control console and central control console.

[0070] Step 3.4: If the TBM tunneling distance is greater than or equal to the tunneling spacing for reinstalling and disassembling the sensor, then the automatic disassembly and reassembly process of the micro-vibration sensor is triggered again, and steps 1 to 3 are repeated; otherwise, the analysis and processing of the micro-vibration signal continues.

Claims

1. A TBM construction microseismic sensor full-automatic installation and recovery device, characterized in that, The microseismic sensor mobile base comprises a base power and control box, a mobile wheel, an electric lifting rod, a vacuum sponge suction cup adsorption device and a microseismic sensor magnetic clamp. The base power and control box can control the movement of the microseismic sensor mobile base and provide power. The vacuum sponge suction cup adsorption device mainly comprises a sponge, a suction cup base and a suction port. The microseismic sensor magnetic clamp comprises an electromagnet and a sensor clamp. The microseismic sensor arrangement arch-shaped support is arranged on the upper half space of the TBM, and a moving device comprising a mobile wheel and a power motor is arranged at both ends of the microseismic sensor arrangement arch-shaped support. The arch-shaped support moving guide rail is arranged on both sides of the middle partition plate of the TBM.

2. The full-automatic installation and recovery device for TBM construction microseismic sensors according to claim 1, characterized in that, The cable automatic winding and unwinding device is arranged at the end of the arch-shaped support moving guide rail.

3. The full-automatic installation and recovery device for microseismic sensors in TBM construction according to any one of claims 1-2, characterized in that, The cable automatic winding and unwinding device is provided with an electric wheel disc. The electric lifting rod, a camera and a laser calibration device are arranged on the microseismic sensor mobile base. One end of one electric lifting rod is provided with a sponge suction cup fixed on the electric lifting rod. The other end of the other electric lifting rod is provided with an electromagnet. When the electromagnet is electrified, the microseismic sensor magnetic clamp is fixed on the lifting rod.

4. The full-automatic installation and recovery device for TBM construction microseismic sensors according to claim 3, characterized in that, Also include camera and laser calibration device; tray of microseismic sensor mobile base is also provided with camera and laser calibration device, auxiliary electric lifting rod is docked and lifted.

5. The method of using the TBM construction microseismic sensor full-automatic installation and recovery device according to any one of claims 1-4, characterized by the following steps: Step 1, microseismic sensor disassembly stage: Step 1.1, before starting to disassemble the microseismic sensor, move and adjust the microseismic sensor mobile base to align the position of the microseismic sensor; Step 1.2, send a remote command to the microseismic sensor mobile base to raise the electric lifting rod; Step 1.3, if the sensor is fixed by the vacuum sponge suction cup adsorption device, after the electric lifting rod end sticks to the vacuum sponge suction cup adsorption device, gradually reduce the air flow of the vacuum sponge suction cup adsorption device on the lifting rod, and increase the air flow of the sponge suction cup on the lifting rod; when the sensor is fixed by the microseismic sensor magnetic clamp, reduce the current of the electromagnet on the microseismic sensor magnetic clamp, and increase the current of the electromagnet on the lifting rod; Step 1.4, after the vacuum sponge suction cup adsorption device is separated from the rock wall or the microseismic sensor magnetic clamp is separated from the anchor rod, lower the electric lifting rod; Step 2, microseismic sensor installation stage: Step 2.1, move the microseismic sensor arrangement arch-shaped support to the microseismic sensor installation area, adjust the position of the microseismic sensor arrangement arch-shaped support and the microseismic sensor mobile base to find a suitable position for the installation of the microseismic sensor, and during the movement of the microseismic sensor arrangement arch-shaped support and the sensor base, the cable automatic winding and unwinding device also winds and unwinds the cable; Step 2.2, raise the electric lifting rod, after the vacuum sponge suction cup adsorption device is attached to the rock wall, turn on the air flow switch of the vacuum sponge suction cup adsorption device, gradually close the air flow of the sponge suction cup at the end of the electric lifting rod, and when the air flow decreases to a certain extent, slowly lower the electric lifting rod, and detect whether the vacuum sponge suction cup adsorption device is firmly attached to the rock wall, if not, re-adsorb or replace the position to install the microseismic sensor; when using the microseismic sensor magnetic clamp, turn on the current switch of the microseismic sensor magnetic clamp, and then turn off the current switch of the electromagnet on the electric lifting rod; Step 2.3, after confirming that the microseismic sensor is fixed, lower the electric lifting rod; Step 3, microseismic monitoring stage: Step 3.1, the microseismic sensor is fixed on the monitoring position and separated from the microseismic sensor mobile base, and the cable of the microseismic signal is fixedly connected through the microseismic sensor mobile base; Step 3.2, as the TBM advances, the microseismic sensor arrangement arch-shaped support moves on the arch-shaped support moving guide rail, keeping the spatial relative position of the microseismic sensor and the microseismic sensor arrangement arch-shaped support unchanged, and during the movement, the cable automatic winding and unwinding device at the end of the arch-shaped support moving guide rail winds and unwinds the cable according to the moving distance of the microseismic sensor arrangement arch-shaped support; Step 3.3, calculate the real-time coordinates of the microseismic sensor, analyze and process the monitored microseismic signals in combination with the real-time coordinates of the microseismic sensor, and output the analysis and processing results to the TBM main console and the central console; Step 3.4, judge whether the TBM tunneling distance is greater than or equal to the tunneling interval of the sensor disassembly and assembly, if yes, trigger the microseismic sensor automatic disassembly and assembly process again, repeat steps 1~step 3; otherwise, continue to analyze and process the microseismic signal.

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