Tunneling earthquake advanced detection dynamic observation system and method

Abstract

The invention discloses a heading earthquake advanced detection dynamic observation system and method, and the method comprises the steps: arranging a plurality of detectors behind a heading face of an unmanned crawler to form a seismic wave detection array, building a first observation system, and setting an update distance; at the moment, the tunneling face begins to advance, the first observation system can continuously obtain seismic wave data in front of the tunneling face in the process, and the seismic wave data are transmitted to a ground data processing center to be analyzed and then geological exploration can be conducted on the front; when the distance between the detector closest to the tunneling face and the tunneling machine exceeds the updated distance, the unmanned crawler can arrange the detectors in the tunneling direction and recover the farthest detector, and a second observation system is formed; the system is used for continuing to perform geological detection on the front, so that the advancing of the tunneling face can be continuously performed, and the observation system can continuously and dynamically update and follow along with the advancing condition of the tunneling face, thereby obtaining more accurate seismic wave data in front of the tunneling face, and finally ensuring the detection precision of the geological condition in front of the tunneling face.

Description

Technical Field

[0001] The invention belongs to the technical field of seismic advanced detection for unmanned tracked vehicles, and particularly relates to a dynamic observation system and method for seismic advanced detection during tunneling. Background Art

[0002] The seismic advanced detection technology is an effective means for preventing geological disasters such as coal and gas outbursts and water hazards. This technology arranges a seismic geophone array behind the tunneling face, real-time collects weak seismic wave signals generated during tunneling, and analyzes the distribution and structural characteristics of abnormal bodies in the front to achieve the advanced detection process. As the coal mine tunneling face continuously advances, the geological conditions and stress fields of the front rock strata continuously evolve. To ensure the detection accuracy and warning range, the geophone array needs to be always deployed at a position close enough to the working face to overcome the detection blind area caused by signal attenuation.

[0003] Currently, the layout of the seismic advanced detection observation system during tunneling mainly relies on manually moving the observation equipment regularly to ensure that the observation array maintains an appropriate distance from the tunneling face. This method requires manual labor for handling work, and it is necessary to continuously pay attention to the tunneling progress and quickly respond to position adjustments. Otherwise, problems such as observation lag and increased blind area are likely to occur. At the same time, due to human factors, there are often certain errors in the structural layout of the existing geophone steel needle bases. In addition, manually moving the observation system consumes a large amount of manpower and there are also safety hazards.

[0004] Therefore, how to provide a new observation system and method to automatically and continuously update the layout of the observation system through an unmanned tracked vehicle as the tunneling face advances under unmanned conditions, so as to ensure the detection accuracy of the geological conditions in front of the tunneling, is the research direction of the present invention. Summary of the Invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a dynamic observation system and method for seismic advanced detection during tunneling. Under unmanned conditions, an unmanned tracked vehicle automatically and continuously updates the layout of the observation system as the tunneling face advances, so as to ensure the detection accuracy of the geological conditions in front of the tunneling.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a dynamic observation system for seismic advanced detection during tunneling, including an unmanned tracked vehicle with a robotic arm and a plurality of node-type geophones, and the plurality of node-type geophones are all placed on the unmanned tracked vehicle;

[0007] The base of the node detector is a metal disc. The robotic arm of the unmanned tracked vehicle is used to deploy each node detector at the required positions to form a seismic wave detection array for obtaining seismic wave data during tunneling. A wireless base station is installed on the unmanned tracked vehicle, which is wirelessly connected to each node detector. During detection, the wireless base station and each node detector first perform time synchronization, and then each node detector continuously acquires seismic wave data and feeds it back to the wireless base station, which transmits the received data to the ground data processing center.

[0008] The unmanned tracked vehicle is equipped with a rangefinder for measuring the distance between the unmanned tracked vehicle and the tunneling face. The deployment positions of each node detector are determined by the rangefinder, and according to the advancement of the tunneling face, the robotic arm of the unmanned tracked vehicle continuously adjusts the deployment positions of each node detector to form a dynamic observation system.

[0009] Furthermore, each node detector in the seismic wave detection array is arranged at equal intervals and in a straight line. This can ensure the accuracy of the received data.

[0010] Furthermore, the unmanned tracked vehicle is equipped with a vision device for obtaining images of the surrounding environment, which is convenient for the unmanned tracked vehicle to move forward and for the robotic arm to place or retrieve the node detectors.

[0011] The working method of the above dynamic observation system for seismic ahead detection during tunneling is as follows:

[0012] Step 1: Parameter setting: Set the key parameters of the dynamic observation system, including the trace interval D between adjacent node detectors, the number N of node detectors online simultaneously, and the observation system update distance L m ;

[0013] Step 2: Detector numbering and device time synchronization: The unmanned tracked vehicle carries N + 1 node detectors, and each node detector is numbered in sequence and time synchronization calibration is completed with the wireless base station on the unmanned tracked vehicle. After time synchronization, all node detectors start full-time sampling of seismic wave signals.

[0014] Step 3. Initial deployment of the observation system: The unmanned tracked vehicle carries all the numbered nodal geophones and stops at a position no more than D away from the tunneling machine. Subsequently, starting from the current position along the direction behind the tunneling face, use the robotic arm to sequentially place N nodal geophones at a preset trace interval D in the order of their numbers to construct the first observation system. After the deployment is completed, the unmanned tracked vehicle returns to the nodal geophone closest to the tunneling face, records the numbers, respective three-dimensional coordinates, and the starting time t0 of the first acquisition of all the geophones in the first observation system. The N nodal geophones continuously collect seismic wave data generated by tunneling and send it to the ground data processing center through the wireless base station of the unmanned tracked vehicle. The ground data processing center obtains the geological conditions in front of the tunneling face based on the feedback data to guide the subsequent tunneling of the tunneling machine;

[0015] Step 4. Dynamic update of the observation system: As the tunneling face continuously advances forward by the tunneling machine, the unmanned tracked vehicle continuously measures the real-time distance L between itself and the tunneling machine at the current position using a rangefinder. When L≥L m at this time, the unmanned tracked vehicle moves forward a distance D along the tunneling direction and places a new nodal geophone at this position. Then, this geophone and the remaining N–1 nodal geophones closest to the tunneling face in the first observation system jointly form a second observation system with N nodes. After the update is completed, immediately record the numbers, three-dimensional coordinates of all the geophones in this observation system, and the starting time t j (which is also the end time of the previous acquisition) of this acquisition. The N nodal geophones in the current observation system continuously collect seismic wave data generated by tunneling and send it to the ground data processing center through the wireless base station of the unmanned tracked vehicle. The ground data processing center obtains the geological conditions in front of the tunneling face based on the feedback data to guide the subsequent tunneling of the tunneling machine;

[0016] Step 5. Recovery of the geophones: After the second observation system is deployed, the unmanned tracked vehicle moves along the deployment trajectory to the position of the nodal geophone farthest from the tunneling face and recovers this geophone through the robotic arm. Subsequently, the vehicle returns to the nodal geophone closest to the tunneling face;

[0017] Step 6. Full-process detection during tunneling: During the tunneling process, continuously repeat Steps 4 and 5, dynamically update the observation system according to the advancement of the tunneling face, so as to continuously conduct advanced geological detection in front of the tunneling face and ensure the safe advancement throughout the tunneling process.

[0018] Furthermore, the update distance L of the observation system m is greater than the trace interval D. Such a setting can ensure the position of adding a new nodal geophone during the update and realize the continuous dynamic update and follow-up of the observation system along with the tunneling face.

[0019] Further, in the second step, the unmanned tracked vehicle carries no less than N + 1 node detectors. By carrying some more node detectors as backups, during the tunneling detection process, once a certain node detector fails to feed back data, it means that the detector has malfunctioned. At this time, the backup detector can be used to replace it in time to ensure the smooth progress of the tunneling detection.

[0020] Further, the tunneling machine is a full-face tunneling machine.

[0021] Compared with the prior art, the present invention uses an unmanned tracked vehicle to carry multiple node detectors, and the base of the node detector adopts a metal disc structure. During detection, the unmanned tracked vehicle first arranges multiple node detectors behind the tunneling face to form a seismic wave detection array, establishes the first observation system and numbers each detector, and then sets the update distance. At this time, the tunneling face starts to advance. During this process, the first observation system can continuously obtain the seismic wave data in front of the tunneling face, and through transmission to the ground data processing center for analysis, geological detection can be carried out on the front. When the distance between the detector closest to the tunneling face and the tunneling machine exceeds the update distance, the unmanned tracked vehicle can arrange detectors along the tunneling direction and recycle the detector at the farthest distance to form a second observation system. Using this system to continue geological detection of the front, the tunneling face can continue to advance, and the observation system can be continuously updated dynamically following the advancement of the tunneling face, ensuring that the observation system is as close as possible to the tunneling face, thereby obtaining more accurate seismic wave data in front of the tunneling face, ensuring the accuracy of geological condition detection in front of the tunneling, and ultimately realizing the safe operation during tunneling. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the node detector in the present invention;

[0023] Figure 2 is a flowchart of the dynamic update operation of the observation system of the present invention.

[0024] In the figure: 1. Node detector, 1-1. Metal disc. Detailed Embodiments

[0025] The present invention will be further described below.

[0026] A dynamic observation system for seismic ahead detection during tunneling includes an unmanned tracked vehicle with a robotic arm and multiple node detectors 1, and multiple node detectors 1 are all placed on the unmanned tracked vehicle;

[0027] Such as Figure 1As shown in the figure, the base of the nodal geophone 1 is a metal disc 1-1. The robotic arm of the unmanned tracked vehicle is used to deploy each nodal geophone 1 at the required positions to form a seismic wave detection array for obtaining seismic wave data during tunneling. A wireless base station is installed on the unmanned tracked vehicle, and the wireless base station is wirelessly connected to each nodal geophone 1. During detection, the wireless base station and each nodal geophone 1 first perform time synchronization. Then, each nodal geophone 1 continuously obtains seismic wave data and feeds it back to the wireless base station, and the wireless base station transmits the received data to the ground data processing center.

[0028] A rangefinder is installed on the unmanned tracked vehicle for measuring the distance between the unmanned tracked vehicle and the tunneling face. The layout positions of each nodal geophone 1 are determined through the rangefinder. According to the advancement of the tunneling face, the robotic arm of the unmanned tracked vehicle continuously adjusts the layout positions of each nodal geophone 1 to form a dynamic observation system. Each nodal geophone 1 in the seismic wave detection array is arranged at equal intervals and in a straight line. This can ensure the accuracy of the received data. The unmanned tracked vehicle is equipped with a vision device for obtaining images of the surrounding environment, which is convenient for the unmanned tracked vehicle to move forward and for the robotic arm to place or retrieve the nodal geophones.

[0029] The above-mentioned unmanned tracked vehicle with a robotic arm is an existing device, and the present invention only utilizes its functions without improving its structure. In addition, the difference between the nodal geophone 1 adopted in the present invention and the existing nodal geophone is only that the base of the geophone in the present invention is a metal disc 1-1, while the base of the existing geophone is a steel needle, and the existing geophone is installed by inserting the steel needle into the ground. In the present invention, in order to facilitate the recovery and installation of the robotic arm and at the same time to ensure good coupling with the ground after the geophone is deployed, therefore, a metal disc is used as the base. By increasing the contact area and optimizing the coupling structure, not only the installation stability is improved, but also the deployment efficiency is greatly improved, meeting the requirements of high-precision advanced detection in the unmanned tunneling environment of the mine.

[0030] The working method of the above-mentioned dynamic observation system for seismic ahead detection during tunneling is as Figure 2 shown, and the specific steps are as follows:

[0031] Step 1: Parameter setting: Set the key parameters of the dynamic observation system, including the trace interval D between adjacent nodal geophones 1, the number N of nodal geophones online at the same time, and the observation system update distance L m ; The observation system update distance L m is greater than the trace interval D. Such a setting can ensure the position of a new nodal geophone 1 when updating, so as to realize the continuous dynamic update and following of the observation system along with the tunneling face.

[0032] Step 2. Geophone numbering and equipment time synchronization: The unmanned tracked vehicle carries N + 1 nodal geophones, and each nodal geophone is numbered in sequence and time synchronization calibration is completed with the wireless base station on the unmanned tracked vehicle; after the time synchronization is completed, all nodal geophones start full-time sampling of seismic wave signals;

[0033] Step 3. Initial layout of the observation system: The unmanned tracked vehicle carries all the numbered nodal geophones and travels to a position where the distance from the tunneling machine (such as a full-face roadheader) does not exceed D and stops; then, from the current position along the direction behind the tunneling face, N nodal geophones are sequentially placed in accordance with the preset trace interval D in the order of numbers through the robotic arm to construct the first observation system; after the layout is completed, the unmanned tracked vehicle returns to the nodal geophone closest to the tunneling face, records the numbers of all geophones, their respective three-dimensional coordinates and the starting time t0 of the first acquisition in the first observation system, and the N nodal geophones continuously collect the seismic wave data generated by tunneling and send them to the ground data processing center through the wireless base station of the unmanned tracked vehicle. The ground data processing center obtains the geological conditions in front of the tunneling face based on the feedback data to guide the subsequent tunneling of the tunneling machine;

[0034] Step 4. Dynamic update of the observation system: As the tunneling face continuously advances forward through the tunneling machine, the unmanned tracked vehicle continuously measures the real-time distance L between itself and the tunneling machine at the current position through the rangefinder; when L ≥ L m At this time, the unmanned tracked vehicle moves forward a distance D along the tunneling direction and places a new nodal geophone at this position; then, this geophone and the remaining N - 1 nodal geophones closest to the tunneling face in the first observation system jointly form the second observation system with N nodes; after the update is completed, immediately record the numbers of all geophones, three-dimensional coordinates and the starting time t j (which is also the end time of the previous acquisition) of this observation system. The N nodal geophones of the current observation system continuously collect the seismic wave data generated by tunneling and send them to the ground data processing center through the wireless base station of the unmanned tracked vehicle. The ground data processing center obtains the geological conditions in front of the tunneling face based on the feedback data to guide the subsequent tunneling of the tunneling machine;

[0035] Step 5. Geophone recovery: After the layout of the second observation system is completed, the unmanned tracked vehicle moves along the layout trajectory to the position of the nodal geophone farthest from the tunneling face and recovers this geophone through the robotic arm; then the vehicle returns to the nodal geophone closest to the tunneling face;

[0036] Step 6. Full-process detection during tunneling: During the tunneling process, steps 4 and 5 are continuously repeated, and the observation system is dynamically updated according to the advancement of the tunneling face, so as to continuously conduct advanced geological detection in front of the tunneling face and ensure the safe advancement of the whole tunneling process.

[0037] The ground data processing center correlates the data collected by each geophone in the observation system for each update. The specific process is as follows:

[0038] The set of geophones arranged is {S1, S2,..., S N , S N+1}, and the gather data of N data traces collected is expressed as {Trace(1), Trace(2),... Trace(N)}. The transformation relationship between the gather and the data collected by the geophones is expressed as:

[0039]

[0040] where i is the geophone number in the gather, i = 1, 2,... N; j is the number of times the observation system is arranged, and j is 0 for the first arrangement; S k [t j , t j+1 represents the data collected by geophone k during the time period from t j to t j+1 ; (a) mod (b) represents the remainder after a is divided by b.

[0041] As an improvement of the present invention, the unmanned tracked vehicle in the second step carries no less than N + 1 node-type geophones. By carrying some more node-type geophones as backups; during the tunneling detection process, once a certain node-type geophone does not feedback data, it means that the geophone has failed. At this time, the backup geophone can be used to replace it in time, so as to ensure the smooth progress of the tunneling detection.

[0042] The above are only the preferred embodiments of the present invention. It should be noted that: for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A dynamic observation system for seismic detection ahead of tunneling, characterized in that, It includes an unmanned tracked vehicle with a robotic arm and multiple nodal geophones, and the multiple nodal geophones are all placed on the unmanned tracked vehicle; The base of the nodal geophone is a metal disc. The robotic arm of the unmanned tracked vehicle is used to deploy each nodal geophone at the required position to form a seismic wave detection array for obtaining seismic wave data during tunneling. A wireless base station is provided on the unmanned tracked vehicle, and the wireless base station is wirelessly connected to each nodal geophone. During detection, the wireless base station and each nodal geophone first perform time synchronization. Then, each nodal geophone continuously obtains seismic wave data and feeds it back to the wireless base station, and the wireless base station transmits the received data to the ground data processing center; A rangefinder is installed on the unmanned tracked vehicle, which is used to measure the distance between the unmanned tracked vehicle and the tunneling face. The layout positions of each nodal geophone are determined by the rangefinder, and according to the advancement of the tunneling face, the robotic arm of the unmanned tracked vehicle continuously adjusts the layout positions of each nodal geophone to form a dynamic observation system.

2. The dynamic observation system for seismic detection ahead of tunneling according to claim 1, wherein, In the seismic wave detection array, each nodal geophone is arranged at equal intervals and in a straight line.

3. The dynamic observation system for seismic ahead detection during tunneling according to claim 1, characterized in that The unmanned tracked vehicle is provided with a vision device for obtaining images of the surrounding environment to facilitate the movement of the unmanned tracked vehicle and the placement or recovery of the nodal geophones by the robotic arm.

4. A working method of the dynamic observation system for seismic ahead detection during tunneling according to any one of claims 1 to 3, characterized in that, The specific steps are as follows: Step 1. Parameter setting: Set the key parameters of the dynamic observation system, including the trace interval D between adjacent nodal geophones, the number N of simultaneously online nodal geophones, and the observation system update distance Lm; Step 2. Geophone numbering and equipment time synchronization: The unmanned tracked vehicle carries N + 1 nodal geophones, and each nodal geophone is numbered in sequence and time synchronization calibration is completed with the wireless base station on the unmanned tracked vehicle. After the time synchronization is completed, all nodal geophones start full-time sampling of seismic wave signals; Step 3. First layout of the observation system: The unmanned tracked vehicle carries all the numbered nodal geophones and travels to a position where the distance from the tunneling machine does not exceed D and stops. Subsequently, along the direction behind the tunneling face from the current position, N nodal geophones are sequentially placed in accordance with the pre-set trace interval D in the order of numbers through the robotic arm to construct the first observation system; After the layout is completed, the unmanned tracked vehicle returns to the nodal geophone closest to the tunneling face, records the numbers of all geophones in the first observation system, their respective three-dimensional coordinates, and the starting time t0 of the first acquisition. The N nodal geophones continuously collect seismic wave data generated by tunneling and send it to the ground data processing center through the wireless base station of the unmanned tracked vehicle. The ground data processing center obtains the geological conditions in front of the tunneling face based on the feedback data to guide the subsequent tunneling of the tunneling machine; Step 4. Dynamic update of the observation system: The tunneling face continuously advances forward through the tunneling machine, and the unmanned tracked vehicle continuously measures the real-time distance L between itself and the tunneling machine at the current position through the rangefinder. When L ≥ Lm, the unmanned tracked vehicle moves forward a distance D along the tunneling direction and places a new nodal geophone at this position; Then, this geophone, together with the remaining N - 1 nodal geophones closest to the tunneling face in the first observation system, jointly forms a second observation system with N nodes; after the update is completed, immediately record the numbers, three-dimensional coordinates of all geophones in this observation system, and the starting time t of this acquisition. j , the N nodal geophones of the current observation system continuously collect seismic wave data generated by tunneling and send them to the ground data processing center through the wireless base station of the unmanned tracked vehicle. The ground data processing center obtains the geological conditions in front of the tunneling face based on the feedback data to guide the subsequent tunneling of the tunneling machinery. Step 5. Geophone recovery: After the layout of the second observation system is completed, the unmanned tracked vehicle moves along the layout trajectory to the position of the nodal geophone farthest from the tunneling face, and recovers the geophone through the robotic arm; then the vehicle returns to the nodal geophone closest to the tunneling face; Step 6. Full-process tunneling detection: During the tunneling process, steps 4 and 5 are continuously repeated, and the observation system is dynamically updated according to the advancement of the tunneling face, so as to continuously conduct advanced geological detection ahead of the tunneling and ensure the safe advancement throughout the tunneling process.

5. The working method according to claim 4, characterized in that The updated distance Lm of the observation system is greater than the trace interval D.

6. The working method according to claim 4, wherein, In step 2, the unmanned tracked vehicle carries no less than N + 1 nodal geophones.

7. The working method according to claim 4, characterized in that, The tunneling machine is a full-face tunneling machine.

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