Dynamic regulation and control method and control system for tunneling and grouting reinforcement of water-rich layered surrounding rock tunnel

Abstract

The invention discloses a dynamic regulation and control method and a control system for tunneling and grouting reinforcement of a water-rich layered surrounding rock tunnel. The method comprises the following steps: acquiring bedding surface occurrence, water pressure, fault fracture zone, water seepage area distribution and other data by adopting advanced geological detection; in a layered surrounding rock section, grouting areas are divided according to a bedding dip angle, high-pressure splitting grouting is adopted in a bedding area, and permeation grouting is adopted in a cutting area; in the fault fracture section, fault fracture zone grouting areas are divided according to the fault width and the stratum condition, and anchor rods with different depths are adopted for grouting; the ratio of the nano-composite grout is dynamically adjusted based on the real-time water pressure of each grouting area; the grouting pressure and flow are dynamically adjusted through the intelligent adjusting and controlling system; and a transient electromagnetic method is adopted to evaluate the grouting effect, and secondary grouting is carried out to achieve reinforcement. The grouting parameters can be dynamically adjusted and controlled according to the bedding surface condition during grouting.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel engineering excavation, and particularly relates to a dynamic control method and a control system for grouting reinforcement during tunneling of a water-rich layered surrounding rock tunnel. Background Art

[0002] TBM excavation in tunnels with water-rich, fractured, and layered surrounding rock faces significant risks such as rock instability and sudden water inrush. Traditional grouting techniques have drawbacks, including uncontrollable slurry diffusion. The anisotropy of the layered rock mass leads to excessive slurry diffusion along bedding planes, resulting in material waste rates as high as 40%. Fixed grouting pressure and flow rates are unable to adapt to water pressure fluctuations and the dynamic expansion of fractures, resulting in a water blocking rate of less than 60%. Grouting effectiveness evaluation relies on manual experience, with secondary grouting response cycles exceeding 30 minutes and inefficient accident prevention and control. Existing grouting methods based on permeability coefficient grading fail to adequately address the impact of bedding planes and dynamic control. Summary of the Invention

[0003] The present invention provides a dynamic control method and control system for grouting reinforcement during tunneling of water-rich layered surrounding rock, so as to solve the problem that existing grouting methods based on permeability coefficient classification are difficult to solve the problem of bedding plane influence and dynamic control.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: On the one hand, the present application provides a method for dynamic control of grouting reinforcement during tunneling of a water-rich layered surrounding rock, comprising the following steps: Step 1: Use advanced geological exploration to obtain data such as the attitude of bedding planes, water pressure, fault fracture zones, and water seepage area distribution; Step 2: In the layered surrounding rock section, divide the grouting area according to the bedding inclination angle, use high-pressure splitting grouting in the bedding area, and use penetration grouting in the inter-bedding area; Step 3: In the fault fracture zone, divide the fault fracture zone grouting area according to the fault width and stratum conditions, and use anchor grouting at different depths; Step 4: Dynamically adjust the nanocomposite slurry ratio based on the real-time water pressure of each grouting area; Step 5: Dynamically adjust the grouting pressure and flow rate through the intelligent control system; Step 6: Use transient electromagnetic method to evaluate the grouting effect and perform secondary grouting to achieve reinforcement. Furthermore, in step one, based on the TSP seismic wave reflection method and geological radar, the bedding plane attitude and interlayer water pressure distribution within 50-100m in front of the tunnel face are obtained, and data such as the thickness, longitudinal extension length and seepage pressure of the fault fracture zone and seepage area are obtained.

[0005] Furthermore, in step 2, cement mortar is used for grouting in the conventional area. The grouting pressure in the layer-aligned area is 2.5-3 MPa, the slurry water-cement ratio is 0.6:1, and the diffusion radius is ≥3 m. The grouting pressure in the layer-cutting area is 1.0-1.5 MPa, the slurry water-cement ratio is 0.8:1, and the diffusion radius is ≥5 m.

[0006] Furthermore, in step 3, according to the width of the fault fracture zone W f and geological conditions, W f The area with mud filling is defined as Class I stratum; W f = 2-5m, the area filled with debris is defined as the Class II stratum; W f Areas with a depth greater than 5m and strong water conductivity are defined as Class III strata.

[0007] Furthermore, in step three, the grouting pressure of the Class I formation is 1.0-1.5 MPa, and the slurry water-cement ratio is 0.8:1; the grouting pressure of the Class II formation is 1.8-2.5 MPa, and the slurry water-cement ratio is 0.6:1; the Class III formation adopts staged grouting, that is, first injecting ordinary fast-setting slurry to block the water gushing channel, the gel time of ordinary fast-setting slurry is ≤1 min, and then the nano-composite slurry is injected under high pressure, and the grouting pressure is ≥2.5 MPa.

[0008] Furthermore, in step 4, when the water pressure is 3MPa≥1MPa, a quick-setting nano-composite slurry is used. The quick-setting nano-composite slurry includes 40%-50% of silicate cement, 5%-8% of nano-silica, 10%-15% of water glass, 0.5%-1% of water-resistant dispersant, and the remaining components are water.

[0009] Furthermore, in step five, in the layered surrounding rock area, the dynamic adjustment formula of grouting pressure is: ; Among them, P is the actual grouting pressure, P0 is the reference pressure, D is the bedding surface density, and Dmax is the maximum allowable bedding density.

[0010] Furthermore, in step 5, the fault fracture area is divided into two groups according to the width of the fault fracture zone. W f and hydraulic conductivity K f To achieve the regulation of grouting pressure, the dynamic regulation formula of grouting pressure is: ; in P f is the grouting pressure in the fault fracture zone, P 0 is the base pressure,K f is the hydraulic conductivity, W f is the fault width.

[0011] On the other hand, the present application provides a dynamic control system for grouting reinforcement of a tunnel with water-rich layered surrounding rock, which is used to implement the above-mentioned dynamic control method for grouting reinforcement of a tunnel with water-rich layered surrounding rock, including: The geological detection module is used to detect and identify the bedding pattern of layered surrounding rocks and the location and width of fault fracture zones. It can generate a three-dimensional model of the bedding plane and fault fracture zone distribution in front of the tunnel face in real time. The dynamic decision module has a built-in database of grouting parameters for surrounding rock areas with different inclination angles and water pressure layers, and fault fragmentation zones of different levels. It is used to receive data transmitted by the geological detection module and output grouting parameters based on the database. The grouting execution module is used to design grouting based on the stratified surrounding rock area zoning and fault fracture zone classification, automatically adjust the grouting pressure and reasonable slurry ratio according to the decision parameters, and control the on-site grouting; The effect feedback module is used to detect the slurry diffusion range and water plugging rate, and uses 5G wireless transmission to transmit the test data back to the dynamic decision-making module in real time. Furthermore, the geological exploration module includes a TSP303 seismograph, a geological radar and a borehole CT scanner; The grouting execution module includes a variable frequency hydraulic pump, a multi-channel flow meter, a double slurry mixer and a plurality of grouting anchor rods of different lengths; The effect feedback module includes a transient electromagnetic instrument and an osmometer.

[0012] The present invention can achieve the following beneficial effects: 1. The present invention solves the problems of uneven slurry diffusion and low water blocking rate in traditional technologies through advanced detection, layered and zoned grouting strategies and dynamic parameter matching, and achieves minute-level risk response. It is suitable for high-water-pressure layered surrounding rock tunnel projects, effectively reducing the probability of sudden water inrush accidents during TBM excavation, and has significant engineering application value.

[0013] 2. This application proposes solutions for various geological conditions in response to the geological conditions of water-rich fractured layered surrounding rock tunnels. That is, adaptive grouting parameter adjustment plans are proposed for the in-layer and inverse layers of the layered surrounding rock area, as well as for all levels of strata in the fault fracture zone, thus realizing the adjustment of grouting parameters under various geological conditions in the entire tunnel section.

[0014] 3. By using the grouting reinforcement method and control system of this application, the water blocking rate is increased from the traditional 60% to 92%, and the material cost is reduced by 35%; the slurry diffusion uniformity is improved by 40%, and the reinforcement layer thickness is increased by 50%; the response time for sudden water inrush accidents is shortened to less than 3 minutes, the grouting effect is significantly improved, and the response to emergencies is also faster, reducing the occurrence of construction accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and examples: Figure 1 This is a process flow chart of the TBM excavation grouting reinforcement method for a water-rich fractured layered surrounding rock tunnel according to the present invention; Figure 2 Schematic diagram of the tunneling effect of the stratum in the bedding area of ​​the present invention; Figure 3 Schematic diagram of the excavation effect of the stratum in the cutting area of ​​the present invention; Figure 4 is a graph showing the compressive strength of the slurry of the present invention; Figure 5 This is a structural diagram of the dynamic control system for grouting reinforcement of a water-rich layered surrounding rock tunnel according to the present invention.

[0016] In the accompanying drawings, the components represented by the reference numerals are as follows: 1. Geological exploration module; 2. Dynamic decision-making module; 3. Grouting execution module; 4. Effect feedback module. DETAILED DESCRIPTION

[0017] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0018] The geological conditions of a certain water diversion tunnel project are interbedded sandstone and slate, with a bedding dip of 25°-50° and a water pressure of 0.8-1.5 MPa. During the tunnel drilling process, there are conventional layered surrounding rock sections and fault-fragmented sections, and the water pressure in a certain surrounding rock section suddenly increases from 1.0 MPa to 2.2 MPa. This application uses the above-mentioned water diversion tunnel project as an example to illustrate the solution. The method of the present invention can solve the excavation and grouting problems of sandstone and slate formations.

[0019] A TBM grouting reinforcement method for tunnels with water-rich fractured layered surrounding rock, referring to Figures 1 to 4 , including the following steps: Step 1: Use advanced geological exploration to obtain data such as the bedding plane attitude, water pressure, fault fracture zone and seepage area distribution. Specifically, based on the TSP seismic wave reflection method and geological radar, obtain the bedding plane attitude and interlayer water pressure distribution within 50-100m in front of the face, obtain data such as the thickness, longitudinal extension length and seepage pressure of the fault fracture zone and seepage area, and the bedding plane attitude includes parameters such as dip and strike. In the above embodiment, the bedding dip angle of the tested layered surrounding rock area is 25°-50°, the water pressure is 0.8-1.5MPa, the thickness of the tested fault fracture zone is 3m, and the water pressure is 2MPa.

[0020] Step 2: Layered grouting design for layered surrounding rock areas: Divide the grouting area according to the bedding inclination, such as Figure 1 As shown in the figure, areas with bedding dip angles α ≤ 30° are defined as bedding-parallel zones, where high-pressure splitting grouting is used. Areas with bedding dip angles α > 30° are defined as inter-bedding zones, where penetration grouting is used. Regardless of whether grouting is in the bedding-parallel zone or inter-bedding zone, the grouting holes are arranged perpendicular to the bedding plane.

[0021] The layered grouting design specifically includes: grouting with cement mortar in conventional areas, the grouting pressure in the layered area is 2.5-3MPa, the slurry water-cement ratio is 0.6:1, and the diffusion radius is ≥3m; the grouting pressure in the cut-layer area is 1.0-1.5MPa, the slurry water-cement ratio is 0.8:1, and the diffusion radius is ≥5m.

[0022] Step 3: The fault fracture zone is divided into grouting areas according to the fault width and stratum conditions, and grouting is carried out with anchor rods of different depths. W f and geology are classified according to the rough conditions. W f The area with mud filling is defined as Class I stratum; W f = 2-5m, the area filled with debris is defined as the Class II stratum; W f Areas with a depth greater than 5m and strong water conductivity are defined as Class III strata, and grouting anchors of different depths are used for precise positioning of grouting according to the stratum classification.

[0023] Specifically, the grouting pressure for Class I formations is 1.0-1.5MPa, and the slurry water-cement ratio is 0.8:1; the grouting pressure for Class II formations is 1.8-2.5MPa, and the slurry water-cement ratio is 0.6:1; and for Class III formations, staged grouting is adopted, that is, ordinary fast-setting slurry is first injected to block the water gushing channel, and the gel time of ordinary fast-setting slurry is ≤1min, and then nano-composite slurry is injected under high pressure, and the grouting pressure is ≥2.5MPa.

[0024] Step 4. Dynamically adjust the nano-composite slurry ratio based on the real-time water pressure of each grouting area. Specifically, adjust the slurry gel time and compressive strength based on the real-time water pressure monitoring data of different areas. When the water pressure is 3MPa≥1MPa, a quick-setting nano-composite slurry is used. The quick-setting nano-composite slurry includes 40%-50% silicate cement, 5%-8% nano-silica, 10%-15% water glass, 0.5%-1% water-resistant dispersant, and the remaining components are water. The gel time of this quick-setting nano-composite slurry is ≤3min and the compressive strength is ≥20MPa.

[0025] When grouting the bedding area, the grouting parameters were adjusted to a grouting pressure of 2.8 MPa, a flow rate of 80 L / min, and a quick-setting nano-composite slurry ratio of 45% cement, 6% nano-silica, and 12% water glass. When grouting the cut-layer area, the grouting parameters were adjusted to a grouting pressure of 1.2 MPa, a flow rate of 100 L / min, and a slurry ratio of 40% cement, 5% nano-silica, and 10% water glass. The slurry strength curve is shown in Figure 2. Figure 3 shown.

[0026] Step 5. Dynamically adjust the grouting pressure and flow rate through the intelligent control system: Through the TBM shield tail intelligent grouting system, dynamically adjust the grouting pressure within the range of 0.5-3MPa and the flow rate within the range of 20-100L / min. The grouting pressure is negatively correlated with the bedding surface density, and the flow rate is positively correlated with the fracture aperture.

[0027] In the layered surrounding rock area, the dynamic adjustment formula of grouting pressure is:

[0028] Where P is the actual grouting pressure, P0 is the reference pressure, D is the bedding surface density (lines / m), and Dmax is the maximum allowable bedding density, which is 10 lines / m.

[0029] In the fault fracture zone area, according to the width of the fault fracture zone W f and hydraulic conductivity K f The dynamic adjustment formula of grouting pressure is:

[0030] in P f is the grouting pressure in the fault fracture zone, P 0 is the base pressure, K f is the hydraulic conductivity (m / s), W f is the fault width (m).

[0031] Step 6: Use transient electromagnetic method to evaluate the grouting effect and reinforce: Use transient electromagnetic method to detect the slurry diffusion radius, and perform secondary grouting on areas that do not meet the standard until the surrounding rock permeability coefficient is ≤1×10⁻ 7 m / s.

[0032] The secondary grouting uses ultrafine cement-water glass double liquid slurry with a water-cement ratio of 0.5:1, and the grouting pressure is increased to 1.2-1.5 times the initial pressure.

[0033] This application also discloses a dynamic control system for grouting reinforcement of a water-rich layered surrounding rock tunnel. Figure 5 , including a geological detection module 1, a dynamic decision-making module 2, a grouting execution module 3 and an effect feedback module 4.

[0034] Geological Exploration Module 1 is used to detect and identify the bedding pattern of the layered surrounding rock and the location and width of the fault fracture zone. It can generate a real-time 3D model of the bedding plane and fault fracture zone distribution ahead of the tunnel face. Geological Exploration Module 1 includes a TSP303 seismometer, a geological radar, and a borehole CT scanner. The TSP303 seismometer has a detection depth of 150m and a resolution of 0.5m. It detects and identifies the bedding pattern of the layered surrounding rock and the location and width of the fault fracture zone. The geological radar has a frequency of 100MHz-1GHz and 16 channels. It scans the bedding distribution of the surrounding rock and the distribution of fractures in the fault fracture zone 50m ahead of the tunnel face in real time. The borehole CT scanner provides 360° rotational imaging with a resolution of 1mm, which is used to analyze the distribution of interlayer filling and fault fracture zone materials.

[0035] Dynamic Decision Module 2 maintains a built-in database of grouting parameters for layered rock areas with varying inclination angles and hydraulic pressures, as well as for fault-fracture zones of varying levels. It outputs grouting parameters based on this database. Based on a BP neural network algorithm, Dynamic Decision Module 2 takes as input the layered rock's bedding density, hydraulic pressure, and fracture aperture, as well as the thickness, hydraulic pressure, and hydraulic conductivity of the fault-fracture zone. Based on a decision tree model, it then inputs geological survey parameters and weights for the layered rock area and the fault-fracture zone. Specifically, Dynamic Decision Module 2 receives real-time data transmitted by Geological Survey Module 1 and analyzes it based on the built-in database. Based on the stratum conditions, it outputs parameters for each scenario: for bedding areas, grouting pressure of 2.5-3 MPa, slurry water-cement ratio of 0.6:1, and diffusion radius ≥3 m; for inter-layer areas, grouting pressure of 1.0-1.5 MPa, slurry water-cement ratio of 0.8:1, and diffusion radius ≥5 m; and for Class II strata, grouting pressure of 1.8-2.5 MPa and slurry water-cement ratio of 0.6:1.

[0036] Grouting Execution Module 3 automatically adjusts the grouting pressure and slurry ratio based on decision parameters, controlling the on-site grouting process. It includes a variable-frequency hydraulic pump, a multi-channel flowmeter, a dual-liquid slurry mixer, and multiple grouting anchors of varying lengths.

[0037] The variable frequency hydraulic pump is used to adjust the grouting pressure, and the pressure of the variable frequency hydraulic pump is 0-10MPa and the flow rate is 0-200L / min. The multi-channel flow meter has a range of 0-150L / min and a pressure resistance of 15MPa, and is used to monitor the water flow change data in the grouting area in real time. The dual-liquid slurry mixer is controlled by a proportional valve, and the mixing ratio is adjustable in the range of 0.1-1.0. According to the pressure and flow data feedback, it is used to select and adjust the type of injected nano-slurry, quick-setting slurry, and the injection ratio of each slurry in real time. The diameter of the grouting anchor is 20mm, and the length is in the range of 5m~15m. Anchor rods of different lengths are selected according to different grouting depth requirements. A piezometer with a range of 0-5MPa is also provided to monitor the water pressure changes during the grouting process in real time.

[0038] Effect feedback module 4 monitors the slurry diffusion range and water shutoff rate, and uses 5G wireless transmission to transmit test data in real time to dynamic decision module 2. This module includes a transient electromagnetic instrument (TEM) and a piezometer, which monitor the slurry diffusion range and water shutoff rate. The TEM has a transmission frequency of 25 Hz to 7.5 kHz, and the piezometers have a range of 0 to 5 MPa and are spaced 2 m by 2 m apart.

[0039] Using the dynamic control method and control system for grouting reinforcement of water-rich layered surrounding rock tunnel excavation in this application, when the water pressure in a certain section suddenly increases from 1.0 MPa to 2.2 MPa, the system automatically switches to quick-setting slurry and the grouting pressure is increased to 2.5 MPa, successfully avoiding water gushing accidents. The response time is 2 minutes and 45 seconds, the water blocking rate is 92%, the slurry diffusion uniformity is improved by 40%, and the material cost is reduced by 38%.

[0040] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A dynamic control method for grouting reinforcement of a tunnel with water-rich layered surrounding rock, characterized in that: The following steps are involved: Step 1: Use advanced geological exploration to obtain data such as the attitude of bedding planes, water pressure, fault fracture zones, and water seepage area distribution; Step 2: In the layered surrounding rock section, divide the grouting area according to the bedding inclination angle, use high-pressure splitting grouting in the bedding area, and use penetration grouting in the inter-bedding area; Step 3: In the fault fracture zone, divide the fault fracture zone grouting area according to the fault width and stratum conditions, and use anchor grouting at different depths; Step 4: Dynamically adjust the nanocomposite slurry ratio based on the real-time water pressure of each grouting area; Step 5: Dynamically adjust the grouting pressure and flow rate through the intelligent control system; Step 6: Use transient electromagnetic method to evaluate the grouting effect and perform secondary grouting to achieve reinforcement.

2. The method for dynamic control of grouting reinforcement during tunnel excavation in water-rich layered surrounding rock according to claim 1, characterized in that: In step one, based on the TSP seismic wave reflection method and geological radar, the bedding plane attitude and interlayer water pressure distribution within 50-100m in front of the tunnel face are obtained, and data such as the thickness, longitudinal extension length and seepage pressure of the fault fracture zone and seepage area are obtained.

3. The method for dynamic control of grouting reinforcement during tunnel excavation in water-rich layered surrounding rock according to claim 1, characterized in that: In step 2, cement mortar is used for grouting in conventional areas. The grouting pressure in the layer-aligned area is 2.5-3 MPa, the slurry water-cement ratio is 0.6:1, and the diffusion radius is ≥3 m. The grouting pressure in the layer-cutting area is 1.0-1.5 MPa, the slurry water-cement ratio is 0.8:1, and the diffusion radius is ≥5 m.

4. The method for dynamic control of grouting reinforcement during tunnel excavation in water-rich layered surrounding rock according to claim 1, characterized in that: In step 3, according to the width of the fault fracture zone W f and geological conditions, W f The area with mud filling is defined as Class I stratum; W f = 2-5m, the area filled with debris is defined as Class II strata; Will W f Areas with a depth greater than 5m and strong water conductivity are defined as Class III strata.

5. The method for dynamic control of grouting reinforcement during tunnel excavation in water-rich layered surrounding rock according to claim 4, characterized in that: In step three, the grouting pressure of Class I formation is 1.0-1.5MPa, and the slurry water-cement ratio is 0.8:1; the grouting pressure of Class II formation is 1.8-2.5MPa, and the slurry water-cement ratio is 0.6:1; Class III formation adopts staged grouting, that is, first injecting ordinary fast-setting slurry to block the water gushing channel, the gel time of ordinary fast-setting slurry is ≤1min, and then high-pressure injection of nano-composite slurry is carried out, and the grouting pressure is ≥2.5MPa.

6. The method for dynamic control of grouting reinforcement during tunnel excavation in water-rich layered surrounding rock according to claim 1, characterized in that: In step 4, when the water pressure is 3MPa≥1MPa, a quick-setting nano-composite slurry is used. The quick-setting nano-composite slurry includes 40%-50% of silicate cement, 5%-8% of nano-silica, 10%-15% of water glass, 0.5%-1% of water-resistant dispersant, and the remaining component is water.

7. The method for dynamic control of grouting reinforcement during tunnel excavation in water-rich layered surrounding rock according to claim 1, characterized in that: In step 5, in the layered surrounding rock area, the dynamic adjustment formula of grouting pressure is: ； Among them, P is the actual grouting pressure, P0 is the reference pressure, D is the bedding surface density, and Dmax is the maximum allowable bedding density.

8. The dynamic control system for grouting reinforcement of a water-rich layered surrounding rock tunnel according to claim 8, characterized in that: In step 5, the fault fracture area is divided into two sections according to the width of the fault fracture zone. W f and hydraulic conductivity K f To achieve the regulation of grouting pressure, the dynamic regulation formula of grouting pressure is: ； in P f is the grouting pressure in the fault fracture zone, P 0 is the base pressure, K f is the hydraulic conductivity, W f is the fault width.

9. A dynamic control system for grouting reinforcement of a tunnel with water-rich layered surrounding rock, for implementing the dynamic control method for grouting reinforcement of a tunnel with water-rich layered surrounding rock as claimed in any one of claims 1 to 8, characterized in that: include: The geological detection module is used to detect and identify the bedding pattern of layered surrounding rocks and the location and width of fault fracture zones. It can generate a three-dimensional model of the bedding plane and fault fracture zone distribution in front of the tunnel face in real time. The dynamic decision module has a built-in database of grouting parameters for surrounding rock areas with different inclination angles and water pressure layers, and fault fragmentation zones of different levels. It is used to receive data transmitted by the geological detection module and output grouting parameters based on the database. The grouting execution module is used to design grouting based on the stratified surrounding rock area zoning and fault fracture zone classification, automatically adjust the grouting pressure and reasonable slurry ratio according to the decision parameters, and control the on-site grouting; The effect feedback module is used to detect the slurry diffusion range and water plugging rate, and uses 5G wireless transmission to transmit the test data back to the dynamic decision-making module in real time.

10. The dynamic control system for grouting reinforcement of a water-rich layered surrounding rock tunnel according to claim 9, characterized in that: The geological exploration module includes a TSP303 seismograph, a geological radar and a borehole CT scanner; The grouting execution module includes a variable frequency hydraulic pump, a multi-channel flow meter, a double slurry mixer and a plurality of grouting anchor rods of different lengths; The effect feedback module includes a transient electromagnetic instrument and an osmometer.

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