Method and apparatus for fully-automatic and fine detection of geology by using array acoustic waves from shield tunneling machine

Abstract

A method for fully-automatic and fine detection of geology by using array acoustic waves from a shield tunneling machine, comprising: using a plurality of acoustic wave probes (5) mounted on a cutter head (4) of a shield tunneling machine to perform array acoustic wave detection on the geology in front of the cutter head, to obtain a three-dimensional image of unfavorable geology in front of the cutter head, wherein mounting positions of the acoustic wave probes (5) on the cutter head are determined by means of an acoustic wave probe (5) optimization model, and the acoustic wave probe (5) optimization model aims to minimize the peak sidelobe ratio, and comprises a directivity function constructed on the basis of the mounting positions of the acoustic wave probes (5) and a peak sidelobe ratio function constructed on the basis of the directivity function. An accurate velocity distribution of a medium in front can be obtained and three-dimensional fine imaging of unfavorable geology in a tunneling process of the shield tunneling machine (6) can be achieved. Also provided is an apparatus for fully-automatic and fine detection of geology by using array acoustic waves from a shield tunneling machine.

Description

A shield-mounted array acoustic wave fully automatic geological fine detection method and equipment

[0001] The present invention claims priority to the Chinese patent application filed with the Patent Office of China on July 25, 2023, with application number 202310919418.1 and invention name “A shield-mounted array acoustic wave fully automatic geological fine detection method and equipment”, the entire contents of which are incorporated into the present invention by reference. Technical Field

[0002] The present invention relates to the technical field of geological advance prediction, and in particular to a shield-mounted array acoustic wave fully automatic geological fine detection method and equipment. Background Art

[0003] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0004] Shield machines, known for their safety and efficiency, have become the dominant method for subway construction. However, in actual shield tunneling environments, they often face hazards such as isolated boulders, karst, and fractured zones. These hazards can cause ground instability and collapse, building collapse, and shield machine jams, resulting in serious casualties and economic losses. Therefore, accurately identifying the source of hazards during shield machine construction is essential. Currently, three-dimensional geological images are primarily acquired through phased array acoustic detection using acoustic probes mounted on shield machines. However, existing phased array methods, such as ZL 201911338546.7, "A shield machine-mounted phased array acoustic advance geological detection system and method," utilize a one-dimensional linear array array to obtain two-dimensional imaging results, which are then supplemented with undesirable geological information via rotation. This leads to errors in the two-dimensional interpretation of three-dimensional results. Furthermore, these imaging methods use a uniform wave velocity, which can also lead to image deviations in heterogeneous media, making it difficult to accurately and comprehensively obtain undesirable geological information.

[0005] At the same time, the existing methods do not make the optimal selection for the installation position of the acoustic probe, resulting in poor geological three-dimensional images.

[0006] Summary of the Invention

[0007] In order to solve the above problems, the present invention proposes a shield-mounted array acoustic wave fully automatic geological fine detection method and equipment. By selecting the installation position of the acoustic wave probe and installing the acoustic wave probe according to the selected installation position, and then performing array acoustic wave detection, the velocity distribution of the medium ahead can be accurately obtained, and three-dimensional fine imaging of unfavorable geology can be achieved during the shield machine's excavation process.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] First, a shield-mounted array acoustic wave fully automatic geological fine detection method is proposed, including:

[0010] Using multiple acoustic wave probes installed on the cutterhead of the shield machine, array acoustic wave detection is performed on the geology in front of the cutterhead to obtain a three-dimensional image of the unfavorable geology in front of the cutterhead;

[0011] Among them, the installation position of the sonic probe on the cutterhead is determined by the sonic probe optimization model. The sonic probe optimization model aims to minimize the peak-to-sidelobe ratio, including a directivity function constructed according to the installation position of the sonic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

[0012] Secondly, a shield-mounted array acoustic wave fully automatic geological fine detection equipment was proposed, including:

[0013] The array acoustic wave detection host is used for encoding and transmitting acoustic wave signals, receiving acoustic wave signals, and constructing a three-dimensional image of the unfavorable geological conditions in front of the cutterhead based on the acoustic wave signals;

[0014] Multiple acoustic wave probes installed on the cutterhead of the shield machine are used to transmit the acoustic wave signals emitted by the array acoustic wave detection host, perform array acoustic wave detection on the geology in front of the cutterhead, and obtain acoustic wave signals;

[0015] Among them, the installation position of the sonic probe on the cutterhead is determined by the sonic probe optimization model. The sonic probe optimization model aims to minimize the peak-to-sidelobe ratio, including a directivity function constructed according to the installation position of the sonic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

[0016] On the third aspect, an electronic device is proposed, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are run by the processor, the steps described in a shield-mounted array acoustic wave fully automatic geological fine detection method are completed.

[0017] In a fourth aspect, a computer-readable storage medium is proposed for storing computer instructions. When the computer instructions are executed by a processor, the steps described in a shield-mounted array acoustic wave fully automatic geological fine detection method are completed.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention makes full use of the space available for cutterhead layout and realizes three-dimensional observation in front of the shield machine through two-dimensional layout. The peak sidelobe ratio is used as the optimization index for the probe layout position, and the installation position of the acoustic wave probe with the smallest peak sidelobe ratio is selected. When the acoustic wave probe is installed according to this installation position, the energy of the acoustic wave can be focused in front of the tunneling face, thereby improving the detection distance and resolution of the array acoustic wave detection method.

[0020] 2. The reflection matrix imaging method based on Radon transform in the present invention can obtain the velocity distribution of the medium in front of the cutterhead, based on which three-dimensional geological imaging is performed to improve the imaging accuracy of poor geology.

[0021] 3. The detection time of the present invention is short, which can meet the demand for efficient detection in front of the shield construction process.

[0022] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings in the specification, which constitute a part of this application, are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0024] FIG1 is a detection flow chart of the method disclosed in Example 1;

[0025] FIG2 is a diagram showing the arrangement of the acoustic wave probes of the method disclosed in Example 1;

[0026] FIG3 is a schematic diagram of the equipment disclosed in Example 2;

[0027] FIG4 is a schematic structural diagram of the equipment disclosed in Example 2.

[0028] Among them: 1. Unfavorable geological body; 2. Excited acoustic wave signal; 3. Reflected acoustic wave signal; 4. Shield machine cutterhead; 5. Acoustic wave probe; 6. Shield machine; 7. Central rotary joint; 8. Power amplifier; 9. Array acoustic wave detection host; 10. Shield machine cutterhead main beam; 11. Hob; 12. Main control room. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0031] Example 1

[0032] In this embodiment, a shield-mounted array acoustic wave fully automatic geological fine detection method is disclosed, as shown in Figures 1 and 2, including:

[0033] Using multiple acoustic wave probes installed on the cutterhead of the shield machine, array acoustic wave detection is performed on the geology in front of the cutterhead to obtain a three-dimensional image of the unfavorable geology in front of the cutterhead;

[0034] Among them, the installation position of the sonic probe on the cutterhead is determined by the sonic probe optimization model. The sonic probe optimization model aims to minimize the peak-to-sidelobe ratio, including a directivity function constructed according to the installation position of the sonic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

[0035] In this embodiment, holes are drilled in the shield machine cutterhead main beam 10 to install acoustic probes 5. The number of acoustic probes 5 to be installed is determined based on the actual size and structure of the shield machine cutterhead 4, and is at least six. The peak-to-sidelobe ratio parameter is used as an optimization metric for the acoustic probe installation positions, and the installation locations are determined using nonlinear optimization methods such as genetic algorithms and particle swarm algorithms.

[0036] Specifically, an acoustic wave probe optimization model is constructed, and the acoustic wave probe optimization model is solved by a nonlinear optimization method to obtain the installation position of the acoustic wave probe on the cutter head; the acoustic wave probe is installed on the shield machine cutter head according to the installation position.

[0037] The acoustic probe optimization model aims to minimize the peak-to-sidelobe ratio, and includes a directivity function constructed according to the installation position of the acoustic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

[0038] Among them, the directivity function F(θ) is:

[0039] Where, θ is the detection pitch angle, and the value range of θ is: -90° to 90°, preferably 0°; N is the number of sonic probes; f i (θ) is the directivity function of each acoustic wave probe, j is the imaginary unit, k is the wave number, x i is the horizontal coordinate of each sonic probe, that is, the installation position of each sonic probe, and the origin of the coordinate is the center of the cutter head.

[0040] The peak-to-sidelobe ratio function is:

[0041] Where PLSR represents the peak sidelobe ratio parameter. The smaller the value, the more reasonable the installation position of the acoustic probe. S represents the sidelobe range of the directivity function.

[0042] With the goal of minimizing PLSR, the directivity function and peak-to-sidelobe ratio function are solved by nonlinear optimization method to obtain the installation position of the acoustic probe.

[0043] The nonlinear optimization method can be a genetic algorithm or a particle swarm algorithm.

[0044] After the sonic probe is installed on the cutterhead of the shield machine according to the installation position, array sonic detection is performed on the geology in front of the cutterhead to obtain a three-dimensional image of the unfavorable geology in front of the cutterhead.

[0045] Using multiple acoustic wave probes installed on the cutterhead of a shield machine, array acoustic wave detection is performed on the geology in front of the cutterhead. The process of obtaining a three-dimensional image of the unfavorable geology in front of the cutterhead is as follows:

[0046] Control the cutter head to rotate to set angles in sequence;

[0047] When the cutterhead is not rotating and after each rotation of the cutterhead, multiple acoustic wave probes installed on the cutterhead are used to stimulate acoustic wave signals one by one; while one probe is stimulating the acoustic wave signal, the remaining probes are used to receive the acoustic wave signal;

[0048] All acquired acoustic wave signals are analyzed using the reflection matrix method to determine the velocity distribution of the medium in front of the cutterhead.

[0049] According to the velocity distribution of the medium in front of the cutterhead, a three-dimensional image of the adverse geology in front of the cutterhead is obtained.

[0050] Taking the setting angle as 60° and the rotation of the cutter head 5 times as an example, the array acoustic wave detection process is explained. The cutter head is controlled to rotate 60° in sequence, that is, the cutter head is rotated 60° for the first time. Based on the first rotation, the cutter head is rotated 60° for the second time. After the second rotation, the cutter head has rotated a total of 120°. Based on the second rotation, the third rotation is performed, and so on, completing 5 rotations.

[0051] When the cutter disc is not rotating, that is, when the cutter disc is in its initial position, multiple acoustic wave probes installed on the cutter disc are used to stimulate acoustic wave signals one by one for detection. Afterwards, each time the cutter disc rotates a set angle, multiple acoustic wave probes installed on the cutter disc are also used to stimulate acoustic wave signals one by one for detection.

[0052] In this embodiment, under the control of the array acoustic wave detection host 9, each acoustic wave probe excites the acoustic wave signal one by one, and simple harmonic waves and triple-peak waves of different frequencies can be selected. The intensity of the excited signal is amplified by the power amplifier 8. At the same time as the excitation, the remaining acoustic wave probes receive the reflected acoustic wave signals from the poor geology in front and store the received acoustic wave signals in the array acoustic wave detection host.

[0053] After the cutterhead rotates five times, a total of six groups of acoustic wave signals are collected. The six groups of acoustic wave signals collected are represented by D. The data dimension of D is nrot×nsour×nrec×nt, where nrot=6, representing six groups of data for rotations of 0°, 60°, 120° to 300°, nsour represents the number of stimulating acoustic wave probes in each group of data, nrec represents the number of receiving acoustic wave probes in each group of data, and nt represents the number of data sampling points.

[0054] All acquired acoustic wave signals D are subjected to denoising processing. The denoised acoustic wave signals are analyzed using the reflection matrix method to determine the velocity distribution of the medium in front of the cutter head.

[0055] Among them, all acquired sound wave signals can be denoised by using methods such as predictive filtering or wavelet transform.

[0056] The process of determining the medium velocity distribution in front of the shield machine cutterhead using the reflection matrix method is as follows:

[0057] Perform Fourier transform on the sound wave signal D to obtain frequency domain data D f , thereby converting the acoustic wave signal from the time domain to the frequency domain;

[0058] Divide the area in front of the shield machine into a three-dimensional grid. The xy plane of the three-dimensional grid is parallel to the plane of the shield machine cutterhead, and the z direction of the three-dimensional grid is the shield machine excavation direction.

[0059] For each depth z in front of the shield machine, the reflection matrix of different scanning speeds is calculated based on the frequency domain data. The center of the reflection matrix is ​​used as the coordinate origin, and the Radon transform is performed on the different reflection matrices to form a velocity scanning spectrum. The velocity at the depth z is selected from the velocity scanning spectrum.

[0060] The velocities at all depths Z form the medium velocity distribution in front of the cutterhead.

[0061] The calculation method of the reflection matrix is:

[0062] Where R(J,J,z) represents the reflection matrix at each depth z, J represents the coordinates of the imaging point J(x,y) on the xy plane at depth z, and G S / R (J,z,f) can be G s (J,z,f) or G R (J,z,f),G s (J,z,f) and G R (J, z, f) represent the Green’s functions at the excitation and receiving acoustic wave probe ends, respectively. * represents the matrix conjugation operator, Trepresents the transpose conjugate operator, C sour and C rec are the coordinates C of the excitation probe and the receiving probe respectively sour (x,y) and C rec (x,y),v scan is the scanning speed value, and f is the frequency of the acoustic wave signal.

[0063] At each depth z, the coordinate origin is the center of the reflection matrix at that depth. scan The reflection matrix is ​​transformed by Radon transform, and the Radon domain data when k=1 is taken. The speed scanning spectrum is formed according to different scanning speeds. The abscissa of the speed scanning spectrum is the scanning speed spectrum, and the ordinate is the intercept of the Radon domain.

[0064] The velocity corresponding to the position with the highest vertical resolution is selected from the scanning velocity spectrum as the velocity at depth z.

[0065] When there are multiple positions with the highest vertical resolution on the scanning velocity map, the velocity corresponding to the position with the strongest amplitude energy is selected from all the positions with the highest vertical resolution as the velocity at depth z.

[0066] The velocities at all depths Z form the medium velocity distribution in front of the cutterhead.

[0067] After obtaining the medium velocity distribution in front of the cutterhead, the reflection matrix at each depth is calculated based on the medium velocity in front of the shield machine cutterhead. The imaging results at each depth are obtained based on the reflection matrix as the three-dimensional image at that depth. The three-dimensional images at all depths constitute the three-dimensional image of the unfavorable geology in front of the cutterhead.

[0068] Specifically, according to the velocity distribution of the medium in front of the cutter head, the Green's function G' of the excited acoustic wave probe is calculated. s (J,z,f) and the Green's function G' of the receiving acoustic wave probe R (J,z,f):

[0069] Among them, S sour is the distance between the imaging point and the excitation point, S rec is the distance from the imaging point to the receiving point, L is the depth of the imaging point in the z direction, l m and v m are the thickness and velocity of each layer in the acoustic wave propagation path, and nlayer is the total number of velocity layers passed by the acoustic wave propagation path.

[0070] According to the Green's function G' of the excited acoustic wave probe obtained by calculation s (J,z,f) and the Green's function G' of the receiving acoustic wave probe R(J,z,f), calculate the reflection matrix R'(J,J,z) at each depth.

[0071] The imaging result at each depth is obtained by taking the main diagonal value of the reflection matrix at each depth. That is, the imaging result at each depth z is obtained by taking the main diagonal value of the reflection matrix: Imag(x,y,z)=Imag(J,z)=diag(|R'(J,J,z)|), where diag represents the diagonal value operation.

[0072] The method disclosed in this embodiment makes full use of the space available for the cutterhead to be arranged. Through two-dimensional layout, three-dimensional observation in front of the shield machine can be achieved. The peak sidelobe ratio is used as the optimization indicator for the probe layout position, and the installation position of the acoustic wave probe with the smallest peak sidelobe ratio is selected. When the acoustic wave probe is installed according to this installation position, the energy of the acoustic wave can be focused in front of the tunneling face, thereby improving the detection distance and resolution of the array acoustic wave detection method.

[0073] This embodiment also uses a reflection matrix imaging method based on Radon transform to obtain the velocity distribution of the medium in front of the cutterhead, based on which three-dimensional geological imaging is performed to improve the imaging accuracy of poor geological conditions.

[0074] Example 2

[0075] In this embodiment, a shield-mounted array acoustic wave fully automatic geological fine detection equipment is disclosed, as shown in Figures 3 and 4, including:

[0076] The array acoustic wave detection host 9 is used for encoding and transmitting acoustic wave signals, receiving acoustic wave signals, and constructing a three-dimensional image of the unfavorable geological conditions in front of the cutterhead based on the acoustic wave signals;

[0077] A plurality of acoustic wave probes 5 installed on the cutter head 4 of the shield machine are used to transmit the acoustic wave signals emitted by the array acoustic wave detection host, perform array acoustic wave detection on the geology in front of the cutter head, and obtain acoustic wave signals;

[0078] Among them, the installation position of the sonic probe on the cutterhead is determined by the sonic probe optimization model. The sonic probe optimization model aims to minimize the peak-to-sidelobe ratio, including a directivity function constructed according to the installation position of the sonic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

[0079] Specifically, the shield machine cutterhead 4 includes a roller cutter 11 and a shield machine cutterhead main beam 10. There are 6 acoustic wave probes in total, which are installed on the shield machine cutterhead main beam 10 according to the determined installation position. Each acoustic wave probe can realize the excitation and reception of acoustic wave signals.

[0080] A central rotary joint 7 is set inside the shield machine 6, and the central rotary joint 7 accommodates the circuits, oil lines and other cables connecting the acoustic wave probe and the array acoustic wave host, ensuring the automatic control of the acoustic wave probe by the array acoustic wave detection host 9 and realizing signal transmission between the acoustic wave probe 7 and the array acoustic wave detection host 9.

[0081] A power amplifier 8 is further provided between the acoustic wave probe 7 and the array acoustic wave detection host 9. The array acoustic wave detection host 9 and the power amplifier 8 are installed in the main control room 12 of the shield machine.

[0082] The power amplifier 8 enhances the energy of the sound wave signal encoded and transmitted by the array sound wave detection host 9 and sends it to the sound wave probe, which then emits the energy-enhanced sound wave signal to increase the penetration distance of the sound wave.

[0083] The acoustic wave probe can transmit high-frequency acoustic wave signals (main frequency 4kHz) and receive wide-band acoustic wave signals of 0 to 200kHz. The acoustic wave probe can automatically extend and retract the probe through a hydraulic extension device.

[0084] The array acoustic wave detection host 9 can encode the transmitted acoustic wave signal and transmit it to the acoustic wave probe, store the reflected signal received by the acoustic wave probe, and process the reflected signal to achieve three-dimensional fine imaging of the adverse geology ahead.

[0085] The detection process of the detection equipment disclosed in this embodiment is as follows:

[0086] (1) The signal transmitting module in the array acoustic wave detection host encodes the transmission signal, transmits it to the power amplifier for signal energy amplification, and transmits it to the acoustic wave probe on the cutter head through the central rotary joint to realize the excitation of the acoustic wave signal.

[0087] (2) The excited acoustic wave signal 2 propagates to the unfavorable geological body 1 to generate a reflected acoustic wave signal 3 which is received by other acoustic wave probes and transmitted to the receiving module of the array acoustic wave detection host for data storage.

[0088] (3) Continue to collect the acoustic wave data obtained by exciting the remaining acoustic wave probes according to steps (1) and (2).

[0089] (4) The array acoustic wave detection host controls the cutter head to rotate an angle to continue the data acquisition operation of steps (1) to (3).

[0090] (5) The geological imaging module of the array acoustic wave detection host uses an imaging module to perform geological imaging on the collected acoustic wave signals.

[0091] The detection equipment disclosed in this embodiment makes full use of the space available for the cutterhead to be arranged, and can realize three-dimensional observation in front of the shield machine through two-dimensional layout; using the peak sidelobe ratio as the optimization indicator for the probe layout position, it can realize energy focusing of the sound wave energy in front of the tunneling face, and improve the detection distance and resolution of the array sound wave detection method; the reflection matrix imaging method based on Radon transform can obtain the sound wave velocity distribution of the geology in front, and perform three-dimensional geological imaging based on this, thereby improving the imaging accuracy of unfavorable geology; the detection takes a short time, which can meet the needs of efficient detection in front of the shield construction process.

[0092] Example 3

[0093] In this embodiment, an electronic device is disclosed, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are run by the processor, the steps described in the shield-mounted array acoustic wave fully automatic geological fine detection method disclosed in Example 1 are completed.

[0094] Example 4

[0095] In this embodiment, a computer-readable storage medium is disclosed for storing computer instructions. When the computer instructions are executed by a processor, the steps described in the shield-mounted array acoustic wave fully automatic geological fine detection method disclosed in Example 1 are completed.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A shield-mounted array acoustic wave fully automatic geological fine detection method, characterized in that: include: Using multiple acoustic wave probes installed on the cutterhead of the shield machine, array acoustic wave detection is performed on the geology in front of the cutterhead to obtain a three-dimensional image of the unfavorable geology in front of the cutterhead; Among them, the installation position of the acoustic probe on the cutter disc is determined by the acoustic probe optimization model. The acoustic probe optimization model aims to minimize the peak-to-sidelobe ratio, including a directivity function constructed according to the installation position of the acoustic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

2. The shield-mounted array acoustic wave fully automatic geological fine detection method as claimed in claim 1, characterized in that: The sonic probe optimization model is solved by a nonlinear optimization method to obtain the installation position of the sonic probe on the cutterhead; the sonic probe is installed on the cutterhead of the shield machine according to the installation position.

3. The shield-mounted array acoustic wave fully automatic geological fine detection method as claimed in claim 1, characterized in that: The process of performing array acoustic wave detection on the geology in front of the cutterhead and obtaining a three-dimensional image of the unfavorable geology in front of the cutterhead is as follows: Control the cutter disc to rotate to set angles in sequence; When the cutter disc is not rotating and after each rotation of the cutter disc, multiple acoustic wave probes installed on the cutter disc are used to stimulate acoustic wave signals one by one; while one of the probes stimulates the acoustic wave signal, the remaining probes are used to receive the acoustic wave signal; All acquired acoustic wave signals are analyzed by the reflection matrix method to determine the velocity distribution of the medium in front of the cutter disc; According to the velocity distribution of the medium in front of the cutterhead, a three-dimensional image of the adverse geology in front of the cutterhead is obtained.

4. The shield-mounted array acoustic wave fully automatic geological fine detection method as claimed in claim 3, characterized in that: The process of determining the velocity distribution of the medium in front of the cutter disc by the reflection matrix method is: Perform Fourier transform on the sound wave signal to obtain frequency domain data; The area in front of the shield machine is divided into three-dimensional grids. The xy plane of the three-dimensional grid is parallel to the plane of the shield machine cutterhead, and the z direction of the three-dimensional grid is the excavation direction of the shield machine. For each depth z in front of the shield machine, the reflection matrix of different scanning speeds is calculated according to the frequency domain data. The center of the reflection matrix is ​​taken as the coordinate origin, and the Radon transform is performed on different reflection matrices to form a speed scanning spectrum. The speed at the depth z is selected from the speed scanning spectrum. The velocities at all depths Z form the medium velocity distribution in front of the cutter disc.

5. The shield-mounted array acoustic wave fully automatic geological fine detection method as claimed in claim 4, characterized in that: The velocity value corresponding to the position with the highest vertical resolution on the scanning velocity spectrum is selected as the velocity at depth z.

6. The shield-mounted array acoustic wave fully automatic geological fine detection method as claimed in claim 3, characterized in that: According to the medium velocity in front of the shield machine cutterhead, the reflection matrix at each depth is calculated; Obtaining an imaging result at each depth according to the reflection matrix as a three-dimensional image at the depth; The three-dimensional images at all depths constitute a three-dimensional image of the adverse geology in front of the cutterhead.

7. A shield-mounted array acoustic wave fully automatic geological fine detection method as claimed in claim 6, characterized in that: The imaging result at each depth is obtained by the main diagonal value of the reflection matrix at each depth.

8. A shield-mounted array acoustic wave fully automatic geological fine detection equipment, characterized in that: include: The array acoustic wave detection host is used for encoding and transmitting acoustic wave signals, receiving acoustic wave signals, and constructing a three-dimensional image of the unfavorable geology in front of the cutterhead based on the acoustic wave signals; A plurality of acoustic wave probes installed on the cutter head of the shield machine are used to send out the acoustic wave signals emitted by the array acoustic wave detection host, perform array acoustic wave detection on the geology in front of the cutter head, and obtain acoustic wave signals; Among them, the installation position of the acoustic probe on the cutter disc is determined by the acoustic probe optimization model. The acoustic probe optimization model aims to minimize the peak-to-sidelobe ratio, including a directivity function constructed according to the installation position of the acoustic probe and a peak-to-sidelobe ratio function constructed according to the directivity function.

9. An electronic device, characterized in that: The method comprises a memory and a processor and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of a shield-mounted array acoustic wave fully automatic geological fine detection method as described in any one of claims 1 to 7 are completed.

10. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the steps of a shield-mounted array acoustic wave fully automatic geological fine detection method as described in any one of claims 1 to 7.

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