The invention relates to the technical field of
tunnel construction, and provides a
machine-rock
coupling state detection method and
system based on multivariate information
perception in order to solve the problem that a
dynamic contact state cannot be distinguished in real time at present. The
machine-rock
coupling state detection method based on multivariate information
perception comprises the following steps: acquiring three-dimensional
point cloud data of a tunnel face, and constructing a tunnel environment dynamic map and marking key features by combining internal structure information of a rock
mass; based on a mechanical arm kinematic model, in combination with a tunnel environment dynamic map and mechanical arm
tail end motion state information, a mechanical arm
obstacle avoidance path and an optimal tunneling track are planned; the mechanical arm
pose offset, the contact
stress gradient and the rock
mass fracture density in the operation process of the mechanical arm along the mechanical arm
obstacle avoidance path and the optimal tunneling track are obtained, and after
processing is conducted through the dynamic
machine-rock contact recognition model, the classified contact state is obtained, and the rock
mass contact trend is predicted; and when the predicted rock mass contact trend is abnormal, the early warning level is determined according to the current classification contact state, and a control instruction is generated, so that motion parameters of the mechanical arm are adjusted in real time, and an emergency
protection mechanism is triggered.