The application discloses a multi-dimensional
perception and self-adaptive tool changing method and
system for a
shield machine under low-speed pressure keeping, the tool changing
system comprises a
perception layer, a decision layer and a
control layer; the tool changing method comprises the following steps: obtaining three-dimensional comprehensive data through a sensor; the three-dimensional comprehensive data is sent into a multi-
modal space-time graph neural network MST-GNN through a sensor data fusion module, and a tool changing priority, a tool changing type
label, a tool changing number and a tool changing number are output; the target tool is instantaneously positioned through the tool changing type
label; angle error calculation is performed, a zero relative window is confirmed, and tool changing is realized. The application proposes the following method to cope with the long process that the traditional method must be completely stopped and depressurized, that is, under the micro-stop working condition of the low-speed cutter head and the pressure keeping of the soil bin, three-dimensional
perception of defects-life-geology is fused,
millisecond-level decision is made, RFID instantaneous positioning is performed, five times spline closed-loop tool changing is performed, and the tool changing time is reduced from hours to minutes.