Device and method for visual detection of tools in shield soil cabin

Abstract

The present disclosure relates to a device and method for visual detection of tools in a shield tunneling soil cabin, comprising an upper computer, a detection component and a driving component. The driving component can drive the detection component to enter or leave the shield tunneling soil tank from a bulkhead board; the detection component includes a plurality of The joint robotic arm, the end of the robotic arm is equipped with a binocular camera through a multi-axis turntable, and the multi-axis turntable can drive the binocular camera to rotate along multiple axes; The knife contacts and drives the hob to rotate; the host computer can communicate with the binocular camera and complete the three-dimensional modeling of the hob, and judge the degree of wear of the hob. The present disclosure can complete the visual detection of the cutter in the soil cabin of the shield machine, and improve the detection efficiency and accuracy.

Description

technical field [0001] The present disclosure belongs to the technical field of geotechnical engineering, and in particular relates to a device and method for visual detection of tools in a shield soil cabin. Background technique [0002] The statements herein merely provide background related to the present disclosure and do not necessarily constitute prior art. [0003] If the shield machine knife cannot be found or replaced in time after wear or failure, it will lead to excessive wear, fracture, displacement, abnormal bearing damage and even serious wear of the cutter head, which will greatly reduce the tunneling efficiency. Among the existing tool wear detection methods, the method of opening the cabin is the most direct and effective method, but under the action of the earth pressure and water pressure of the stratum, there is a great safety risk when the shield machine is opened. Moreover, generally in the environment of high mud pressure and air pressure, professiona...

AI Technical Summary

Problems solved by technology

However, in some shield machine tool detection schemes based on 3D modeling that the inventor has learned, the space limitation of the shield soil cabin with the hob installed is not considered, the camera is on one side of the shield tunnel soil cabin, and the shield machine is shut down When the hob is in a static state, and the relative angle between the optical axis of the camera and the hob remains unchanged, it is difficult to complete the full-surface imaging of the hob, which affects the accuracy of the 3D modeling of the hob

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