Shield microwave rock breaking device and method

Abstract

The invention relates to the technical field of deep engineering hard rock breaking, and discloses a shield microwave rock breaking device and method. The device comprises a shield cutter head, rock detection equipment and a drill rod, and the extension angle and the extension length of the drill rod are determined according to the positions of rock breaking target points of different rocks, so that a microwave transmitting device and a water injection cooling device of a drill bit can perform microwave rock breaking at the positions needing rock breaking more accurately, and the rock breaking effect is improved. According to the method, through a rock breaking model, the microwave emission angle, the microwave velocity, the microwave heating time, the water flow velocity, the water flowing time and the alternating frequency of microwave heating and water injection cooling under different mineral boundary geometric shapes and porosities are accurately set in real time, and microwave rock breaking is accurately carried out.

Description

Technical Field

[0001] The invention relates to the technical field of hard rock crushing in deep engineering, and in particular to a shield microwave rock breaking device and method. Background Art

[0002] When using shield technology for underground excavation, various rocks of different hardness are often encountered, which poses a significant challenge to the excavation process. The front end of the shield is equipped with sharp cutting blades, which are designed to crush and discharge soil or soft rock on the excavation path. However, the presence of high-hardness rocks makes the advancement of the shield difficult, requiring greater thrust and longer time to penetrate the rock formation. When encountering high-hardness rocks, these blades will be greatly worn. This not only prolongs the construction period, but may also cause the blades to be replaced prematurely due to excessive wear, increasing the maintenance cost and downtime of the equipment, and increasing the economic burden.

[0003] Therefore, an innovative method of alternating microwave heating and cooling equipment was introduced. This method uses the high-frequency vibration characteristics of microwaves to heat the rock, causing thermal stress inside the rock, and the rock structure gradually weakens due to thermal expansion and contraction. Subsequently, through rapid cooling treatment, the stress difference inside the rock is further aggravated, causing the rock structure to collapse and become easy to break, effectively destroying the integrity of the rock and reducing the hardness of the rock, thereby greatly reducing the workload of the shield blade and improving excavation efficiency.

[0004] However, this method of alternating hot and cold to reduce the hardness of rock has the following problems: 1. The relative positions of the microwave device and cooling device to the shield cutterhead are relatively fixed and are not adjusted according to the actual position changes of the rock, thereby reducing the effect of rock breaking by alternating hot and cold.

[0005] 2. The intensity of heating and cooling treatments and the frequency of alternating hot and cold are often fixed, which may lead to excessive crushing of hard rock, resulting in waste, or insufficient crushing of rock, which still hinders the excavation process.

[0006] Therefore, there is an urgent need for a shield microwave rock breaking device and method that can efficiently and accurately break rocks and improve excavation efficiency. Summary of the invention

[0007] In order to improve the rock breaking effect, the present invention provides a shield microwave rock breaking device on one hand, the device includes a shield cutter head, a rock detection device, and a drill rod; The rock detection equipment is arranged on the center of the panel of the shield cutterhead; A plurality of drill rod pre-holes are provided on the panel of the shield cutter head, and the drill rod and hydraulic equipment are arranged in the drill rod pre-holes on the inner side of the shield cutter head; the hydraulic equipment pushes the drill rod out of the drill rod pre-holes to the panel of the shield cutter head to a predetermined position to perform microwave rock breaking; wherein the extension angle and extension length of the drill rod are determined according to the position of the rock breaking target point; The drill rod is provided with an outer layer and an inner layer, wherein the outer layer is a spiral blade; and a microwave transmitting device, a water injection cooling device and a temperature sensor are provided at the drill bit position of the inner layer.

[0008] As an implementation of the present application, when the drill rod is pushed to a predetermined position by hydraulic equipment, the spiral blades are retracted in the opposite direction of excavation, and the microwave emitting device, the water injection cooling device and the temperature sensor enter a working state.

[0009] As an implementation method of the present application, the position where the rock hardness point is maximum is used as the rock breaking target point.

[0010] As an implementation method of the present application, the rock detection equipment is a geological radar.

[0011] As an implementation method of the present application, the extension angle of the drill rod is determined according to the position of the rock breaking target point, using the following calculation formula: ; ; θ z =arccos( ); In the formula, θ x Represents the angle between the drill rod and the shield cutterhead in the X-axis direction, θ y Represents the angle between the drill rod and the shield cutterhead in the Y-axis direction, θ z represents the angle between the drill rod and the shield cutterhead in the Z-axis direction; X 目标点 , Y 目标点 and Z 目标点 They are the coordinates of the rock breaking target point on the X-axis, Y-axis, and Z-axis. 中心点 , Y 中心点 and Z 中心点are the coordinate points of the center point of the shield cutter head on the X-axis, Y-axis and Z-axis respectively; d is the horizontal distance from the center point of the shield cutter head to the rock breaking target point, n is the normal vector of the rock surface, g is the gravity vector, ||n|| and ||g|| are the lengths of the normal vector and gravity vector of the rock surface respectively; among them, the X-axis, Y-axis and Z-axis are the orthogonal axes in the shield cutter head coordinate system respectively, the X-axis is the direction of shield excavation, the Y-axis is the right side of the shield when observed from the rear of the shield, and the Z-axis is the direction perpendicular to the X-axis and Y-axis.

[0012] As an implementation of the present application, the extension length L of the drill rod is: L= .

[0013] On the other hand, the present application also provides a shield microwave rock breaking method, which is performed by a shield microwave rock breaking device as described in any one of the above items, and comprises the following steps: During shield tunneling, real-time detection of rock hardness in front of the shield cutterhead; Compare the rock hardness with a preset hardness threshold: If the rock hardness is less than the hardness threshold, the cutter head of the shield machine is used to perform rock breaking operations; If the rock hardness is greater than or equal to the hardness threshold, the microwave rock breaking method is used to perform rock breaking operations, specifically: Stop the shield cutter head from excavating and extend the drill rod from the hole to the predetermined position; Real-time monitoring of rock mineral boundary geometry and porosity; According to the mineral boundary geometry, porosity and rock temperature of the rock, the microwave emission angle, microwave wave velocity, microwave heating time, water flow velocity, water flow time, and the alternating frequency of microwave heating and water injection cooling are obtained through the trained rock breaking model; The microwave heating device and the water injection cooling device perform rock breaking operations with corresponding microwave emission angles, microwave wave speeds, microwave heating time, water flow speeds, water flow time, and alternating frequencies of microwave heating and water injection cooling.

[0014] As an implementation of the present application, the rock breaking model is a multi-layer perceptron neural network model with 6 neurons.

[0015] As an implementation of the present application, the loss function F of the rock breaking model is: F= ; Where Y i represents the actual value of the i-th output parameter of the rock breaking model, Y i ` represents the predicted value of the i-th output parameter of the rock breaking model.

[0016] The embodiments of the present invention have the following technical effects: 1. The shield microwave rock breaking device in the present application determines the extension angle and extension length of the drill rod according to the position of the rock breaking target point of different rocks, so that the microwave emitting device and water injection cooling device of the drill bit can more accurately perform microwave rock breaking at the position where rock breaking is required, thereby improving the rock breaking effect. At the same time, the soil interval from the rock breaking target point is reduced, reducing the interference of the soil on microwave heating and cooling, and further improving the rock breaking efficiency.

[0017] 2. The shield microwave rock breaking method provided in the present application, through the rock breaking model, real-time and accurately sets the microwave emission angle, microwave wave speed, microwave heating time, water flow rate, water flow time, and alternating frequency of microwave heating and water injection cooling under different mineral boundary geometries, porosity and rock temperature, thereby overcoming the excessive rock breaking or insufficient crushing caused by fixed time and frequency alternating hot and cold rock breaking operations; and the microwave emission angle changes with the change of the rock crushing degree, thereby improving the effect of microwave heating and further enhancing the rock breaking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a front schematic diagram of a shield microwave rock breaking device provided by an embodiment of the present invention; Figure 2 This is a simplified front view of a shield microwave rock breaking device provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the position of a drill rod in a non-microwave rock breaking state of a shield microwave rock breaking device provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the position of a drill rod in a microwave rock breaking state of a shield microwave rock breaking device provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of a drill bit of a drill rod of a shield microwave rock breaking device provided in an embodiment of the present invention; Figure 6 It is a schematic diagram of a drill rod of a shield microwave rock breaking device provided by an embodiment of the present invention using a spiral blade for excavation; Figure 7 It is a schematic diagram of a spiral blade of a drill rod of a shield microwave rock breaking device provided by an embodiment of the present invention after being retracted; Figure 8The present invention provides a flowchart of a shield microwave rock breaking method.

[0020] 1. Shield cutter head; 2. Rock detection hole; 3. Drill rod; 4. Drill rod reserved hole; 5. Hydraulic equipment; 6. Spiral blade; 7. Microwave transmitting device; 8. Water injection cooling device; 9. Temperature sensor. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0022] In soil-rock combined strata, or soil strata with isolated rocks, when shield tunneling, it encounters isolated rocks or stones with relatively high hardness. Since the surrounding strata are relatively soft, the stones will rotate with the shield cutter head and are not easy to break and dig. In this case, the current conventional treatment method is to inject grout into the reserved holes of the drill rod on the ground or in the hole, and inject grout to reinforce the strata around the stone / isolated rock position (after this treatment, the stone will not move with the cutter head), and then advance the shield after the grout hardens.

[0023] Alternatively, microwave rock breaking can be used. Compared with grouting reinforcement, microwave-assisted rock breaking does not require long downtime. Grouting reinforcement requires grouting from the ground and waiting for the slurry to harden, which usually takes several days. Microwave rock breaking can quickly degrade the rock by rapidly heating and cooling it, greatly improving rock breaking efficiency.

[0024] However, in the current microwave rock breaking devices, the relative positions of the microwave device, the cooling device and the shield cutter head are relatively fixed and cannot be adjusted according to the actual position changes of the rock, which reduces the effect of rock breaking by alternating hot and cold. The present invention provides a shield microwave rock breaking device. Figure 1 It is a front schematic diagram of a shield microwave rock breaking device provided by an embodiment of the present invention; Figure 2 1 is a simplified front view of a shield microwave rock breaking device provided by an embodiment of the present invention; Figure 1 and Figure 2 As shown, the device includes a shield cutter head 1, a rock detection device, and a drill rod 3; A rock detection hole 2 is provided on the panel of the shield cutter head 1, and the rock detection device is arranged inside the shield cutter head of the rock detection hole 2 to detect the hardness of the rock in front of the shield cutter head; Exemplarily, each rock detection hole 2 is provided with a set of rock detection equipment on the inner side of the shield cutterhead, and the present application does not limit the number of rock detection holes 2 opened on the panel of the shield cutterhead 1. The number of rock detection holes 2 may be determined according to the specific application scenario of the shield. For example, in strata with high rock hardness and complex geological structure, more detection equipment may be required to obtain detailed rock information; if the detection range of a single device is small or higher detection accuracy is required, more equipment may need to be deployed; such as combining the size and shape of the cutterhead, reasonably arrange it within the limited panel space of the cutterhead and consider its space utilization; the position of the drill rod reserved hole directly affects the position of the rock detection equipment, which can be arranged in the key area of ​​the cutterhead to provide accurate rock hardness and position information for the drill rod.

[0025] Exemplarily, as an implementation of the present application, the rock detection equipment is a geological radar. The geological radar emits high-frequency pulse electromagnetic waves and monitors through the emission and reflection waves. In addition to monitoring the hardness of the rock, it can also be used to monitor the location of the rock, the geometry of the mineral boundary and the porosity.

[0026] A plurality of drill rod pre-holes 4 are provided on the panel of the shield cutter head 1, and the drill rod 3 and the hydraulic device 5 are arranged on the inner side of the drill rod pre-holes 4 of the shield cutter head; the hydraulic device 5 pushes the drill rod 3 out of the panel of the shield cutter head 1 from the drill rod pre-holes 4 to a predetermined position for microwave rock breaking; wherein the extension angle and the extension length of the drill rod 3 are determined according to the position of the target rock breaking point.

[0027] In this application, the drill rod pre-holes opened on the cutter head panel are not limited, and can be specifically set according to the application scenario of the shield machine to maximize the cracking effect of the shield machine on the surrounding rocks. For example, for a shield machine used for excavation in a geological area with a lot of rock and high hardness, more drill rod pre-holes can be appropriately opened to allow more microwaves and cooling devices to participate in the degradation of the rock; conversely, the number of drill rod pre-holes can be appropriately reduced, but these drill rod pre-holes should be evenly distributed on the cutter head surface to maximize the cracking effect of the shield machine on the surrounding rocks.

[0028] As an implementation method of the present application, the location of the maximum hardness point of the rock is used as the rock breaking target point. The purpose of concentrating energy on the hardest part of the rock is to maximize the effective use of microwave heating and cooling effects, quickly heat and then cool, thereby generating thermal stress and internal cracks in the rock. By generating cracks at the hardest point of the rock, the entire rock can be broken more easily, reducing the overall difficulty of excavation.

[0029] As an implementation method of the present application, the extension angle of the drill rod 3 is determined according to the position of the rock breaking target point, using the following calculation formula: ; ; θ z =arccos( ); In the formula, θ x Represents the angle between the drill rod and the shield cutterhead in the X-axis direction, θ y Represents the angle between the drill rod and the shield cutterhead in the Y-axis direction, θ z represents the angle between the drill rod and the shield cutterhead in the Z-axis direction; X 目标点 , Y 目标点 and Z 目标点 They are the coordinates of the rock breaking target point on the X-axis, Y-axis, and Z-axis. 中心点 , Y 中心点 and Z 中心点 are the coordinate points of the center point of the shield cutter head on the X-axis, Y-axis and Z-axis respectively; d is the horizontal distance from the center point of the shield cutter head to the rock breaking target point, n is the normal vector of the rock surface, g is the gravity vector, ||n|| and ||g|| are the lengths of the normal vector and gravity vector of the rock surface respectively; among them, the X-axis, Y-axis and Z-axis are the orthogonal axes in the shield cutter head coordinate system respectively, the X-axis is the direction of shield excavation, the Y-axis is the right side of the shield when observed from the rear of the shield, and the Z-axis is the direction perpendicular to the X-axis and Y-axis.

[0030] These coordinate axes are defined to determine the precise orientation of the drill rod relative to the shield cutterhead in three-dimensional space. The extension angle of the drill rod is calculated relative to these axes to ensure that the drill rod can be accurately positioned at the target point of the rock for rock breaking operations. In detail, in the shield cutterhead coordinate system, the X-axis is the direction of shield excavation, which is usually considered to be horizontal, but it is still consistent with the true direction of the shield's advance; the Y-axis is perpendicular to the X-axis, usually pointing to the right side of the shield (if looking forward from behind the shield); the Z-axis is perpendicular to the X-axis and Y-axis, usually pointing upwards, perpendicular to the ground, but it depends on the true excavation direction of the shield and remains perpendicular to the X-axis.

[0031] θ x Represents the angle between the drill rod and the shield cutterhead in the X-axis direction, which is the angle between the drill rod and the vertical plane of the shield cutterhead (usually the horizontal plane) in the X-axis direction. It describes the angle of rotation of the drill rod around the z-axis (perpendicular to the axis of the cutterhead) in the horizontal plane. θ y Represents the angle between the drill rod and the shield cutterhead in the Y-axis direction, which is the angle between the drill rod and the vertical plane of the shield cutterhead in the Y-axis direction. It describes the angle of rotation of the drill rod around the X-axis (usually the forward direction of the shield) in the horizontal plane. θz Represents the angle between the drill pipe and the shield cutterhead in the Z-axis direction. This is the angle between the drill pipe and the shield cutterhead in the vertical direction, also known as the inclination angle or pitch angle. It describes the degree of up and down inclination of the drill pipe relative to the horizontal plane of the cutterhead. These angles together determine the precise direction of the drill pipe in three-dimensional space, so that the microwave launcher and water injection cooling device of the drill pipe can be correctly aimed at the target point of the rock, which is crucial to ensure the effectiveness of the rock breaking operation.

[0032] As an implementation of the present application, the extension length L of the drill rod 3 is: L= .

[0033] The drill rod 3 is provided with an outer layer and an inner layer, wherein the outer layer is a spiral blade 6; the drill bit position of the inner layer is provided with a microwave transmitting device 7, a water injection cooling device 8 and a temperature sensor 9, such as Figure 5 The temperature sensor can be an infrared sensor or other device capable of monitoring the temperature of the rock.

[0034] The microwave transmitting device heats the rock by emitting microwaves, and the water injection cooling device cools the rock by spraying cold water on the heated rock. Rapid heating and cooling can quickly deteriorate the rock, causing cracks to appear inside the rock in advance, reducing rock strength and the wear of the shield cutter head. By increasing the service life of the cutter, the downtime for maintenance and cutter replacement can be reduced, the construction efficiency can be improved, and the construction period can be shortened. This avoids the increase in cost and construction period caused by other auxiliary measures.

[0035] Taking into account the irregularity of the rock surface, the extension angle and length of the drill rod are adjusted according to the normal vector of the rock surface.

[0036] As an implementation of the present application, when the drill rod 3 is pushed to a predetermined position by the hydraulic equipment 5, the spiral blade 6 is retracted in the opposite direction of the excavation, and the microwave emitting device 7, the water injection cooling device 8 and the temperature sensor 9 enter the working state.

[0037] like Figure 6 As shown, the outer drill pipe is connected to the spiral blade, which is responsible for cutting and discharging the soil in the hole. The microwave emission device 7, water injection cooling device 8 and temperature sensor 9 of the drill bit are arranged at the head of the inner layer of the drill pipe, and the inner layer of the drill pipe will not be probed out alone. Figure 7 As shown, when the drill rod reaches the predetermined position, the outer drill rod part retracts, and the microwave emitting device 7, the water injection cooling device 8 and the temperature sensor 9 of the inner drill bit are extended outward to work.

[0038] The shield microwave rock breaking device in the present application determines the extension angle and extension length of the drill rod according to the position of the rock breaking target point of different rocks, so that the microwave emitting device and the water injection cooling device of the drill bit can more accurately perform microwave rock breaking at the position where rock breaking is required, thereby improving the rock breaking effect. At the same time, it reduces the soil interval from the rock breaking target point, reduces the interference of the soil on microwave heating and cooling, and further improves the rock breaking efficiency.

[0039] In order to further improve the rock breaking effect through the device system, the present application also provides a shield microwave rock breaking method on the other hand, which is performed by a shield microwave rock breaking device as described in any of the above items, and includes the following steps: S1: During the shield tunneling process, real-time detection of the rock hardness in front of the shield cutterhead; S2: Compare the rock hardness with a preset hardness threshold: If the rock hardness is less than the hardness threshold, the shield cutter head is used to break the rock; the state of the drill rod is as follows: Figure 3 As shown, retract it into the reserved hole of the drill pipe.

[0040] If the rock hardness is greater than or equal to the hardness threshold, the microwave rock breaking method is used to perform rock breaking operation; the state of the drill pipe is as follows: Figure 4 As shown, the drill rod is extended out of the reserved hole and brought close to the rock to be broken.

[0041] In actual situations, the setting of the hardness threshold usually takes into account the following factors related to the shield cutterhead: Cutterhead material hardness: The hardness of the cutterhead material determines how hard rock it can handle. If the cutterhead material is softer, you may need to set a lower hardness threshold to avoid excessive wear on the cutterhead.

[0042] Cutterhead design strength: The design strength and durability of the cutterhead will also affect the setting of the hardness threshold. A cutterhead designed to handle high-hardness rock can withstand a higher hardness threshold.

[0043] Cutterhead wear state: The current wear state of the cutterhead affects its ability to break hard rock. As the cutterhead wears, its ability to handle hard rock decreases and the hardness threshold may need to be adjusted.

[0044] Thrust and torque capacity: The thrust and torque capacity of the shield determines how much force the cutterhead can apply to break rock. If the shield can provide more force, consider setting a higher hardness threshold.

[0045] Advance speed: The speed at which the shield advances will also affect the setting of the hardness threshold. If rapid advancement is required, a lower hardness threshold may be chosen to reduce the delay in advancing due to coping with hard rock.

[0046] Geological conditions: The geological conditions in which the shield is located, such as the type and stratification of rock, will also affect the setting of the hardness threshold.

[0047] In this application, microwave rock breaking method is used for rock breaking operation, such as Figure 8 As shown, specifically: S21: Stop the shield cutter head excavation and extend the drill rod from the hole to the predetermined position; The extension angle and the extension length of the drill rod are determined according to the position of the rock breaking target point. The hydraulic equipment pushes the drill rod out of the reserved hole of the drill rod and out of the panel of the shield cutter head according to the extension angle and the extension length. The position reached is the predetermined position.

[0048] S22: Real-time monitoring of rock mineral boundary geometry and porosity; The geometry and porosity of the mineral boundaries of rocks can also be monitored by geological radar. Geological radar is an instrument that uses electromagnetic waves for underground detection. It can emit high-frequency electromagnetic waves and receive reflected signals, and infer the location and properties of underground objects by analyzing these signals. Combined with three-dimensional imaging technology, geological radar can construct a three-dimensional structural model of underground rocks, thereby indirectly reflecting the geometry of mineral boundaries. Although geological radar mainly detects based on electrical differences, changes in porosity usually cause changes in the electrical parameters of rocks or soils (such as dielectric constant). Therefore, geological radar can indirectly reflect the porosity to a certain extent.

[0049] S23: according to the mineral boundary geometry, porosity and rock temperature of the rock, the microwave emission angle, microwave wave velocity, microwave heating time, water flow velocity, water flow time, and the alternating frequency of microwave heating and water injection cooling are obtained through the trained rock breaking model; The mineral boundary geometry and porosity of rocks are key factors affecting the physical and mechanical properties of rocks. The mineral boundary geometry affects the fracture development and stress distribution of rocks, while the porosity is related to the strength, permeability and thermal conductivity of rocks. These two parameters are directly related to the response of rocks to microwave heating and water injection cooling. Taking the mineral boundary geometry, porosity and rock temperature of rocks as input parameters of the rock breaking model can improve the prediction accuracy of the model.

[0050] The microwave emission angle and wave speed determine the direction and speed of microwave energy transmission, the microwave heating time determines the length of time the rock is heated, the water flow rate and water flow time determine the cooling effect, and the alternation frequency affects the accumulation and release of thermal stress inside the rock. These parameters together determine the efficiency and effect of rock breaking. Since they are directly related to the physical process of microwave heating and water injection cooling, they are called key operating variables that affect the rock breaking effect. Therefore, by precisely controlling these parameters, the rock heating and cooling process can be effectively controlled, thereby achieving efficient rock breaking.

[0051] As an implementation of the present application, the rock breaking model is a multi-layer perceptron neural network model; In order to improve the rock breaking effect, it is necessary to accurately set the microwave emission angle, microwave wave speed, microwave heating time, water flow rate, water flow time, and the alternating frequency of microwave heating and water injection cooling. In view of the need to output multiple parameters at the same time, and the relationship between the parameters is highly nonlinear and complex, this application selects a multi-layer perceptron neural network model as the rock breaking model, which can adapt to this multi-output task.

[0052] Since each output neuron can independently predict a parameter, as an implementation of the present application, the number of neurons in the rock breaking model is 6.

[0053] In the output layer of the multilayer perceptron (MLP) neural network model, 6 neurons are set, each corresponding to a specific output parameter. Each output neuron independently predicts the value of a parameter by learning the patterns in the training data.

[0054] Specifically, each neuron in the output layer receives weighted inputs from all neurons in the previous layer (usually the last hidden layer) and generates predictions through an activation function. For regression tasks, the output layer usually uses a linear activation function so that each neuron can directly output a continuous value, which is the predicted value of the corresponding parameter. Therefore, for this rock breaking model, the output layer will have 6 neurons, each of which is responsible for predicting one of the following parameters: microwave emission angle, microwave wave speed, microwave heating time, water flow rate, water flow time, and the alternating frequency of microwave heating and water injection cooling.

[0055] In actual operation, the model training process adjusts the weights and biases in the network to minimize the difference between the predicted value and the actual value, usually measured by a loss function. The loss function F of the rock breaking model in this application is: F= ; Where Y i represents the actual value of the i-th output parameter of the rock breaking model, Y i` represents the predicted value of the i-th output parameter of the rock breaking model.

[0056] This loss function calculates the sum of the squares of the differences between the model output and the actual value, and then takes the average to get the final loss value. By minimizing this loss function, the model can learn how to adjust the weights and biases so that the predicted output is as close to the actual output as possible.

[0057] The shield microwave rock breaking method provided in the present application, through the rock breaking model, real-time and accurately sets the microwave emission angle, microwave wave speed, microwave heating time, water flow rate, water flow time, and alternating frequency of microwave heating and water injection cooling under different mineral boundary geometries and porosities, thereby overcoming the excessive rock breaking or insufficient crushing caused by the fixed time and frequency of hot and cold alternating rock breaking operations; and the microwave emission angle changes with the change of the rock crushing degree, thereby improving the effect of microwave heating and further enhancing the rock breaking effect.

[0058] S24: The microwave heating device and the water injection cooling device perform rock breaking operations with corresponding microwave emission angles, microwave wave speeds, microwave heating time, water flow rate, water flow time, and alternating frequencies of microwave heating and water injection cooling.

[0059] During shield tunneling, the hardness, structure and composition of the rock may change. Therefore, it is necessary to adjust the rock breaking parameters in real time to adapt to different rock conditions. These output parameters enable the model to dynamically adjust the rock breaking strategy based on real-time monitoring data to maintain the best rock breaking effect.

[0060] It should be noted that the terms used in the present invention are only for describing specific embodiments, rather than limiting the scope of the present application. As shown in the present specification, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of more restrictions, the elements defined by the sentence "include one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0061] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A shield microwave rock breaking device, characterized in that: The device comprises a shield cutterhead (1), a rock detection device, and a drill rod (3); A rock detection hole (2) is provided on the panel of the shield cutter head (1), and the rock detection device is arranged on the inner side of the shield cutter head in the rock detection hole (2) to detect the hardness of the rock in front of the shield cutter head; A plurality of drill rod pre-reserved holes (4) are provided on the panel of the shield cutter head (1); the drill rod (3) and hydraulic equipment (5) are arranged on the inner side of the drill rod pre-reserved holes (4) of the shield cutter head; the hydraulic equipment (5) pushes the drill rod (3) out of the drill rod pre-reserved holes (4) and out of the panel of the shield cutter head (1) to a predetermined position, thereby performing microwave rock breaking; The extension angle and the extension length of the drill rod (3) are determined according to the position of the rock breaking target point; The drill rod (3) is provided with an outer layer and an inner layer, the outer layer being a spiral blade (6); a microwave transmitting device (7), a water injection cooling device (8) and a temperature sensor (9) are provided at the drill bit position of the inner layer.

2. A shield microwave rock breaking device according to claim 1, characterized in that: When the drill rod (3) is pushed to a predetermined position by the hydraulic equipment (5), the spiral blade (6) is retracted in the opposite direction of the excavation, and the microwave emitting device (7), the water injection cooling device (8) and the temperature sensor (9) enter a working state.

3. A shield microwave rock breaking device according to claim 1, characterized in that: The position where the rock hardness is the maximum is taken as the rock breaking target point.

4. The shield microwave rock breaking device according to claim 1, characterized in that: The rock detection equipment is a geological radar.

5. The shield microwave rock breaking device according to claim 1, characterized in that: The extension angle of the drill rod (3) is determined according to the position of the rock breaking target point, using the following calculation formula: ； ； θ z =arccos( ); In the formula, θ x Represents the angle between the drill rod and the shield cutterhead in the X-axis direction, θ y Represents the angle between the drill rod and the shield cutterhead in the Y-axis direction, θ z represents the angle between the drill rod and the shield cutterhead in the Z-axis direction; X 目标点 , Y 目标点 and Z 目标点 They are the coordinates of the rock breaking target point on the X-axis, Y-axis, and Z-axis respectively. 中心点 , Y 中心点 and Z 中心点 are the coordinate points of the center point of the shield cutter head on the X-axis, Y-axis and Z-axis respectively; d is the horizontal distance from the center point of the shield cutter head to the rock breaking target point, n is the normal vector of the rock surface, g is the gravity vector, ||n|| and ||g|| are the lengths of the normal vector and gravity vector of the rock surface respectively; among them, the X-axis, Y-axis and Z-axis are the orthogonal axes in the shield cutter head coordinate system respectively, the X-axis is the direction of shield excavation, the Y-axis is the right side of the shield when observed from the rear of the shield, and the Z-axis is the direction perpendicular to the X-axis and Y-axis.

6. A shield microwave rock breaking device according to claim 5, characterized in that: The extension length L of the drill rod (3) is: L= 。 7. A shield microwave rock breaking method, implemented by a shield microwave rock breaking device according to any one of claims 1 to 6, characterized in that: The steps include: During shield tunneling, real-time detection of rock hardness in front of the shield cutterhead; Compare the rock hardness with a preset hardness threshold: If the rock hardness is less than the hardness threshold, the shield cutterhead is used to perform rock breaking operations; If the rock hardness is greater than or equal to the hardness threshold, the microwave rock breaking method is used to perform rock breaking operations, specifically: Stop the shield cutter head from excavating and extend the drill rod from the hole to the predetermined position; Real-time monitoring of rock mineral boundary geometry and porosity; According to the mineral boundary geometry, porosity and rock temperature of the rock, the microwave emission angle, microwave wave velocity, microwave heating time, water flow velocity, water flow time, and the alternating frequency of microwave heating and water injection cooling are obtained through the trained rock breaking model; The microwave heating device and the water injection cooling device perform rock breaking operations with corresponding microwave emission angles, microwave wave speeds, microwave heating time, water flow speeds, water flow time, and alternating frequencies of microwave heating and water injection cooling.

8. A shield microwave rock breaking method according to claim 7, characterized in that: The rock breaking model is a multi-layer perceptron neural network model with 6 neurons.

9. A shield microwave rock breaking method according to claim 8, characterized in that: The loss function F of the rock breaking model is: F= ； Where Y i represents the actual value of the i-th output parameter of the rock breaking model, Y i ` represents the predicted value of the i-th output parameter of the rock breaking model.

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