Wall-attaching type microwave rock crushing method and device suitable for shield tunneling machine loading

Abstract

The invention relates to the technical field of geotechnical engineering, and discloses a wall-attaching type microwave rock crushing method and device suitable for shield tunneling machine loading, and the method comprises the steps: obtaining an image of a surrounding rock tunnel face in real time through image collection equipment, and carrying out the preprocessing; analyzing the preprocessed image of the tunnel face of the surrounding rock, and analyzing the surface state of the surrounding rock by using a computer vision algorithm to obtain the current hardness of the surrounding rock; judging whether a microwave system needs to be started according to the current hardness of the surrounding rock; if the current hardness of the surrounding rock is smaller than the preset threshold value, the pushing system and the microwave system are not started; if the current hardness of the surrounding rock is larger than or equal to the preset threshold value, the control module starts the pushing system to push the microwave system to make contact with the surrounding rock tunnel face; meanwhile, a microwave system is started to heat the surrounding rock; in the working process of the microwave system, the images of the tunnel face of the surrounding rock are continuously obtained and analyzed, the hardness of the surrounding rock is judged according to the image analysis result, and the precision and adaptability of the microwave rock crushing technology can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of geotechnical engineering, and in particular to a wall-adherable microwave rock crushing method and device suitable for shield machine loading. Background Art

[0002] With the acceleration of my country's urbanization process and the continuous advancement of infrastructure construction, the development of underground spaces such as subways and tunnels has become an important means to alleviate urban traffic pressure and improve the comprehensive carrying capacity of cities. In the process of mechanical tunnel construction, faced with complex and changeable geological conditions, especially when encountering hard rock layers, mechanical excavation methods often have problems such as low efficiency or even inability to excavate, as well as high costs. Traditional rock crushing methods such as blasting are not very applicable in the development process of shield mechanical methods, and the construction is difficult and inefficient. It is particularly urgent to develop a new type of rock crushing device that can work with the shield machine, efficiently crush rocks, and is environmentally friendly.

[0003] Microwave rock crushing technology, as a non-contact, environmentally friendly and efficient rock crushing method, has received extensive attention in mining, geotechnical engineering and other fields in recent years. Its basic principle is to use the thermal effect and stress effect of microwaves to generate heat and expansion stress inside the rock, thereby causing the rock to crack and break. Compared with traditional rock crushing methods, microwave rock crushing has the advantages of low energy consumption, no pollution and high rock crushing efficiency.

[0004] Therefore, there is an urgent need for a wall-mounted microwave rock crushing method and device suitable for shield machine loading, which can improve the accuracy and adaptability of microwave rock crushing technology. By integrating microwave heating technology with the tunneling function of the shield machine, efficient rock crushing can be achieved during tunneling, while reducing construction difficulty and safety risks, and improving construction efficiency and quality. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a wall-adherable microwave rock crushing method and device suitable for shield machine loading, which improves the accuracy of microwave rock crushing and realizes efficient rock crushing during tunnel excavation.

[0006] The present invention provides a wall-adherable microwave rock crushing method suitable for shield machine loading, comprising: S1. Obtain the image of the surrounding rock face in real time through image acquisition equipment and perform preprocessing; S2, analyzing the pre-processed image of the surrounding rock face, analyzing the surface state of the surrounding rock using a computer vision algorithm, and obtaining the current hardness of the surrounding rock; S3, judging whether it is necessary to start a microwave rock breaking program according to the current hardness of the surrounding rock; If the current hardness of the surrounding rock is less than the preset threshold, the jacking system and the microwave system will not be started; If the current hardness of the surrounding rock is greater than or equal to the preset threshold, the control module starts the jacking system to push the microwave system into contact with the surrounding rock face; at the same time, the microwave system is started to heat the surrounding rock; S4. During the operation of the microwave system, the image of the surrounding rock face is continuously acquired and analyzed, and the hardness of the surrounding rock is determined based on the image analysis results, including: If the current hardness of the surrounding rock is less than a preset threshold, the control module controls the microwave system to stop microwave heating, and controls the jacking system to retract the microwave system; If the current hardness of the surrounding rock is greater than or equal to the preset threshold, the control module controls the microwave system to continue heating the surrounding rock until the current hardness of the surrounding rock is less than the preset threshold.

[0007] In some embodiments, the image acquisition device acquires N frames of images per second at a frequency of N, where N is a set number of frames; In some embodiments, in S1, the preprocessing includes: image cropping, image enhancement, image denoising and image segmentation.

[0008] In some embodiments, the computer vision algorithm is a convolutional neural network.

[0009] In some embodiments, in S2, analyzing the preprocessed image of the surrounding rock face, analyzing the surface state of the surrounding rock using a computer vision algorithm, and obtaining the current hardness of the surrounding rock specifically includes: S21, analyzing the pre-processed image of the surrounding rock face to obtain texture features and crack features; S22. Build a convolutional neural network model and perform pre-training; S23. Input the texture features and crack features obtained in S21 into the trained convolutional neural network model, and output the current hardness of the surrounding rock.

[0010] In some embodiments, the S3 further includes: The control module controls the microwave system to generate a fracture temperature corresponding to the current hardness of the surrounding rock according to the current hardness of the surrounding rock; During the microwave heating process, the temperature of the microwave is monitored in real time by a temperature sensor and transmitted to the control module, which adjusts the microwave system in real time to generate a temperature corresponding to the current hardness.

[0011] The present invention also provides a wall-attachable microwave rock crushing device suitable for loading on a shield machine, comprising: an image acquisition device and a shield cutterhead; the image acquisition device is arranged on the shield cutterhead and is used to acquire real-time images of the surrounding rock face.

[0012] Furthermore, a plurality of grooves are provided on the surface of the shield cutter head, and the grooves are used to accommodate the image acquisition device, and the distance between the image acquisition device and the surrounding rock face is greater than the distance between the shield cutter head and the surrounding rock face.

[0013] Furthermore, a transparent protective cover is provided on the side of the image acquisition device facing the surrounding rock face.

[0014] Furthermore, a wall-mounted microwave rock crushing device suitable for loading on a shield machine also includes: a microwave system and a pushing system; a plurality of mounting holes are arranged on the surface of the shield cutter head, and the microwave system and the pushing system are arranged on the inner side of the shield cutter head in the mounting holes, and the pushing system pushes the microwave system to the tunnel face where it contacts the surrounding rock to perform microwave rock crushing.

[0015] The embodiments of the present invention have the following technical effects: 1. The image of the surrounding rock face is acquired in real time through the image acquisition equipment, and the image is processed and analyzed through the computer vision algorithm (convolutional neural network), so as to directly obtain the texture characteristics and crack characteristics of the rock surface, and then infer the hardness of the rock. This can significantly improve the perception of the rock surface state, which is not only more intuitive and flexible, but also able to cope with complex geological environments, improve the ability to judge rock hardness, and perform microwave rock crushing more accurately.

[0016] 2. The microwave system is judged by the hardness threshold to determine whether to start the microwave system. The working state of the microwave system is dynamically adjusted according to the real-time hardness of the surrounding rock. The microwave temperature is monitored by the temperature sensor and fed back to the control module in real time to adjust the microwave system to produce the corresponding hardness cracking temperature. This can avoid overheating or underheating, improve the efficiency and accuracy of microwave heating, avoid wasting energy and reduce the burden on the shield machine system.

[0017] 3. The device of the present application is loaded on the cutterhead of a shield machine. By controlling the jacking system, the microwave system can be pushed out to contact the surrounding rock for rock breaking in the working state. After the rock breaking work is completed, the shield machine can immediately start the excavation work. In the non-working state, the microwave system can be retracted, which can improve efficiency and avoid problems such as low labor efficiency and limited working space. 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 1This is a flow chart of a wall-adherable microwave rock crushing method suitable for shield machine loading provided by an embodiment of the present invention; Figure 2 It is a front view schematic diagram of a shield cutter head of a wall-adherable microwave rock crushing device suitable for loading on a shield machine provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of a static state of a wall-adherable microwave rock crushing device suitable for loading on a shield machine provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the working state of a wall-adherable microwave rock crushing device suitable for loading on a shield machine provided by an embodiment of the present invention.

[0020] 1. Waveguide; 2. Protective medium; 3. Microwave generating module; 4. Microwave motor; 5. Temperature sensor; 6. Coolant; 7. Cable protective cover; 8. Cable; 9. Sealing cover; 10. Push telescopic rod 1; 11. Push telescopic rod 2; 12. Fixed rod; 13. Push motor pedestal; 14. Bolt; 15. Shield cutterhead; 16. Surrounding rock face; 17. Groove; 18. Mounting hole. 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] The shield machine is a special machine used for tunnel construction, mainly used for tunnel excavation in soil or rock layers. During the excavation process, the shield machine has a large disc cutting disc at the front end, which crushes the surrounding rock by rotating the disc, and at the same time transports the excavated earth and stone to the rear of the shield machine. During the excavation process of the shield machine, the face refers to the front face of the tunnel that the front end of the shield machine contacts, and it is also the area where the shield machine cuts the rock layer. The hardness of the face directly affects the excavation effect and safety of the shield machine. When it comes to hard rock layers, mechanical excavation methods often have problems such as low efficiency or even inability to excavate and high cost. Therefore, it is urgent to study a wall-mounted microwave rock crushing device loaded on a shield machine. By integrating microwave heating technology with the excavation function of the shield machine, efficient rock crushing during tunnel excavation can be achieved, while reducing construction difficulty and safety risks, and improving construction efficiency and quality.

[0023] Figure 1 This is a flow chart of a wall-adhering microwave rock crushing method suitable for shield machine loading provided by an embodiment of the present invention. Figure 1 , including: S1. Obtain the image of the surrounding rock face in real time through image acquisition equipment and perform preprocessing.

[0024] In some embodiments, the image acquisition device acquires N frames of images per second at a frequency of N, where N is a set number of frames.

[0025] Specifically, image acquisition devices usually use high-definition cameras, industrial cameras, etc. In order to ensure that sufficiently detailed image information is collected, the resolution of the device should be high. Common resolutions include 1920x1080 (Full HD), 3840x2160 (4K), etc. Set to collect N frames of images per second (for example, N=30 frames / second). This frequency depends on the required real-time performance and image processing capabilities. For example, when the acquisition frequency is 30 frames / second, the dynamics of the rapidly changing surrounding rock surface can be captured.

[0026] In some embodiments, in S1, the preprocessing includes: image cropping, image enhancement, image denoising and image segmentation.

[0027] The goal of preprocessing is to improve the image quality in the subsequent analysis process, making the important information in the image more prominent and reducing noise, thereby providing clear input data for further image analysis. Image cropping, cropping the surrounding rock face area from each frame of the image; image enhancement, enhancing the cropped image to improve image quality; image denoising, denoising the enhanced image to reduce irrelevant noise; image segmentation: segmenting the denoised image to extract the important area of ​​the surrounding rock face; the preprocessed image can be used as input data for further analysis.

[0028] S2. Analyze the preprocessed image of the surrounding rock face, use computer vision algorithm to analyze the surface state of the surrounding rock, and obtain the current hardness of the surrounding rock.

[0029] In some embodiments, the computer vision algorithm is a convolutional neural network.

[0030] In some embodiments, in S2, analyzing the preprocessed image of the surrounding rock face, analyzing the surface state of the surrounding rock using a computer vision algorithm, and obtaining the current hardness of the surrounding rock specifically includes: S21, analyzing the pre-processed image of the surrounding rock face to obtain texture features and crack features; Specifically, texture feature extraction, the texture features in the image are important information used to reflect the roughness, wear and other geological characteristics of the surrounding rock surface. Common texture feature extraction methods are: Gray Level Co-occurrence Matrix (GLCM): used to extract the spatial relationship between the grayscale of pixels in the image, and then reflect the texture characteristics of the image. Common texture features include contrast, homogeneity, correlation, etc. Local Binary Pattern (LBP): An algorithm used to describe local texture features that can effectively capture the details of the surrounding rock surface. Gabor filter: A series of filters are used to extract texture features of different scales and directions, which is suitable for texture pattern recognition.

[0031] Crack feature extraction: Cracks in surrounding rocks are a key factor affecting hardness, so crack detection and analysis are crucial. Common methods include: edge detection algorithms: such as Canny edge detection, Sobel operator, etc., used to identify crack lines in images. Morphological methods: such as expansion, corrosion, opening operation, closing operation, etc., used to enhance or remove local features of cracks. Hough transform: used to extract straight line features in images, suitable for identifying straight line cracks in surrounding rocks. Through these methods, the texture and crack features of the surrounding rock surface can be extracted, providing valuable information for subsequent analysis.

[0032] S22. Build a convolutional neural network model and perform pre-training; Specifically, a convolutional neural network (CNN) is used for feature learning and classification. CNN extracts and learns local and global features in images through convolutional layers, pooling layers, and fully connected layers. The advantage of CNN in image analysis is that it can automatically extract features without manually designing features. Optionally, a convolutional layer is selected to automatically extract features from the image, extracting more abstract and complex features layer by layer; a pooling layer, where the pooling operation helps reduce the spatial dimension of the features, improves the computational efficiency of the model, and helps prevent overfitting; a fully connected layer, where the features extracted by the convolutional layer are integrated and finally hardness prediction is performed; and an output layer, where the hardness value is output.

[0033] Collect historical surrounding rock face image data, perform denoising and enhancement on the images, and manually or automatically annotate them according to texture features and crack features. The surrounding rock hardness can be obtained through manual measurement or historical data (the surrounding rock hardness value can be set between 0 and 100); The labeled texture features and crack features are used as input data, and the corresponding hardness labels are used as output for model training.

[0034] S23. Input the texture features and crack features obtained in S21 into the trained convolutional neural network model, and output the current hardness of the surrounding rock.

[0035] The texture features and crack features obtained from step S21 are input as input data into the trained convolutional neural network. After receiving the input data, the model outputs a predicted value (hardness value) according to the features and weights learned during training through the forward propagation process.

[0036] S3, judging whether it is necessary to start a microwave rock breaking program according to the current hardness of the surrounding rock; If the current hardness of the surrounding rock is less than the preset threshold, the jacking system and the microwave system will not be started; If the current hardness of the surrounding rock is greater than or equal to the preset threshold, the control module starts the jacking system to push the microwave system into contact with the surrounding rock face; at the same time, the microwave system is started to heat the surrounding rock.

[0037] A hardness threshold is preset in the control module, which is usually set by experimental data or engineering experience. For example, if the hardness of the surrounding rock is lower than a certain value, the surrounding rock is considered to be soft and the microwave rock breaking program can be disabled; only when the hardness is higher than this value can microwave heating take effect. If the hardness is less than the preset threshold: the hardness of the surrounding rock is considered to be soft and microwave rock breaking is not required. The control module will stop starting the microwave system and will not start the jacking system. If the hardness is greater than or equal to the preset threshold: the hardness of the surrounding rock is high and the microwave rock breaking program needs to be started. The control module will trigger the following actions: start the jacking system and bring the microwave system into contact with the surrounding rock face; start the microwave system to heat the surrounding rock.

[0038] Before the microwave system contacts the surrounding rock, the control module starts the push system to push the microwave equipment to the surrounding rock face to ensure that the microwave heating system contacts the surrounding rock surface to ensure the heating effect. Once the microwave system contacts the surrounding rock, the control module starts the microwave equipment to heat the surrounding rock surface through microwave radiation. Microwave heating causes the molecules inside the surrounding rock to vibrate, thereby generating heat energy and gradually softening the surrounding rock surface.

[0039] S4. During the operation of the microwave system, the image of the surrounding rock face is continuously acquired and analyzed, and the hardness of the surrounding rock is determined based on the image analysis results, including: If the current hardness of the surrounding rock is less than a preset threshold, the control module controls the microwave system to stop microwave heating, and controls the jacking system to retract the microwave system; If the current hardness of the surrounding rock is greater than or equal to the preset threshold, the control module controls the microwave system to continue heating the surrounding rock until the current hardness of the surrounding rock is less than the preset threshold.

[0040] During the microwave heating process, the control module will continuously monitor the state of the surrounding rock through the image acquisition device and analyze the real-time image data so as to dynamically adjust the rock breaking operation when necessary. For example, if the hardness of the surrounding rock falls below the preset threshold again, the system will stop microwave heating. If the hardness of the surrounding rock continues to be high, the system will continue heating until the hardness of the surrounding rock reaches the predetermined acceptable range, or the hardness drops below the preset threshold.

[0041] In some embodiments, the S3 further includes: The control module can control the microwave system to generate a fracture temperature corresponding to the current hardness of the surrounding rock according to the current hardness of the surrounding rock; During the microwave heating process, the temperature of the microwave is monitored in real time by a temperature sensor and transmitted to the control module, which adjusts the microwave system in real time to generate a temperature corresponding to the current hardness.

[0042] For example, different types of rocks appear during the excavation process, such as marble / granite / shale, and these rocks have different fracturing temperatures. When excavating to this mileage, the control module adjusts the power of the microwave motor according to the hardness of the corresponding rock, and then generates the corresponding surrounding rock fracturing temperature through the microwave generating module. During the process, the temperature sensor can transmit the real-time microwave temperature back to the control module, and strengthen / weaken / maintain it according to the temperature feedback, and then real-time adjustment can be made; when excavating to different types of rocks that need to be fractured, real-time switching can also be performed according to the hardness of the surrounding rock.

[0043] The present invention also provides a wall-mounted microwave rock crushing device suitable for shield machine loading, such as Figure 2 As shown, it includes: an image acquisition device and a shield cutter head 15; the image acquisition device is arranged on the shield cutter head 15, and is used to acquire real-time images of the surrounding rock tunnel face 16 and feed back the images to the control module.

[0044] In some embodiments, a plurality of grooves 17 are provided on the surface of the shield cutter head 15 , and the grooves 17 are used to accommodate the image acquisition device, and the distance between the image acquisition device and the surrounding rock face 16 is greater than the distance between the shield cutter head 15 and the surrounding rock face 16 .

[0045] In some embodiments, a transparent protective cover is provided on the side of the image acquisition device facing the surrounding rock tunnel face 16 .

[0046] In some embodiments, a wall-adhesive microwave rock crushing device suitable for loading on a shield machine further includes: a microwave system and a jacking system; The surface of the shield cutter head 15 is provided with a plurality of mounting holes 18. The microwave system and the jacking system are arranged inside the shield cutter head of the mounting holes 18. The jacking system pushes the microwave system to contact the surrounding rock face 16 to perform microwave rock crushing.

[0047] In some embodiments, a protective device is provided between the microwave system and the mounting hole 18; a jacking system is fixedly connected to the right side of the protective device, and the jacking system is fixed to the right side wall of the shield cutter head by welding. A waveguide 1 is provided on the side of the microwave system close to the surrounding rock face 16, the other end of the waveguide 1 is connected to a microwave generating module 3, the other end of the microwave generating module 3 is connected to a microwave motor 4, and the other end of the microwave motor 4 is connected to a control module via a cable 8; temperature sensors 5 are provided at the upper and lower ends of the microwave motor 4; A protective medium 2 is arranged between the waveguide 1, the microwave generating module 3, the microwave motor 4 and the mounting hole 18, a coolant 6 is in contact with the microwave motor 4, a cable protective sheath 7 is wrapped around the cable 8, and one end of a sealing cover 9 is in contact with the protective medium 2 and the coolant 6; The other end of the sealing cover 9 is fixedly connected to the pushing telescopic rod 10 and the pushing telescopic rod 2 11, and the other ends of the pushing telescopic rod 10 and the pushing telescopic rod 2 11 are fixedly connected to the pushing motor pedestal 13; the pushing motor pedestal 13 is connected to the fixing rod 12 by a bolt 14; the fixing rod 12 is welded to the shield cutter head 15.

[0048] The image of the surrounding rock face 16 is acquired in real time through the image acquisition device, and the image data is fed back to the control module. The control module uses the analysis of image features to determine the hardness of the surrounding rock to control the operation of the microwave system and the jacking system. When the hardness of the surrounding rock exceeds the set threshold, the jacking system is controlled to enter the microwave system to heat the surrounding rock. When the microwave system is working, the lifting and retracting rod is controlled to push the microwave system sealing cover 9, so that the microwave system waveguide 1 contacts the surrounding rock face 16, and the microwave system is started. The microwave motor 4 inputs electric waves of different frequencies to drive the microwave generating module 3 to generate microwaves of different specified powers, which are transmitted by the waveguide 1 to the surrounding rock face 16 to heat the surrounding rock and cause cracking; wherein, the temperature sensor 5 can realize temperature monitoring and feedback to the control module, and adjust the microwave motor power in real time. In order to prevent the motor from overheating and high-temperature damage, the microwave motor is cooled by coolant 6. The periphery of the microwave generating module and the waveguide uses a protective medium 2 (ceramic / polymer material) to prevent microwave energy dissipation, so that the microwave energy is concentrated on the surrounding rock face 16, such as Figure 4 As shown in the figure, the device is in working state. When the hardness of the surrounding rock does not exceed the set threshold, the lifting and shrinking rod is controlled to shrink, the microwave system is retracted, and the microwave system stops heating. Figure 3As shown, the device is in a stationary state.

[0049] Compared with the traditional drilling microwave rock breaking that requires a separate device for manual operation, the device of the present invention is loaded on the cutter head of the shield machine, and can control the telescopic working state. After the rock breaking work is completed, the shield machine can immediately start the excavation work, and in the non-working state, it can be retracted and standby. It can improve efficiency and avoid problems such as low manual efficiency and limited working space. The image acquisition device is used, which enables the system to capture images of the surrounding rock face in real time and analyze the state of the rock surface through computer vision algorithms. This real-time visual feedback allows more accurate judgment of whether microwave heating is needed and the effect of heating, so that the rock breaking process can be controlled more accurately.

[0050] 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.

[0051] 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.

[0052] 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 wall-adherable microwave rock crushing method suitable for shield machine loading, characterized in that: include: S1. Obtain the image of the surrounding rock face in real time through image acquisition equipment and perform preprocessing; S2, analyzing the pre-processed image of the surrounding rock face, analyzing the surface state of the surrounding rock using a computer vision algorithm, and obtaining the current hardness of the surrounding rock; S3, judging whether it is necessary to start the microwave system according to the current hardness of the surrounding rock; If the current hardness of the surrounding rock is less than the preset threshold, the jacking system and the microwave system will not be started; If the current hardness of the surrounding rock is greater than or equal to the preset threshold, the control module starts the jacking system to push the microwave system into contact with the surrounding rock face; at the same time, the microwave system is started to heat the surrounding rock; S4. During the operation of the microwave system, the image of the surrounding rock face is continuously acquired and analyzed, and the hardness of the surrounding rock is determined based on the image analysis results, including: If the current hardness of the surrounding rock is less than a preset threshold, the control module controls the microwave system to stop microwave heating, and controls the jacking system to retract the microwave system; If the current hardness of the surrounding rock is greater than or equal to the preset threshold, the control module controls the microwave system to continue heating the surrounding rock until the current hardness of the surrounding rock is less than the preset threshold.

2. A wall-adherable microwave rock crushing method suitable for shield machine loading according to claim 1, characterized in that: The image acquisition device acquires N frames of images per second at a frequency of N, where N is a set number of frames.

3. The wall-adherable microwave rock crushing method suitable for shield machine loading according to claim 1, characterized in that: In S1, the preprocessing includes: image cropping, image enhancement, image denoising and image segmentation.

4. The wall-adherable microwave rock crushing method suitable for shield machine loading according to claim 1, characterized in that: The computer vision algorithm is a convolutional neural network.

5. The wall-adherable microwave rock crushing method suitable for shield machine loading according to claim 4, characterized in that: In S2, the pre-processed image of the surrounding rock face is analyzed, and the surface state of the surrounding rock is analyzed using a computer vision algorithm to obtain the current hardness of the surrounding rock, which specifically includes: S21, analyzing the pre-processed image of the surrounding rock face to obtain texture features and crack features; S22. Build a convolutional neural network model and perform pre-training; S23. Input the texture features and crack features obtained in S21 into the trained convolutional neural network model, and output the current hardness of the surrounding rock.

6. The wall-adherable microwave rock crushing method suitable for shield machine loading according to claim 1, characterized in that: The S3 further includes: The control module controls the microwave system to generate a fracture temperature corresponding to the current hardness of the surrounding rock according to the current hardness of the surrounding rock; During the microwave heating process, the temperature of the microwave is monitored in real time by a temperature sensor and transmitted to the control module, which adjusts the microwave system in real time to generate a temperature corresponding to the current hardness.

7. A wall-mounted microwave rock crushing device suitable for shield machine loading, characterized in that: include: Image acquisition equipment, shield cutterhead (15); The image acquisition device is arranged on the shield cutterhead (15) and is used to acquire real-time images of the surrounding rock tunnel face (16).

8. The wall-attached microwave rock crushing device suitable for shield machine loading according to claim 7, characterized in that: The surface of the shield cutterhead (15) is provided with a plurality of grooves (17), the grooves (17) being used to accommodate the image acquisition device, and the distance between the image acquisition device and the surrounding rock face (16) is greater than the distance between the shield cutterhead (15) and the surrounding rock face (16).

9. The wall-attached microwave rock crushing device suitable for shield machine loading according to claim 8, characterized in that: A transparent protective cover is provided on the side of the image acquisition device facing the surrounding rock tunnel face (16).

10. The wall-attached microwave rock crushing device suitable for shield machine loading according to claim 7, characterized in that: Also includes: Microwave system and push system; The surface of the shield cutter head (15) is provided with a plurality of mounting holes (18), and the microwave system and the jacking system are arranged on the inner side of the shield cutter head of the mounting holes (18); the jacking system pushes the microwave system to a tunnel face (16) in contact with surrounding rock to perform microwave rock crushing.

Images