Shield mortar tank mud liquid level monitoring system, image processing industrial computer and method

Abstract

The application discloses a kind of shield mortar tank slurry liquid level monitoring systems, image processing industrial computer and method, wherein the system includes: infrared laser emitter, for emitting laser line to the tank wall of mortar tank and slurry slurry;Camera, for obtaining the current monitoring image of slurry level and laser line information;Image processing industrial computer, for according to current monitoring image and liquid level monitoring image algorithm model, identify the current deviation value that laser line on slurry slurry and the laser line that hit tank wall exist at liquid level and tank wall junction;When current deviation value is greater than the deviation value corresponding to low liquid level prelabeling, transmission liquid supplement early warning information to shield machine host computer;Shield machine host computer, for according to early warning information, send slurry supplement signal to shield machine car;Shield machine car, for when receiving supplement signal, slurry is supplemented to mortar tank.The application can realize low cost, safely and stably monitor shield mortar tank slurry liquid level.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel construction, and in particular to a system for monitoring the slurry liquid level of a shield mortar tank, an image processing industrial computer and a method. BACKGROUND

[0002] This section is intended to provide background or context to the embodiments of the application recited in the claims. The description herein does not constitute admission that the prior art is prior art nor does it constitute an admission of any description in this section as prior art to the claimed application.

[0003] The synchronous grouting system is one of the important subsystems of the shield machine, and it synchronously completes the injection of cement slurry into the stratum during shield tunneling, which plays an important role in controlling surface settlement. The slurry used by the grouting system is stored in the shield mortar tank. Due to the limited volume of the mortar tank, the slurry needs to be replenished by the shield machine every time it advances for a period of time. If the slurry cannot be replenished in time, the quality of surface settlement control cannot be guaranteed.

[0004] The existing slurry replenishment of the shield mortar tank requires the driver to observe the slurry through the camera. When the slurry is low and cannot meet the requirements of tunneling, the driver needs to inform the locomotive driver to complete the grouting work. The main driver needs to pay attention to the liquid level of the mortar tank at all times, which causes distraction to the tunneling and is not conducive to the safety of tunneling. In the field of shield tunneling machines, no relevant liquid level monitoring patents have been found. In other fields such as oil drilling and pile drilling, there are relevant liquid level monitoring patents, such as application number 202210198936.4, which sets a pressure gauge and a protection component outside the casing to achieve liquid level monitoring through the principle of communicating vessels; such as application number 202210626711.4, which installs a floating ball type liquid level meter and an ultrasonic liquid level meter on the top of the tank to achieve liquid level monitoring; other related patents are not described here. In general, the existing liquid level monitoring technology achieves liquid level monitoring by adding sensors, which on the one hand increases the cost of sensors, and on the other hand, to prevent the slurry from solidifying, the rotating shaft in the mortar tank needs to be kept rotating all the time, causing liquid surface fluctuation and measurement error, resulting in unstable liquid level monitoring. On the other hand, the driver's attention is distracted from tunneling, which is not conducive to the safety of tunneling. SUMMARY

[0005] The embodiments of the present application provide a system for monitoring the slurry liquid level of a shield mortar tank, which adds a laser emitter on the shield tunneling machine mortar tank to achieve low-cost, safe and stable monitoring of the slurry liquid level of the shield mortar tank using the existing monitoring camera. The system comprises:

[0006] an infrared laser emitter for emitting a laser line to the tank wall of the mortar tank and the liquid surface of the slurry;

[0007] A camera is configured to acquire a current monitoring image of a liquid level of the slurry in the mortar tank and information of a laser line, and transmit the current monitoring image to an image processing industrial computer.

[0008] The image processing industrial computer is configured to identify a current deviation value of the laser line on the slurry liquid level and the laser line on the tank wall according to the current monitoring image and a pre-stored liquid level monitoring image algorithm model, and transmit a liquid supplement warning information to a shield machine host computer when the current deviation value is greater than a deviation value corresponding to a low liquid level.

[0009] The shield machine host computer is configured to send a slurry supplement instruction signal to a shield machine vehicle according to the liquid supplement warning information during shield tunneling.

[0010] The shield machine vehicle is in communication with the mortar tank and configured to supplement the transported slurry into the mortar tank when the slurry supplement instruction signal from the shield machine host computer is received.

[0011] The embodiment of the present application also provides an image processing industrial computer for monitoring a slurry liquid level of a shield mortar tank, which is configured to add a laser emitter on the shield tunneling machine mortar tank, and realize low-cost, safe and stable monitoring of the slurry liquid level of the shield mortar tank by using an existing monitoring camera.

[0012] A receiving unit is configured to receive a current monitoring image of a liquid level of the slurry in the mortar tank and information of a laser line acquired by the camera; the laser line is a laser line emitted by an infrared laser emitter to the tank wall and the liquid level of the slurry in the mortar tank.

[0013] A liquid level monitoring unit is configured to identify a current deviation value of the laser line on the slurry liquid level and the laser line on the tank wall according to the current monitoring image and a pre-stored liquid level monitoring image algorithm model.

[0014] A liquid supplement warning unit is configured to transmit a liquid supplement warning information to a shield machine host computer when the current deviation value is greater than a deviation value corresponding to a low liquid level; the shield machine host computer is configured to send a slurry supplement instruction signal to a shield machine vehicle according to the liquid supplement warning information during shield tunneling; and the shield machine vehicle is configured to supplement the transported slurry into the mortar tank when the slurry supplement instruction signal from the shield machine host computer is received.

[0015] The embodiment of the present application also provides a method for monitoring a slurry liquid level of a shield mortar tank, which is configured to add a laser emitter on the shield tunneling machine mortar tank, and realize low-cost, safe and stable monitoring of the slurry liquid level of the shield mortar tank by using an existing monitoring camera.

[0016] Receive the current monitoring image of the mortar tank mud slurry liquid level and the laser line information obtained by the camera; the laser line is the laser line emitted by the infrared laser emitter to the tank wall and the liquid level of the mud slurry;

[0017] According to the current monitoring image and the pre-stored liquid level monitoring image algorithm model, the current deviation value of the laser line on the mud slurry liquid level and the laser line on the tank wall at the intersection of the liquid level and the tank wall is identified;

[0018] When the current deviation value is greater than the deviation value corresponding to the low liquid level pre-calibrated, the liquid supplement warning information is transmitted to the shield machine upper computer; the shield machine upper computer is used to transmit the slurry supplement instruction signal to the shield machine vehicle according to the liquid supplement warning information in the process of shield tunneling; the shield machine vehicle is used to supplement the transported mud slurry to the mortar tank when receiving the slurry supplement instruction signal of the shield machine upper computer.

[0019] The embodiment of the application also provides a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the method for monitoring the liquid level of the mortar tank mud slurry of the shield machine when executing the computer program.

[0020] The embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to implement the method for monitoring the liquid level of the mortar tank mud slurry of the shield machine.

[0021] The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program is executed by the processor to implement the method for monitoring the liquid level of the mortar tank mud slurry of the shield machine.

[0022] Compared with the technical scheme of the prior art, the technical scheme of the application has the beneficial technical effects that:

[0023] Firstly, in the embodiment of the application, the laser line on the mortar tank tank wall and the slurry is a line, so when identifying the liquid level, the current deviation value of the laser line on the mud slurry and the laser line on the tank wall at the intersection of the liquid level and the mortar tank tank wall is found, the slurry supplement warning is performed by using the current deviation value, when the current deviation value is greater than the deviation value corresponding to the low liquid level pre-calibrated, the liquid supplement warning information is transmitted to the shield machine upper computer, and then the subsequent control of the slurry supplement is completed, so that the measurement of the stable liquid level is not affected by the disturbance of the stirring device.

[0024] Secondly, in the embodiment of the present application, a laser emitter is added to the shield tunneling machine mortar tank, the infrared laser emitter emits a laser line to the tank wall of the mortar tank and the liquid level of the slurry; the camera obtains the current monitoring image of the liquid level of the slurry in the mortar tank and the laser line information, and sends the current monitoring image to the image processing industrial computer, thereby ensuring that the image processing industrial computer performs stable liquid supplement warning, and the purchase cost of the existing sensor is saved, so that the slurry level of the shield mortar tank can be monitored at low cost.

[0025] Thirdly, the embodiment of the present application realizes automatic slurry monitoring and supplement, reduces the energy of the shield machine driver to pay attention to the slurry level at all times when tunneling, so that the driver can pay more attention to tunneling construction, ensures construction safety, and provides technical support for the automation of the grouting system when the shield machine is unmanned.

[0026] In summary, the embodiment of the present application can realize low-cost, safe and stable monitoring of the slurry level of the shield mortar tank. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. In the drawings:

[0028] Figure 1 The structure diagram of the system for monitoring the slurry level of the shield mortar tank in the embodiment of the present application;

[0029] Figure 2 The principle diagram of the system for monitoring the slurry level of the shield mortar tank in the embodiment of the present application;

[0030] Figure 3 The example of the implementation of the liquid level monitoring image algorithm in the embodiment of the present application Figure 1 ;

[0031] Figure 4 The example of the implementation of the liquid level monitoring image algorithm in the embodiment of the present application Figure 2 ;

[0032] Figure 5 The structure diagram of the industrial computer for monitoring the slurry level of the shield mortar tank in the embodiment of the present application;

[0033] Figure 6 The flowchart of the method for monitoring the slurry level of the shield mortar tank in the embodiment of the present application;

[0034] 1 - mortar tank, 2 - mortar slurry, 3 - infrared laser emitter, 4 - camera, 5 - shield machine host computer, 6 - support structure, 7 - shield machine vehicle, 8 - image processing industrial computer, 9 - communication network cable, 10 - flushing device. DETAILED DESCRIPTION

[0035] To make the purposes, technical solutions and advantages of the embodiments of the present application clearer, further detailed description of the embodiments of the present application will be given below with reference to the drawings. Here, the illustrative embodiments of the present application and their descriptions are used to explain the present application but not as a limitation of the present application.

[0036] In view of the deficiencies in the prior art, the embodiments of the present application propose a scheme for monitoring the slurry level of a shield mortar tank, which uses a camera and a laser emitter to identify the liquid level, solves the problems in the prior art such as relying on manual observation to distract attention, relying on external sensors to increase costs, the rotating shaft in the mortar tank being kept rotating all the time to cause liquid surface fluctuation and cause measurement errors, etc., and at the same time provides strong support for automatic mortar replenishment of the synchronous grouting system when the shield is unmanned tunneling, and realizes low-cost, safe and fast and accurate monitoring of the liquid level. The scheme for monitoring the slurry level of the shield mortar tank will be described in detail below.

[0037] Figure 1 The structure diagram of the system for monitoring the slurry level of the shield mortar tank in the embodiments of the present application is shown in FIG. 1, which includes: Figure 1

[0038] The infrared laser emitter 3 is used to emit a laser line to the tank wall of the mortar tank 1 and the liquid surface of the mortar slurry 2.

[0039] The camera 4 is used to acquire the current monitoring image of the liquid surface of the mortar slurry 2 in the mortar tank 1 and the laser line information, and transmit the current monitoring image to the image processing industrial computer 8.

[0040] The image processing industrial computer 8 is used to identify the current deviation value of the laser line on the liquid surface of the mortar slurry 2 and the laser line on the tank wall at the intersection of the liquid surface and the tank wall according to the current monitoring image and the pre-stored liquid level monitoring image algorithm model, and transmit the liquid replenishment warning information to the shield machine host computer 5 when the current deviation value is greater than the deviation value corresponding to the low liquid level pre-calibrated.

[0041] The shield machine host computer 5 is used to transmit the slurry replenishment instruction signal to the shield machine vehicle 7 according to the liquid replenishment warning information in the process of shield tunneling.

[0042] The shield machine vehicle 7 is in communication with the mortar tank 1, and is used to replenish the transported mortar slurry into the mortar tank 1 when the slurry replenishment instruction signal of the shield machine host computer 5 is received.

[0043] As shown in FIG. 1, the system for monitoring the slurry level of the shield mortar tank includes a mortar tank 1, a mortar slurry 2, an infrared laser emitter 3, a camera 4, a shield machine host computer 5, a support structure 6, a shield machine vehicle 7, an image processing industrial computer 8, a communication network cable 9 and a flushing device 10.​Figure 1 As shown, the shield mortar tank slurry liquid level monitoring system provided by the embodiment of the application works as follows: the infrared laser emitter 3 emits a laser line to the liquid surface of the slurry 2 of the mortar tank 1; the camera 4 acquires the current monitoring image of the liquid surface of the slurry 2 in the mortar tank 1 and the information of the laser line, and sends the current monitoring image to the image processing industrial computer 8; the image processing industrial computer 8 identifies the current deviation value of the laser line on the liquid surface of the slurry 2 and the laser line on the tank wall according to the current monitoring image and the pre-stored liquid level monitoring image algorithm model; when the current deviation value is greater than the deviation value corresponding to the low liquid level pre-calibrated, the liquid supplement warning information is transmitted to the shield machine host computer 5; the shield machine host computer 5 sends the slurry supplement instruction signal to the shield tunneling machine 7 according to the liquid supplement warning information in the process of shield tunneling; and the shield tunneling machine 7 supplements the transported slurry to the mortar tank 1 when receiving the slurry supplement instruction signal of the shield machine host computer 5, thereby realizing low-cost, safe and stable monitoring of the liquid level of the shield mortar tank slurry. The shield mortar tank slurry liquid level monitoring system will be described in detail below.

[0044] The shield mortar tank slurry liquid level monitoring system provided by the embodiment of the application can realize automatic monitoring, early warning and slurry supplement of the shield mortar tank liquid level, and the laser emitter is added on the shield tunneling machine mortar tank, the existing monitoring camera is used to realize liquid level monitoring, and the system can be used as a powerful supplement of the intelligent synchronous grouting system when the shield is unmanned.

[0045] As Figure 1As shown, the mortar tank 1 realizes the storage of the slurry 2 (cement mortar slurry), on one hand receives the supplement of the cement mortar slurry of the shield machine vehicle 7, and on the other hand realizes the injection of the slurry 2 into the stratum through the synchronous grouting system when the shield machine is excavating; the slurry 2; the infrared laser emitter 3 is used for emitting a laser line to the liquid surface of the slurry 2, for the identification of the camera 4; the camera 4 is used for identifying the laser line of the infrared laser emitter 3 and the liquid surface of the slurry 2; the shield machine host computer 5 is used for realizing the excavation and control of the shield machine, and is used for receiving the information input and early warning after the identification of the image processing industrial computer 8 in the embodiment of the present application, and sends corresponding signals to the shield machine vehicle 7, and is also used for controlling the flushing device 10 (such as a flushing nozzle) to flush the camera 4; the support structure 6, such as a c-shaped steel, is used for realizing the fixation of the monitoring camera and the infrared laser emitter, and ensuring the stable work during the shield excavation; the vehicle 7 is used for transporting shield construction materials, including cement mortar slurry (which can be referred to as slurry in the embodiment of the present application), and the vehicle 7 is connected with the mortar tank 1 through a hose; the image processing industrial computer 8 is used for storing the liquid level identification algorithm model (liquid level monitoring image algorithm model) and the camera field of view blocking algorithm model, and sending early warning signals to the shield machine host computer 5; the image processing industrial computer 8 can be connected with the shield machine host computer 5 and the camera 4 through the communication network cable 9; the flushing device 10 is used for flushing the camera 4, and the water and gas thereof are connected through the pipeline of the shield machine.

[0046] The liquid level monitoring system provided by the embodiment of the present application comprises a shield monitoring camera, which is used to monitor whether the liquid level of the mortar tank, the laser line and the camera are blocked by the splashing of the slurry; a laser emitter, which is used to emit a laser line to the liquid surface of the slurry in the mortar tank, as a liquid level monitoring calibration; a flushing device, which is used to trigger the flushing of the camera when the field of view of the camera is blocked; an image processing industrial computer, which is used to receive images, identify the liquid level of the slurry through image algorithm processing, and transmit information to the shield machine host computer; a shield machine host computer, which is used to realize the excavation of the shield machine, receive the early warning information of the image processing industrial computer, and send signal instructions such as flushing or slurry supplement; a vehicle, which is used to transport grouting slurry and receive the instructions of the host computer and supplement the slurry; and a network cable, which is used to receive and transmit image information and liquid level data information.

[0047] In the mortar tank liquid level monitoring and early warning of the embodiment of the application, as described above, a laser transmitter is installed above the mortar tank to emit a laser line to the slurry liquid surface, a monitoring camera originally installed is used to obtain a monitoring image shared by the mortar slurry and the laser line, after the monitoring image is obtained, an image processing industrial computer is used to realize the loading of a liquid level monitoring image algorithm model and the processing of the monitoring image, and liquid level monitoring. The liquid level monitoring image algorithm can include image filtering, ROI (region of interest) extraction, feature extraction, threshold segmentation, edge detection, feature matching, etc., and the specific steps can be: ① image preprocessing: first, the original image captured by the monitoring camera is segmented, the irrelevant area is cut off, then the gray scale processing is performed, the RGB image is converted into a gray scale image, and the Gaussian filtering algorithm is used to remove noise; ② ROI extraction: the Canny operator is used for edge detection to identify the laser line and the mortar tank wall in the image; ③ deviation calculation: the Hough straight line detection algorithm is used to obtain the straight line in the image, as shown in Figure 3 , when the mortar tank is full, the laser line hitting the mortar liquid and the mortar tank wall is a straight line, as shown in Figure 4 , when the mortar tank is not full, the laser line hitting the mortar liquid (mud slurry) and the laser line hitting the mortar tank wall have a deviation (the deviation is caused by the decrease or increase of the liquid level and changes with the change of the liquid level. Since the decrease or increase of the liquid level is a continuous change, when the camera is collected, the frequency of analysis can be according to per second, if it is desired to realize more accurate precision, the collection frequency can be set to be smaller, that is, the refresh time is shorter); ④ the calculation method of the deviation can be as follows:

[0048] As shown in Figure 4 , after the gray scale image is obtained in step ①, a two-dimensional coordinate system is established with O as the center, in step ③, after the straight line in the image is identified by the Hough straight line algorithm, the slope k and the intercept b of the straight line can be obtained, the laser line located on the mortar tank wall is recorded as A, which can be represented as y1=k1+b1, the inside of the mortar tank wall is recorded as C, which can be represented as y2=k2+b2, the laser line located on the mortar slurry liquid surface is recorded as B, which can be represented as y3=k3+b3, the intersection O1 of the straight lines A and C is, by calculating the intersection of the two straight lines, the O1 coordinate (x1, y1) can be obtained. Similarly, the intersection O2 coordinate (x2, y2) can be obtained by using the straight lines B and C.

[0049]

[0050] ⑤ The implementation method for issuing warnings can be as follows: First, before the first use, calibrate the low liquid level warning value h1 (i.e., the liquid level warning value that requires replenishment of mud slurry), where h1 can range from 0.25m to 0.35m (preferably 0.3m), and the high liquid level warning value h2 (i.e., the liquid level warning value that requires stopping the replenishment of mud slurry), where h2 can range from 1.95m to 2.05m (preferably 2.0m). Figure 2 The steps for "completing laser line calibration" are as follows: Record the deviation Δx between the laser line hitting the low and high warning values ​​(i.e., the deviation Δx1 between the laser line hitting the mud slurry and the laser line hitting the mortar tank wall at the low warning value, and the deviation Δx2 between the laser line hitting the mud slurry and the laser line hitting the mortar tank wall at the high warning value). The deviation value Δx1 at the low liquid level (the pre-calibrated deviation value corresponding to the low liquid level) is recorded as λ1, and the deviation value Δx2 at the high liquid level (the pre-calibrated deviation value corresponding to the high liquid level) is recorded as λ2. Then, during real-time mud liquid level monitoring, the deviation value Δx corresponding to the current liquid level is recorded. d If the deviation value is greater than λ1, an early warning is issued, and grouting is initiated. d When the value is less than λ2, a signal is sent to stop slurry replenishment. If the positions of the camera and laser remain unchanged, calibration is only required during the first use; subsequent uses are permitted.

[0051] Here, the deviation value Δx at any given time can be directly calculated by linear interpolation between the deviation value Δx1 corresponding to the low liquid level warning value and the deviation value Δx2 corresponding to the high liquid level warning value. d The corresponding actual (current) liquid level value h d Therefore, we can also compare h. d The automatic replenishment and cessation of slurry are achieved by adjusting the low liquid level warning value h1 and the high liquid level warning value h2. If the liquid level value is used to determine whether to replenish or stop, h... d d >h2, a signal is sent to stop the slurry replenishment.

[0052] As can be seen from the above, in one embodiment, the image processing industrial control computer 8 is specifically used to perform edge detection on the current monitoring image, identify the laser line located on the wall of the mortar tank, the straight line inside the wall of the mortar tank, and the laser line located on the surface of the slurry; determine the coordinates of the first intersection point of the laser line located on the wall of the mortar tank and the straight line inside the wall of the mortar tank, and the coordinates of the second intersection point of the laser line located on the surface of the slurry and the straight line inside the wall of the mortar tank; and determine the current deviation value between the laser line hitting the surface of the mud slurry 2 and the laser line hitting the wall of the mortar tank based on the first and second intersection point coordinates.

[0053] ​It can be learned from the above that in an embodiment, the image processing industrial computer 8 is further configured to transmit a stop grouting warning information to the shield machine host computer 5 when the current deviation value is less than the deviation value corresponding to the high liquid level in the pre-calibration.

[0054] The shield machine host computer 5 is further configured to send a stop grouting instruction signal to the shield machine vehicle 7 according to the stop grouting warning information during the shield tunneling process.

[0055] The shield machine vehicle 7 is further configured to control to stop grouting when receiving the stop grouting instruction signal from the shield machine host computer 5.

[0056] It can be learned from the above that in an embodiment, the edge detection is performed on the current monitoring image to identify the laser line on the wall of the mortar tank, the straight line inside the wall of the mortar tank, and the laser line on the liquid surface of the mortar, including: using a Canny operator to perform edge detection on the current monitoring image, and using a Hough straight line detection algorithm to identify the laser line on the wall of the mortar tank, the straight line inside the wall of the mortar tank, and the laser line on the liquid surface of the mortar in the current monitoring image.

[0057] It can be learned from the above that in an embodiment, the image processing industrial computer 8 can further include the following liquid level monitoring image preprocessing operations on the current monitoring image:

[0058] Segmenting the current monitoring image to cut off irrelevant areas to obtain a cut current monitoring image;

[0059] Performing grayscale processing on the cut current monitoring image to obtain a grayscale image;

[0060] Performing noise removal processing on the grayscale image using a Gaussian filter algorithm to obtain a liquid level monitoring image preprocessed current monitoring image.

[0061] It can be learned from the above that the stirring device has a limited area in the mortar tank, which causes the liquid surface around the stirring device to fluctuate, and conventional installation of a floating ball type sensor and the like causes measurement errors. The laser line on the wall of the mortar tank and the mortar is a line, so the liquid surface and the wall of the mortar tank can be found near the intersection to be monitored when identifying the liquid surface of the mortar, so as to ensure that the stirring device is not affected by the disturbance, and the application can realize stable liquid surface measurement.

[0062] In addition, the inventors have also found that the existing shield mortar tank slurry supplement requires the driver to observe the slurry through the camera. When the slurry is low, the driver is notified to complete the grouting work when the expected tunneling requirements cannot be met, which may also cause the slurry to contaminate the camera, limit the driver's field of view, and cause measurement errors. It is because the inventors have found this technical problem that the automatic cleaning camera is proposed to further accurately monitor the slurry level of the shield mortar tank.

[0063] When monitoring the slurry level as described above, the image processing industrial computer is used to implement the loading of the camera field of view obstruction recognition algorithm model and whether the camera field of view is obstructed. Camera obstruction detection (recognition) can be divided into five steps: ① image preprocessing: grayscale processing converts RGB images to grayscale images, and Gaussian filtering removes noise in the image; ② dividing foreground and background: solving the grayscale histogram of the grayscale image, and adaptively finding the threshold to divide the image into foreground and background; ③ connected region detection, using the Seed Filling algorithm to obtain the maximum connected region of the foreground; ④ solving the obstruction rate, taking the maximum connected region of the foreground pixel value / all pixels of the grayscale image as the obstruction rate η (camera field of view obstruction rate); ⑤ issuing a warning: when η ≥ 45% (preset obstruction threshold), it is considered that the image is severely obstructed, an alarm message is issued, and the nozzle device is started to realize automatic flushing of the camera.

[0064] As can be seen from the above, in one embodiment, the image processing industrial computer 8 can also be used to send an obstruction alarm signal to the shield machine host computer 5 when the camera field of view is detected to be obstructed according to the current monitoring image and the pre-stored camera field of view obstruction algorithm model;

[0065] The shield machine host computer 5 is also used to issue a flushing instruction signal when the obstruction alarm signal is received;

[0066] The system further comprises a flushing device 10 for flushing the camera 4 when the flushing instruction signal is received.

[0067] In specific implementation, the image processing industrial computer 8 sends an obstruction alarm signal to the shield machine host computer 5 when the camera field of view is detected to be obstructed according to the current monitoring image and the pre-stored camera field of view obstruction algorithm model. The shield machine host computer 5 can also be used to issue a flushing instruction signal when the obstruction alarm signal is received; the flushing device 10 flushes the camera 4 when the flushing instruction signal is received, further improving the accuracy of the liquid level monitoring.

[0068] It can be known from the above that, in an embodiment, the image processing industrial computer 8 can be specifically used for dividing the current monitoring image into foreground and background, detecting the maximum connected region of the foreground, determining the camera field of view blocking rate according to the maximum connected region of the foreground, and sending a blocking alarm signal to the shield machine upper computer 5 when it is determined that the camera field of view blocking rate exceeds a preset blocking threshold.

[0069] In specific implementation, the specific implementation process of the image processing industrial computer 8 for determining whether the camera field of view is blocked further improves the accuracy of liquid level monitoring.

[0070] It can be known from the above that, in an embodiment, dividing the current monitoring image into foreground and background can include: solving a gray histogram of the current monitoring image, and adaptively finding a threshold to divide the gray histogram into foreground and background.

[0071] Detecting the maximum connected region of the foreground can include: using a Seed Filling algorithm to detect the maximum connected region of the foreground.

[0072] Determining the camera field of view blocking rate according to the maximum connected region of the foreground can include: taking the maximum connected region pixel value of the foreground or all pixels of the gray histogram as the blocking rate.

[0073] It can be known from the above that, in an embodiment, the image processing industrial computer can also perform the following field of view monitoring image preprocessing operations on the current monitoring image:

[0074] Converting the current monitoring image in RGB into a gray image;

[0075] Using a Gaussian filter algorithm to remove noise from the gray image to obtain the current monitoring image after field of view monitoring image preprocessing;

[0076] Dividing the current monitoring image into foreground and background includes: dividing the current monitoring image after field of view monitoring image preprocessing into foreground and background.

[0077] Therefore, the liquid level monitoring system provided by the embodiment of the application can efficiently, accurately and in real time identify the monitoring of the mortar tank liquid level, the result of which is that the mortar tank liquid level can be monitored to realize early warning and automatic replenishment of slurry, and whether the camera is blocked can be automatically cleaned to ensure that the mortar slurry situation of the synchronous grouting system can be grasped in real time. On the one hand, the main driver does not need to be distracted and can focus on shield tunneling work, and on the other hand, the automatic execution of the key system for subsequent shield unmanned tunneling is provided.

[0078] In order to facilitate understanding of how the application is implemented, the following will be combined with the accompanying drawings to introduce in detail. Figure 1 to Figure 4 , and one example is introduced in detail.

[0079] As Figure 1As shown, the liquid level monitoring system provided by the embodiment of the present application comprises: 1-a mortar tank, 2-a slurry (cement mortar slurry), 3-an infrared laser emitter, 4-a camera, 5-a shield machine host computer, 6-a support structure such as a c-shaped steel, 7-a shield machine vehicle, 8-an image processing industrial computer, 9-a communication network cable, 10-a flushing device such as a flushing nozzle; wherein: the mortar tank 1 realizes the storage of the slurry 2, on one hand receives the replenishment of the cement mortar slurry of the shield machine vehicle 7, and on the other hand realizes the injection of the slurry 2 into the stratum through a synchronous grouting system when the shield machine is tunneling; the cement slurry 2; the infrared laser 3 is used to emit a laser line to the liquid surface of the slurry 2 for the camera 4 to identify; the camera 4 is used to identify the laser line of the infrared laser 3 and the liquid surface of the slurry 2; the shield machine host computer 5 is used to realize the tunneling and control of the shield, the image processing industrial computer 8 in the scheme of the embodiment of the present application receives the current monitoring image, inputs the identified information to the pre-warning, and sends a signal to the shield machine vehicle 7, and in addition is also used to control the flushing device 10 to flush the camera 4; the support structure 6 is used to realize the fixation of the monitoring camera and the laser emitter, and ensures the stable work when the shield is tunneling; the shield machine vehicle 7 is used to transport shield construction materials including the cement mortar slurry, and the shield machine vehicle 7 is connected with the mortar tank 1 through a hose; the image processing industrial computer 8 is used to store a liquid level identification algorithm model (a liquid level monitoring image algorithm model) and a camera field-of-view blocking algorithm model, and send a pre-warning signal to the shield machine host computer 5, and the image processing industrial computer 8 can be connected with the shield machine host computer 5 and the camera 4 through the communication network cable 9; the flushing device 10 such as the flushing nozzle is used to flush the camera 4, and the water and gas thereof are connected through a pipeline of the shield machine.

[0080] As shown, Figure 2 When the liquid level monitoring system provided by the embodiment of the present application works, first, a laser line is emitted to the slurry liquid surface of the mortar tank, and then two threads can be performed simultaneously.

[0081] First,

[0082] 1. First, determine whether to tunnel, and the specific determination method is that the cutter head system rotation speed in the shield machine host computer is greater than 0.3 rad / min and the screw system rotation speed is greater than 0.2 rad / min, wherein the cutter head and the screw system are both necessary component systems of the shield machine.

[0083] 2. When the above conditions are not met, the shield machine host computer determines that the tunneling is not performed, sends an instruction 0 to the image processing industrial computer, which represents that the tunneling is not performed, and at this time, the work is stopped.

[0084] 3. When the above conditions are met, the shield machine host computer determines that the tunneling is in progress, and sends instruction 1 to the image processing industrial computer, representing tunneling, at which time the liquid level image and laser line information are obtained. That is, in an embodiment, the shield machine host computer is further configured to determine that the tunneling is in progress when it is determined that the preset conditions are met (for example, the cutterhead system rotation speed in the shield machine host computer is greater than 0.3 rad / min and the screw system rotation speed is greater than 0.2 rad / min), and send a tunneling instruction to the image processing industrial computer. Specifically, when the image processing industrial computer receives the tunneling instruction, it obtains the current monitoring image and performs liquid level monitoring based on the current monitoring image.

[0085] 4. After the image processing industrial computer obtains the liquid level image and laser line information, the image is filtered and gray processed, and then edge detection is performed using a Canny operator to identify the laser lines and the mortar tank wall in the image. Then, a Hough straight line detection algorithm is used to obtain the straight lines in the image, and finally the deviation Δx between the mortar liquid and the mortar tank wall is calculated.

[0086] 5. After obtaining the straight line information, the current deviation value between the intersection of the liquid level and the tank wall and the laser line on the mortar liquid surface and the laser line on the tank wall is identified. When the current deviation value is greater than the deviation value corresponding to the low liquid level that is pre-marked, a liquid supplement warning information is transmitted to the shield machine host computer.

[0087] 6. After the shield machine host computer receives the warning signal from the image processing industrial computer, the current liquid level value is displayed on the interface, which is provided to the main driver of the shield machine. After receiving the warning information (liquid supplement warning information), the shield machine host computer sends an instruction (mortar supplement instruction signal) to the machine vehicle, which can be sent wirelessly. That is, in an embodiment, the image processing industrial computer can also send the current liquid level value to the shield machine host computer, and the shield machine host computer displays the current liquid level value on the interface, which improves the user experience of the driver.

[0088] 7. After the machine vehicle receives the warning information (mortar supplement instruction signal) wirelessly, it directly starts the mortar supplement work.

[0089] Second:

[0090] 1. The image processing industrial computer obtains the camera image information. First, the image is filtered and gray processed, and then the image is divided into foreground and background according to the gray histogram. Then, the Seed Filling algorithm is used to obtain the maximum connected region of the foreground, and the occlusion rate η of the image is calculated. When η ≥ 45%, it is considered that the image is severely occluded.

[0091] 2. If it is determined that the image is occluded, an instruction (occlusion alarm signal) is sent to the shield machine host computer. If it is determined that the image is not occluded, no instruction is sent to the shield machine host computer.

[0092] 3. After the shield machine host computer receives the signal (obstruction alarm signal), the flushing device is started to clean the camera.

[0093] 4. If the obstruction is still determined after flushing, continue flushing until the flushing is clean.

[0094] The above two threads are performed simultaneously, and the determination is performed once every 1s, that is, in an embodiment, the image processing industrial computer 8 simultaneously performs the steps of identifying the current liquid level value of the mud slurry 2 and detecting whether the camera field of view is obstructed.

[0095] In order to fully utilize the advantages of the existing monitoring camera, in addition to the above-mentioned laser line, an alternative embodiment can also fully utilize the scale fixed to the wall of the mortar tank. However, there may be some problems, such as the slurry adhering to the scale, affecting the imaging effect and recognition accuracy. However, the adhesion can be reduced by surface treatment, which can be used as an alternative embodiment.

[0096] In summary, compared with other existing embodiments and technologies in other fields, the use of this method of using an existing monitoring camera with a laser line can solve the technical problem of liquid level monitoring. On the one hand, it reduces the purchase cost of sensors and does not worry about the influence of sensor immersion or pollution by slurry. On the other hand, it reduces the effort of the shield machine driver to pay attention to the slurry level at all times during tunneling, so that he can pay more attention to tunneling construction, ensuring construction safety, and providing technical support for the automation of the grouting system during subsequent unmanned tunneling of the shield machine.

[0097] In the embodiment of the present application, an image processing industrial computer for monitoring the mud liquid level of a shield mortar tank is also provided, as described in the following embodiment. Since the principle of solving the problem of the image processing industrial computer is similar to that of the system for monitoring the mud liquid level of a shield mortar tank, the implementation of the image processing industrial computer can be referred to the implementation of the system for monitoring the mud liquid level of a shield mortar tank, and the repeated parts will not be described again.

[0098] Figure 5 The structure diagram of the image processing industrial computer for monitoring the mud liquid level of a shield mortar tank in the embodiment of the present application is shown in FIG. 8, which comprises: Figure 5

[0099] The receiving unit 81 is used for receiving the current monitoring image of the liquid surface of the mud slurry 2 in the mortar tank 1 and the laser line information acquired by the camera; the laser line is the laser line emitted by the infrared laser emitter 3 to the tank wall of the mortar tank 1 and the liquid surface of the mud slurry 2;

[0100] The liquid level monitoring unit 82 is used for identifying the current deviation value of the laser line on the liquid surface of the mud slurry (2) and the laser line on the tank wall according to the current monitoring image and the pre-stored liquid level monitoring image algorithm model.​

[0101] The liquid supplement early warning unit 83 is configured to transmit a liquid supplement early warning information to the shield machine host computer 5 when the current deviation value is greater than the deviation value corresponding to the low liquid level in the pre-marking; the shield machine host computer 5 is configured to transmit a slurry supplement instruction signal to the shield machine vehicle 7 according to the liquid supplement early warning information during the shield tunneling process; and the shield machine vehicle 7 is configured to supplement the transported slurry into the mortar tank 1 when the slurry supplement instruction signal from the shield machine host computer 5 is received.

[0102] In an embodiment, the image processing industrial computer described above can further include a field of view detection unit configured to transmit an occlusion alarm signal to the shield machine host computer 5 when it is detected that the field of view of the camera is occluded according to the current monitoring image and a pre-stored camera field of view occlusion algorithm model; the shield machine host computer 5 is further configured to transmit a flushing instruction signal when the occlusion alarm signal is received; and the flushing instruction signal is configured to start the flushing device 10 to flush the camera 4.

[0103] In an embodiment, the field of view detection unit is specifically configured to divide the current monitoring image into foreground and background; detect the largest connected region of the foreground; determine the camera field of view occlusion rate according to the largest connected region of the foreground; and transmit the occlusion alarm signal to the shield machine host computer 5 when it is determined that the camera field of view occlusion rate exceeds a preset occlusion threshold.

[0104] In an embodiment, the field of view detection unit is specifically configured to solve the gray histogram of the current monitoring image, and adaptively find a threshold to divide the gray histogram into foreground and background; use the Seed Filling algorithm to detect the largest connected region of the foreground; and use the pixel value of the largest connected region of the foreground or the gray histogram of all pixels as the occlusion rate.

[0105] In an embodiment, the field of view detection unit is further configured to perform the following field of view monitoring image preprocessing operations on the current monitoring image:

[0106] convert the current monitoring image in RGB into a gray image;

[0107] perform noise removal processing on the gray image using a Gaussian filter algorithm to obtain the current monitoring image after field of view monitoring image preprocessing;

[0108] divide the current monitoring image into foreground and background, including dividing the current monitoring image after field of view monitoring image preprocessing into foreground and background.

[0109] In one embodiment, the liquid level monitoring unit is specifically configured to perform edge detection on the current monitoring image, identify the laser line on the wall of the mortar tank, the straight line inside the wall of the mortar tank, and the laser line on the slurry liquid surface in the current monitoring image, determine the first intersection point coordinates of the laser line on the wall of the mortar tank and the straight line inside the wall of the mortar tank, and the second intersection point coordinates of the laser line on the slurry liquid surface and the straight line inside the wall of the mortar tank, and determine the current deviation value between the laser line on the slurry liquid surface and the laser line on the wall of the mortar tank according to the first intersection point coordinates and the second intersection point coordinates.

[0110] In one embodiment, the liquid level monitoring unit is specifically configured to perform edge detection on the current monitoring image using a Canny operator, and identify the laser line on the wall of the mortar tank, the straight line inside the wall of the mortar tank, and the laser line on the slurry liquid surface in the current monitoring image using a Hough straight line detection algorithm.

[0111] In one embodiment, the liquid level monitoring unit is further configured to perform the following liquid level monitoring image preprocessing operation on the current monitoring image:

[0112] segmenting the current monitoring image, and cutting off irrelevant areas to obtain a cut current monitoring image;

[0113] performing gray scale processing on the cut current monitoring image to obtain a gray scale image;

[0114] performing noise removal processing on the gray scale image using a Gaussian filtering algorithm to obtain the liquid level monitoring image preprocessed current monitoring image;

[0115] performing edge detection on the current monitoring image to identify the laser line and the wall of the mortar tank in the current monitoring image, including performing edge detection on the liquid level monitoring image preprocessed current monitoring image to identify the laser line and the wall of the mortar tank in the current monitoring image.

[0116] The embodiment of the present application also provides a method for monitoring the slurry liquid level of a shield mortar tank, as described in the following embodiment. Since the principle of solving the problem of the method is similar to that of the system for monitoring the slurry liquid level of a shield mortar tank, the implementation of the method can be referred to the implementation of the system for monitoring the slurry liquid level of a shield mortar tank, and the repeated parts will not be described herein.

[0117] Figure 6 A flowchart of the method for monitoring the slurry liquid level of a shield mortar tank in the embodiment of the present application is shown in FIG. 8, which includes the following steps: Figure 6

[0118] ​Step 801: receiving a current monitoring image of the liquid level of the slurry 2 in the mortar tank 1 and the laser line information acquired by the camera; the laser line is a laser line emitted by the infrared laser emitter 3 to the tank wall of the mortar tank 1 and the liquid level of the slurry 2;

[0119] Step 802: according to the current monitoring image and the pre-stored liquid level monitoring image algorithm model, identifying the current deviation value of the laser line on the liquid level of the slurry 2 and the laser line on the tank wall;

[0120] Step 803: when the current deviation value is greater than the deviation value corresponding to the low liquid level pre-calibrated, transmitting a liquid supplement warning information to the shield machine host computer 5; the shield machine host computer 5 is used to transmit a slurry supplement instruction signal to the shield machine vehicle 7 according to the liquid supplement warning information in the process of shield tunneling; the shield machine vehicle 7 is used to supplement the transported slurry to the mortar tank 1 when receiving the slurry supplement instruction signal of the shield machine host computer 5.

[0121] In one embodiment, the above-mentioned method for monitoring the liquid level of the slurry in the shield mortar tank can further include: when it is detected that the camera field of view is blocked according to the current monitoring image and the pre-stored camera field of view blocking algorithm model, sending a blocking alarm signal to the shield machine host computer 5; the shield machine host computer 5 is also used to send a flushing instruction signal when receiving the blocking alarm signal; the flushing instruction signal is used to start the flushing device 10 to flush the camera 4.

[0122] In one embodiment, when it is detected that the camera field of view is blocked according to the current monitoring image and the pre-stored camera field of view blocking algorithm model, sending a blocking alarm signal to the shield machine host computer 5 can include: dividing the current monitoring image into foreground and background; detecting the largest connected region of the foreground; determining the camera field of view blocking rate according to the largest connected region of the foreground; when it is determined that the camera field of view blocking rate exceeds a preset blocking threshold, sending a blocking alarm signal to the shield machine host computer 5.

[0123] In one embodiment, dividing the current monitoring image into foreground and background includes: solving the gray histogram of the current monitoring image, and adaptively finding a threshold to divide the gray histogram into foreground and background;

[0124] Detecting the largest connected region of the foreground includes: using the Seed Filling algorithm to detect the largest connected region of the foreground;

[0125] Determining the camera field of view blocking rate according to the largest connected region of the foreground includes: taking the pixel value of the largest connected region of the foreground or the gray histogram of all pixels as the blocking rate.

[0126] In an embodiment, the method for monitoring the slurry liquid level of the shield mortar tank can further include the following view monitoring image preprocessing operation on the current monitoring image:

[0127] converting the current monitoring image in RGB into a gray image;

[0128] performing noise removal processing on the gray image using a Gaussian filter algorithm to obtain the current monitoring image after view monitoring image preprocessing;

[0129] dividing the current monitoring image into foreground and background, including dividing the current monitoring image after view monitoring image preprocessing into foreground and background.

[0130] In an embodiment, the current deviation value between the laser line on the slurry liquid surface 2 and the laser line on the tank wall is identified according to the current monitoring image and a pre-stored liquid level monitoring image algorithm model, including performing edge detection on the current monitoring image to identify the laser line on the tank wall of the mortar tank, the straight line inside the tank wall of the mortar tank, and the laser line on the slurry liquid surface; determining the first intersection coordinate of the laser line on the tank wall of the mortar tank and the straight line inside the tank wall of the mortar tank, and the second intersection coordinate of the laser line on the slurry liquid surface and the straight line inside the tank wall of the mortar tank; and determining the current deviation value between the laser line on the slurry liquid surface 2 and the laser line on the tank wall of the mortar tank according to the first intersection coordinate and the second intersection coordinate.

[0131] In an embodiment, the edge detection on the current monitoring image to identify the laser line on the tank wall of the mortar tank, the straight line inside the tank wall of the mortar tank, and the laser line on the slurry liquid surface includes using a Canny operator to perform edge detection on the current monitoring image, and using a Hough straight line detection algorithm to identify the laser line on the tank wall of the mortar tank, the straight line inside the tank wall of the mortar tank, and the laser line on the slurry liquid surface in the current monitoring image.

[0132] In an embodiment, the method for monitoring the slurry liquid level of the shield mortar tank can further include the following liquid level monitoring image preprocessing operation on the current monitoring image:

[0133] segmenting the current monitoring image to cut off irrelevant areas to obtain the current monitoring image after cutting;

[0134] performing gray scale processing on the current monitoring image after cutting to obtain a gray image;

[0135] performing noise removal processing on the gray image using a Gaussian filter algorithm to obtain the current monitoring image after liquid level monitoring image preprocessing.

[0136] The embodiment of the present application also provides a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the method for monitoring the slurry liquid level of the shield mortar tank when executing the computer program.

[0137] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program implements the method for monitoring the slurry liquid level of the shield mortar tank when executed by a processor.

[0138] The embodiment of the present application also provides a computer program product, which comprises a computer program, and the computer program implements the method for monitoring the slurry liquid level of the shield mortar tank when executed by a processor.

[0139] Compared with the technical solution in the prior art, the technical solution for monitoring the slurry liquid level of the shield mortar tank has the beneficial technical effects that:

[0140] Firstly, in the embodiment of the present application, the laser line on the mortar tank wall and the slurry is a line, so when the slurry liquid level is identified, the current deviation value of the laser line on the slurry liquid at the junction of the slurry liquid and the mortar tank wall and the laser line on the tank wall is found, the slurry supplement warning is performed by using the current deviation value, when the current deviation value is greater than the deviation value corresponding to the low liquid level, the slurry supplement warning information is transmitted to the host computer of the shield machine, and then the subsequent control of the slurry supplement is completed, so that the influence of the disturbance of the stirring device is avoided, and the stable liquid level measurement is realized.

[0141] Secondly, in the embodiment of the present application, the laser transmitter is added to the shield tunneling machine mortar tank, the infrared laser transmitter emits a laser line to the tank wall and the liquid surface of the slurry in the mortar tank, the camera obtains the current monitoring image of the liquid surface of the slurry in the mortar tank and the laser line information, and then the current monitoring image is sent to the image processing industrial computer, so that the subsequent stable slurry supplement warning of the image processing industrial computer is ensured, the purchase cost of the existing sensor is saved, and the slurry liquid level of the shield mortar tank can be monitored at low cost.

[0142] Thirdly, the embodiment of the present application realizes the automatic monitoring and slurry supplement of the slurry, reduces the energy of the main driver of the shield machine for paying attention to the slurry liquid level at all times when tunneling, makes the main driver pay more attention to the tunneling construction, ensures the construction safety, and provides technical support for the automation of the grouting system when the shield machine is tunneling without people.

[0143] In summary, the embodiment of the present application can realize the low-cost, safe and stable monitoring of the slurry liquid level of the shield mortar tank.

[0144] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, the methods can be tangibly embodied in a machine-readable storage medium having stored thereon instructions that can be used to program a computer to perform any of the methods. The software implementation can be initialized by loading and executing a set of instructions arranged to perform one of the methods into the computer's memory. Alternatively, hard-wired circuitry can be used in place of, or in combination with, software instructions. Thus, the

[0145] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus systems, and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 means for performing the function specified by the flowchart illustrations and / or block diagrams block or blocks.

[0146] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 means for performing the function specified by the flowchart illustrations and / or block diagrams block or blocks.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 means for performing the function specified by the flowchart illustrations and / or block diagrams block or blocks.

[0148] The specific embodiments described above have been shown by way of example, and any modifications, well as any other equivalent variations as would be apparent to those skilled in the art are deemed within the scope of the present application. The scope of the application should be determined by the appended claims.

Claims

1. A system for monitoring the level of slurry in a shield mortar tank, characterized in that The system comprises: an infrared laser emitter (3) for emitting a laser line to the tank wall of the mortar tank (1) and the liquid surface of the slurry (2); a camera (4) for acquiring a current monitoring image of the liquid surface of the slurry (2) in the mortar tank (1) and the laser line information, and sending the current monitoring image to an image processing industrial computer (8); the image processing industrial computer (8) is used for identifying a current deviation value between the laser line on the liquid surface of the slurry (2) and the laser line on the tank wall according to the current monitoring image and a pre-stored liquid level monitoring image algorithm model, and comprises the following steps: performing edge detection on the current monitoring image to identify the laser line on the tank wall of the mortar tank, a straight line inside the tank wall of the mortar tank, and the laser line on the liquid surface of the slurry; determining a first intersection coordinate of the laser line on the tank wall of the mortar tank and the straight line inside the tank wall of the mortar tank, and a second intersection coordinate of the laser line on the liquid surface of the slurry and the straight line inside the tank wall of the mortar tank; determining the current deviation value between the laser line on the liquid surface of the slurry (2) and the laser line on the tank wall of the mortar tank according to the first intersection coordinate and the second intersection coordinate; and when the current deviation value is greater than a deviation value corresponding to a low liquid level pre-calibrated, transmitting a liquid supplement pre-warning information to a shield machine upper computer (5); the shield machine upper computer (5) is used for sending a slurry supplement instruction signal to a shield machine vehicle (7) according to the liquid supplement pre-warning information in the process of shield tunneling; the shield machine vehicle (7) is in communication with the mortar tank (1) and is used for supplementing the transported slurry into the mortar tank (1) when receiving the slurry supplement instruction signal of the shield machine upper computer (5).

2. The system of claim 1, wherein, The image processing industrial computer (8) is also used for sending an occlusion alarm signal to the shield machine upper computer (5) when detecting that the camera visual field is occluded according to the current monitoring image and a pre-stored camera visual field occlusion algorithm model; the shield machine upper computer (5) is also used for sending a flushing instruction signal when receiving the occlusion alarm signal; the system further comprises a flushing device (10) for flushing the camera (4) when receiving the flushing instruction signal.

3. The system of claim 2, wherein, The image processing industrial computer (8) is specifically used for dividing the current monitoring image into foreground and background; detecting the maximum connected region of the foreground; determining the camera visual field occlusion rate according to the maximum connected region of the foreground; and sending the occlusion alarm signal to the shield machine upper computer (5) when the camera visual field occlusion rate exceeds a preset occlusion threshold. The image processing industrial computer (8) simultaneously performs the steps of identifying the current liquid level value of the slurry (2) and detecting that the camera visual field is occluded.

4. The system of claim 2 or 3, wherein, The image processing industrial computer (8) is also used for transmitting a stop liquid supplement pre-warning information to the shield machine upper computer (5) when the current deviation value is less than a deviation value corresponding to a high liquid level pre-calibrated; 5. The system of claim 1, wherein, the shield machine upper computer (5) is also used for sending a stop slurry supplement instruction signal to the shield machine vehicle (7) according to the stop liquid supplement pre-warning information in the process of shield tunneling; and ​ The shield machine vehicle (7) is also used to control the stop of the slurry supplement when receiving the stop slurry supplement instruction signal of the shield machine host computer (5).

6. An image processing industrial computer for monitoring the slurry level of a shield mortar tank, characterized by, Comprise: The receiving unit is used for receiving a current monitoring image of the liquid level and the laser line information of the slurry in the mortar tank (1) acquired by the camera; the laser line is a laser line emitted by an infrared laser emitter (3) to the tank wall of the mortar tank (1) and the liquid level of the slurry; The liquid level monitoring unit is used for identifying a current deviation value between the laser line on the liquid level of the slurry (2) and the laser line on the tank wall according to the current monitoring image and a pre-stored liquid level monitoring image algorithm model, and comprises: performing edge detection on the current monitoring image to identify the laser line on the tank wall of the mortar tank, the straight line inside the tank wall of the mortar tank, and the laser line on the liquid level of the slurry; determining the first intersection point coordinates of the laser line on the tank wall of the mortar tank and the straight line inside the tank wall of the mortar tank, and the second intersection point coordinates of the laser line on the liquid level of the slurry and the straight line inside the tank wall of the mortar tank; determining the current deviation value between the laser line on the liquid level of the slurry (2) and the laser line on the tank wall of the mortar tank according to the first intersection point coordinates and the second intersection point coordinates; The liquid supplement early warning unit is used for transmitting liquid supplement early warning information to the shield machine host computer (5) when the current deviation value is greater than the deviation value corresponding to the low liquid level that is pre-calibrated; the shield machine host computer (5) is used for sending a slurry supplement instruction signal to the shield machine vehicle (7) according to the liquid supplement early warning information in the process of shield tunneling; and the shield machine vehicle (7) is used for supplementing the transported slurry to the mortar tank (1) when receiving the slurry supplement instruction signal of the shield machine host computer (5).

7. The image processing industrial computer of claim 6, wherein, Further comprise: The field of view detection unit is used for sending an occlusion alarm signal to the shield machine host computer (5) when it is detected that the field of view of the camera is occluded according to the current monitoring image and a pre-stored camera field of view occlusion algorithm model; the shield machine host computer (5) is also used for sending a flushing instruction signal when receiving the occlusion alarm signal; and the flushing instruction signal is used for starting the flushing device (10) to flush the camera (4).

8. The image processing industrial computer of claim 7, wherein, The field of view detection unit is specifically used for: dividing the current monitoring image into foreground and background; detecting the maximum connected region of the foreground; determining the camera field of view occlusion rate according to the maximum connected region of the foreground; When it is determined that the camera field of view occlusion rate exceeds a preset occlusion threshold, the occlusion alarm signal is sent to the shield machine host computer (5).

9. A method for monitoring the slurry level of a shield mortar tank, characterized by, The method is applied to an image processing industrial computer, and the method comprises: The receiving unit is used for receiving a current monitoring image of the liquid level and the laser line information of the slurry in the mortar tank (1) acquired by the camera; the laser line is a laser line emitted by an infrared laser emitter (3) to the tank wall of the mortar tank (1) and the liquid level of the slurry; According to the current monitoring image, and the pre-stored liquid level monitoring image algorithm model, the current deviation value between the laser line on the liquid surface of the mud slurry (2) and the laser line on the tank wall is identified, which comprises: performing edge detection on the current monitoring image, identifying the laser line on the tank wall of the mortar tank, the straight line inside the tank wall, and the laser line on the liquid surface in the current monitoring image; determining the first intersection point coordinates of the laser line on the tank wall of the mortar tank and the straight line inside the tank wall, and the second intersection point coordinates of the laser line on the liquid surface and the straight line inside the tank wall; determining the current deviation value between the laser line on the liquid surface of the mud slurry (2) and the laser line on the tank wall according to the first intersection point coordinates and the second intersection point coordinates; When the current deviation value is greater than the deviation value corresponding to the low liquid level pre-marked, transmit the liquid supplement warning information to the shield machine host computer (5); the shield machine host computer (5) is used to transmit the slurry supplement instruction signal to the shield machine vehicle (7) according to the liquid supplement warning information in the process of shield tunneling; the shield machine vehicle (7) is used to supplement the transported mud slurry into the mortar tank (1) when receiving the slurry supplement instruction signal of the shield machine host computer (5).

10. The method of claim 9, wherein, Further comprising: When it is detected that the camera field of view is blocked according to the current monitoring image and the pre-stored camera field of view blocking algorithm model, send a blocking alarm signal to the shield machine host computer (5); the shield machine host computer (5) is also used to send a flushing instruction signal when receiving the blocking alarm signal; the flushing instruction signal is used to start the flushing device (10) to flush the camera (4).

11. The method of claim 10, wherein, When it is detected that the camera field of view is blocked according to the current monitoring image and the pre-stored camera field of view blocking algorithm model, send a blocking alarm signal to the shield machine host computer (5), comprising: dividing the current monitoring image into foreground and background; detecting the maximum connected region of the foreground; determining the camera field of view blocking rate according to the maximum connected region of the foreground; when it is determined that the camera field of view blocking rate exceeds the preset blocking threshold, send a blocking alarm signal to the shield machine host computer (5).

12. The method of claim 11, wherein, Dividing the current monitoring image into foreground and background, comprising: solving the gray histogram of the current monitoring image, and adaptively finding a threshold to divide the gray histogram into foreground and background; Detecting the maximum connected region of the foreground, comprising: using Seed Filling algorithm to detect the maximum connected region of the foreground; Determining the camera field of view blocking rate according to the maximum connected region of the foreground, comprising: taking the maximum connected region pixel value or the gray histogram of all pixel values as the blocking rate.

13. The method of claim 9, wherein, Performing edge detection on the current monitoring image, identifying the laser line on the tank wall of the mortar tank, the straight line inside the tank wall, and the laser line on the liquid surface in the current monitoring image, comprising: using Canny operator to perform edge detection on the current monitoring image, and using Hough straight line detection algorithm to identify the laser line on the tank wall of the mortar tank, the straight line inside the tank wall, and the laser line on the liquid surface in the current monitoring image.

14. The method of claim 9, wherein, Also comprising: The current monitoring image is subjected to the following liquid level monitoring image preprocessing operation: The current monitoring image is segmented to cut off the irrelevant area to obtain the current monitoring image after cutting; The current monitoring image after cutting is subjected to gray scale processing to obtain a gray scale image; The gray scale image is subjected to noise removal processing by using a Gaussian filter algorithm to obtain the current monitoring image after liquid level monitoring image preprocessing.

15. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method of any one of claims 9-14 when executing the computer program.

16. A computer readable storage medium characterized by: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method of any one of claims 9-14.

17. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by the processor to implement the method of any one of claims 9-14.

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