Visual operation assistance device and method for roadheader

Abstract

The present invention belongs to the field of roadheaders, and relates to a visual operation assistance device and method for a roadheader; it has the function of collecting images of the blind area of the roadheader's vision and avoiding dust interference. A visual operation assistance device for a roadheader is arranged on the vehicle body of the roadheader, and the image acquisition surface of the visual operation assistance device for the roadheader faces within the blind area of the driver's vision. The visual operation assistance device for the roadheader includes: an image acquisition module and a display. The image acquisition module is arranged on the side of the roadheader away from the cab, and the image acquisition module is configured to collect partial images within the blind area of the driver's vision. The display is arranged in the cab, and there is an electrical connection between the display and the image acquisition module. The visual operation assistance method for the roadheader is that two image acquisition sensors collect images through a grille and splice the images into a complete image.

Description

Technical Field

[0001] The present invention belongs to the field of roadheaders and relates to a visual operation assistance device and method for a roadheader. Background Art

[0002] Roadheaders are used for underground roadway excavation and are characterized by large size and high working efficiency. The driver's cab of the roadheader is located on one side of the main body, generally on the left side. In addition, limited by the roadway height and safety, the driver's cab sinks into the main body, resulting in a visual blind area for the driver on the other side of the roadheader.

[0003] During the operation process, it is inevitable that other workers enter the visual blind area of the roadheader. Once there is a situation of untimely communication or lack of safety regulations, it may cause the driver to operate the roadheader and harm the workers in the visual blind area, and in severe cases, it may endanger life safety. In addition, there is also a situation where the driver cannot well master the distance between the main body and the side wall of the roadway in the visual blind area, resulting in scraping and other situations, which affect the support safety of the roadway.

[0004] In the current technology, generally auxiliary personnel are used to direct the operation. However, the noise is large and the visibility is poor underground, so the guiding effect is not good and it is not conducive to the operation efficiency. For this reason, a method of collecting images in the visual blind area through a camera is proposed to facilitate the driver's operation. However, when the roadheader is operating, the dust is extremely large, and a large amount of dust adheres to the surface of the camera lens, resulting in unclear images collected by the camera. Frequent wiping is also likely to cause damage to the camera lens. In addition, when there is a large amount of dust in the roadway, it is also impossible to observe whether there are workers in the dust area from the images collected by the camera.

[0005] Generally speaking, the current technology cannot meet the actual needs of underground roadheader operation for dust removal of the camera, and there are problems such as unclear collected images or relatively fast wear of the camera lens. Summary of the Invention

[0006] To overcome the defects in the above-related technologies, on the one hand, the present invention proposes a visual operation assistance device for a roadheader, which has the function of collecting images in the visual blind area of the roadheader and avoiding dust interference.

[0007] To achieve the above technical purpose, the present invention provides a visual operation assistance device for a roadheader. A visual operation assistance device for a roadheader is arranged on the vehicle body of the roadheader, and the image acquisition surface of the visual operation assistance device for the roadheader faces within the visual blind area range of the driver.

[0008] The visual operation assistance device of the roadheader includes: an image acquisition module and a display. The image acquisition module is arranged on one side of the roadheader away from the cab, and the image acquisition module is configured to acquire partial images within the blind area of the driver's vision. The display is arranged inside the cab, and there is an electrical connection between the display and the image acquisition module.

[0009] Among them, the image acquisition module further includes: a housing, a dust removal grille group, an image acquisition sensor, and a human body infrared detection sensor. One side of the housing is open, and the housing is fixed to the vehicle body of the roadheader.

[0010] The dust removal grille group is fixed on the side opening of the housing. The dust removal grille group includes grille plates. The grille plates are long strip-shaped parts. The extending direction of the grille plates is perpendicular to the first direction. A plurality of the grille plates are arranged in parallel on the side opening of the housing. An opening groove is arranged on each side of the grille plate. The opening groove is a gap parallel to the first direction. The opening grooves on one grille plate of adjacent two grille plates are arranged opposite to the opening grooves on the other grille plate, and the opening groove on one grille plate blows out air flow to the outside, and the opening groove on the other grille plate sucks air from the outside to the inside.

[0011] A plurality of the image acquisition sensors are arranged in sequence along the first direction inside the housing, and a plurality of the image acquisition sensors are fixedly connected to the roadheader through support rods. The acquisition ends of the image acquisition sensors face the side opening of the housing. The acquisition ends of a plurality of the image acquisition sensors obtain real-time images through the gaps of a plurality of the grille plates. The plurality of real-time images are spliced after removing the overlapping parts to form partial images within the blind area of the driver's vision and are presented on the display.

[0012] The human body infrared detection sensor is fixed on the vertical side surface of the housing outside the grille plate.

[0013] Preferably, the adjacent spacing of the grille plates is less than 10 cm, and the distance between the image acquisition sensor and the grille plate is less than 40 cm.

[0014] Preferably, the image acquisition module further includes a microprocessor. The microprocessor is electrically connected to the image acquisition sensor and the human body infrared detection sensor. The microprocessor is configured to process image information, transmit it to the display, and receive and analyze signals from the human body infrared detection sensor.

[0015] Preferably, the visual operation assistance device of the roadheader further includes an air treatment unit, and the air treatment unit includes: a centrifugal fan, an air filter, and an air flow distributor. The centrifugal fan is fixed on the roadheader, and the exhaust port of the centrifugal fan is communicated with the opening groove of the outer side of the grille plate for blowing out air flow. The air inlet end of the air filter is communicated with the opening groove of the grille plate for sucking air from the outside to the inside, and the air outlet end of the air filter is communicated with the air inlet of the centrifugal fan. An air flow distributor is further arranged between the centrifugal fan and the opening grooves of the outer sides of the plurality of grille plates for blowing out air flow.

[0016] On the other hand, the present invention further provides a visual operation assistance method for a roadheader, which is applicable to the above-mentioned visual operation assistance device of the roadheader.

[0017] The visual operation assistance method for the roadheader includes: at least two image acquisition sensors are provided, one of the image acquisition sensors is a first image acquisition sensor, and the other image acquisition sensor is a second image acquisition sensor. The image acquired by the first image acquisition sensor through the gaps between the plurality of grille plates is a first image, and the first image includes the image acquired on one side of the roadheader and the stripes formed by the grille plates. The image acquired by the second image acquisition sensor through the gaps between the plurality of grille plates is a second image, and the second image includes the image acquired on one side of the roadheader and the stripes formed by the grille plates.

[0018] Obtain the image acquired on one side of the roadheader in the first image. The image acquired on one side of the roadheader in the first image includes a plurality of first image strips, and the stripes formed by the grille plates are between adjacent two first image strips. Obtain the image acquired on one side of the roadheader in the second image. The image acquired on one side of the roadheader in the second image includes a plurality of second image strips, and the stripes formed by the grille plates are between adjacent two second image strips.

[0019] Perform image analysis on the plurality of first image strips and the plurality of second image strips, and splice the plurality of first image strips and the plurality of second image strips to form a complete image. Transmit the complete image to a display and form a real-time video within the range facing the current image acquisition sensor.

[0020] Preferably, the visual operation assistance method for the roadheader further includes: the human body infrared detection sensor collects whether there is a personnel signal within the range faced by the image acquisition sensor, and transmits the signal to the microprocessor. After collecting the signal that there is a person within the range faced by the image acquisition sensor, the microprocessor controls the alarm to sound an alarm, and the operator of the roadheader stops the operation of the roadheader. When it is collected that there is no personnel signal within the range faced by the image acquisition sensor, the operator of the roadheader operates the roadheader according to the image on the display.

[0021] Preferably, the visual operation assistance method for the roadheader further includes: inputting the complete image into a convolutional neural network model for human image analysis. If the convolutional neural network model determines that there is a person in the complete image, a start signal is sent to the alarm.

[0022] Preferably, an opening groove is further provided on the grille plate. The visual operation assistance method for the roadheader further includes: the opening groove of the grille plate keeps blowing air outwards, and the opening groove of an adjacent grille plate keeps sucking air inwards, so as to form an air flow wall between the two grille plates.

[0023] The beneficial effects of the present invention are as follows:

[0024] The present invention adopts an image acquisition module, which can collect images of the blind area of vision of the roadheader and display them in front of the driver. It is convenient for the driver to control the roadheader according to the video display, reducing the possibility of accidents and improving the safety factor of the whole operation.

[0025] The present invention adopts a dust removal grille group, which can isolate the image acquisition sensor of the image acquisition module from the high dust in the working environment, avoid a large amount of dust adhering to the lens surface of the image acquisition sensor, and at the same time can collect images of the blind area of vision through the gaps of the grille plate to complete normal operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0027] Figure 1 is the structural diagram of the present invention;

[0028] Figure 2 is the circuit structural diagram of the present invention;

[0029] Figure 3 is the structural diagram of the image acquisition module of the present invention;

[0030] Figure 4 Structural diagram of the grille plate of the present invention;

[0031] Figure 5 Side structural diagram of the grille plate of the present invention;

[0032] Figure 6 Cross-sectional view of the grille plate of the present invention;

[0033] Figure 7 Cross-sectional view of the grille plate of the present invention and installation diagram of multiple grille plates;

[0034] Figure 8 Structural diagram of the air handling unit of the present invention.

[0035] In the figure: 1, image acquisition module; 2, display; 3, roadheader; 11, housing; 12, dust removal grille group; 13, image acquisition sensor; 14, human body infrared detection sensor; 121, grille plate; 122, opening groove; 41, centrifugal fan; 42, air filter; 43, air distributor. Specific embodiments

[0036] To make the above objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 should not be construed as a limitation to the present invention.

[0038] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0039] Such as Figures 1 to 8As shown in the figure, the present invention provides a visual operation assistance device for a roadheader. A visual operation assistance device for a roadheader is arranged on the vehicle body of the roadheader 3, and the image acquisition surface of the visual operation assistance device for the roadheader faces within the driver's visual blind area.

[0040] The visual operation assistance device for the roadheader includes: an image acquisition module 1 and a display 2. The image acquisition module 1 is arranged on the side of the roadheader 3 away from the cab, and the image acquisition module 1 is configured to acquire partial images within the driver's visual blind area. The display 2 is arranged in the cab, and there is an electrical connection between the display 2 and the image acquisition module 1.

[0041] Among them, the image acquisition module 1 further includes: a housing 11, a dust removal grille group 12, an image acquisition sensor 13, and a human body infrared detection sensor 14. One side of the housing 11 is open, and the housing 11 is fixed on the vehicle body of the roadheader 3.

[0042] The dust removal grille group 12 is fixed on the side opening of the housing 11. The dust removal grille group 12 includes grille plates 121. The grille plates 121 are long plate members, and the extending direction of the grille plates 121 is perpendicular to the first direction X. A plurality of the grille plates 121 are arranged in parallel on the side opening of the housing 11. An opening groove 122 is arranged on each side of the grille plate 121. The opening groove 122 is a gap parallel to the first direction X. The opening grooves 122 on one grille plate 121 among adjacent two grille plates 121 are arranged opposite to the opening grooves 122 on the other grille plate 121, and the opening grooves 122 on one grille plate 121 blow out air towards the outside, and the opening grooves 122 on the other grille plate 121 suck air from the outside inwards.

[0043] A plurality of the image acquisition sensors 13 are arranged in sequence along the first direction X within the housing 11, and a plurality of the image acquisition sensors 13 are fixedly connected to the roadheader 3 through support rods. The acquisition ends of the image acquisition sensors 13 face the side opening of the housing 11. The acquisition ends of a plurality of the image acquisition sensors 13 acquire real-time images through the gaps between a plurality of the grille plates 121. The plurality of real-time images are spliced after removing the overlapping parts to form partial images within the driver's visual blind area and are presented on the display 2.

[0044] The human body infrared detection sensor 14 is fixed on the vertical side surface of the housing 11 outside the grille plate 121.

[0045] Preferably, the adjacent spacing between the grille plates 121 is less than 10 cm, and the distance between the image acquisition sensor 13 and the grille plate 121 is less than 40 cm.

[0046] Preferably, the image acquisition module 1 further includes a microprocessor, which is electrically connected to the image acquisition sensor 13 and the human body infrared detection sensor 14. The microprocessor is configured to process image information and transmit it to the display 2, as well as receive signals from the human body infrared detection sensor 14 and analyze and process them.

[0047] Preferably, the visual operation assistance device for the roadheader further includes an air treatment unit, which includes: a centrifugal fan 41, an air filter 42, and an air flow distributor 43. The centrifugal fan 41 is fixed on the roadheader 3, and the exhaust port of the centrifugal fan 41 is communicated with the opening groove 122 of the outer side of the grid plate 121 that blows out air. The air inlet end of the air filter 42 is communicated with the opening groove 122 of the grid plate 121 that sucks air from the outside to the inside, and the air outlet end of the air filter 42 is communicated with the air inlet of the centrifugal fan 41. An air flow distributor 43 is also provided between the centrifugal fan 41 and the opening grooves 122 of the outer sides of the plurality of grid plates 121 that blow out air.

[0048] The specific operation process of this application is as follows:

[0049] During the operation of the roadheader 3, there is a large amount of dust in the roadway, especially in the roadway space near both sides of the roadheader 3. The image acquisition sensor 13 continuously acquires images within the blind area of vision of the roadheader 3. The grid plates 121 of the dust removal grid group 12 separate the inside and outside of the housing 11 through blowing and sucking, so that the dusty air flowing from the outside of the housing 11 to the inside of the housing 11 is carried away by the air flow wall between two adjacent grid plates 121, preventing a large amount of dust from adhering to the lens surface of the image acquisition sensor 13.

[0050] In this embodiment, the first direction X can be the vertical direction. There are at least two image acquisition sensors 13. For example, there are two image acquisition sensors 13. The two image acquisition sensors 13 are fixed along the vertical direction. Specifically, the support rod is a straight rod and is vertically fixed on the main body part of the roadheader 3. The two image acquisition sensors 13 are fixed on the support rod from top to bottom. The housing 11 is fixedly connected to the main body part of the roadheader 3, that is, the support rod penetrates through the housing 11, and a rubber film can be used for sealing between the support rod and the housing 11.

[0051] The dust removal grid group 12 is arranged on the housing 11 and is communicated with the air treatment unit. When high-speed air flows through the dust removal grid group 12, it may cause the housing 11 to continuously shake. The image acquisition sensor 13 and the housing 11 are respectively fixedly connected to the main body part of the roadheader 3, which can prevent the image acquisition sensor 13 from shaking when acquiring images.

[0052] One of the two image acquisition sensors 13 acquires an image through the gaps between multiple grid plates 121, and the other image acquisition sensor 13 acquires an image through the gaps between multiple grid plates 121. Since the viewing angles of the two image acquisition sensors 13 are different, the images formed by the two image acquisition sensors 13 through the grid plates 121 are different. Specifically, the first image acquisition sensor 13 is blocked by the grid plates 121 to form an image with multiple first stripes, and the second image acquisition sensor 13 is blocked by the grid plates 121 to form an image with multiple second stripes. After the image with multiple first stripes and the image with multiple second stripes are spliced and combined, a complete image can be formed.

[0053] As Figure 3 or Figure 7 shown, the black area in the figure is the image within the viewing range acquired by the first image acquisition sensor 13 through the gaps between the grid plates 121, and the white area interspersed with the black area is the image within the viewing range acquired by the second image acquisition sensor 13 through the gaps between the grid plates 121. After the black area and the white area are spliced and the overlapping parts are removed, a complete image within the blind area of the field of view can be formed.

[0054] Among them, the image acquisition sensor 13 can be an optical camera.

[0055] In addition, there is also a situation where the dust outside the housing 11 is too large. That is to say, even if the image acquisition sensor 13 acquires an image within the blind area of the field of view of the roadheader 3, the dust in the image is extremely large, and the driver cannot distinguish whether there are workers within the blind area of the field of view through the image.

[0056] In this embodiment, the human body infrared detection sensor 14 is installed on the grid plate 121, which can detect whether there are workers within the blind area of the field of view, can assist the driver in distinguishing whether there are people within the blind area of the field of view, further improve safety, and avoid injury accidents caused by the driver's unclear distinction or careless observation during fatigue driving.

[0057] The inside of the grid plate includes two cavities, and each cavity communicates with the opening groove on the corresponding side. Air holes are provided at both ends of the grid plate, and the air holes at both ends communicate with the two cavities in a one-to-one correspondence.

[0058] On the other hand, the present invention also provides a method for assisting the visual operation of a roadheader, which is applicable to the above-mentioned device for assisting the visual operation of a roadheader.

[0059] The method for assisting the visual operation of the roadheader includes:

[0060] S1. There are at least two image acquisition sensors. One of the image acquisition sensors is the first image acquisition sensor, and the other is the second image acquisition sensor. The image acquired by the first image acquisition sensor through the gaps between multiple grille plates is the first image, and the first image includes the image collected on one side of the roadheader and the stripes formed by the grille plates.

[0061] S2. The image acquired by the second image acquisition sensor through the gaps between multiple grille plates is the second image, and the second image includes the image collected on one side of the roadheader and the stripes formed by the grille plates.

[0062] S3. Obtain the image collected on one side of the roadheader in the first image. The image collected on one side of the roadheader in the first image includes multiple first image strips, and the stripes formed by the grille plates are between adjacent two first image strips.

[0063] S4. Obtain the image collected on one side of the roadheader in the second image. The image collected on one side of the roadheader in the second image includes multiple second image strips, and the stripes formed by the grille plates are between adjacent two second image strips.

[0064] S5. Perform image analysis on the multiple first image strips and the multiple second image strips, and splice the multiple first image strips and the multiple second image strips to form a complete image. Transmit the complete image to the display and form a real-time video within the range facing the current image acquisition sensor.

[0065] In this embodiment, the surface of the grille plate can be black, that is, the stripes formed by the grille plates in the first image and the second image are both black strips. The microprocessor can quickly select and clip out the black strips in the first image and the second image, and simultaneously obtain the image stripes from the first image and the second image.

[0066] The image stripes in the first image are the first image strips, and the first image strips are numbered sequentially from top to bottom. The image stripes in the second image are the second image strips, and the second image strips are numbered sequentially from top to bottom.

[0067] Then, arrange the first image strips sequentially from top to bottom according to the numbers, arrange the second image strips sequentially from top to bottom according to the numbers, and arrange the first image strips and the second image strips at intervals. Find the same image parts in adjacent first image strips and second image strips and perform image splicing, so as to form an image within the complete visual blind area.

[0068] In some embodiments, the visualization operation assistance method for the roadheader further includes:

[0069] S5. The human body infrared detection sensor collects whether there is a personnel signal within the range faced by the image acquisition sensor, and transmits the signal to the microprocessor.

[0070] S6. After collecting the signal that there is a person within the range faced by the image acquisition sensor, the microprocessor controls the alarm to sound an alarm, and the operator of the roadheader stops the operation of the roadheader.

[0071] S7. When it is collected that there is no personnel signal within the range faced by the image acquisition sensor, the operator of the roadheader operates the roadheader according to the image on the display.

[0072] In some embodiments, the visual operation assistance method for the roadheader further includes:

[0073] S8. The visual operation assistance method for the roadheader further includes: inputting the complete image into a convolutional neural network model for human image analysis. If the convolutional neural network model determines that there is a person in the complete image, a start signal is sent to the alarm.

[0074] An opening groove is further provided on the grid plate. The visual operation assistance method for the roadheader further includes: the opening groove of the grid plate keeps blowing air outwards, and the opening groove of an adjacent grid plate keeps sucking air inwards, so as to form an air flow wall between the two grid plates.

[0075] In the description of this specification, the specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0076] The above are only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A visual operation assisting device for a roadheader, arranged on the body of the roadheader, wherein the image acquisition surface of the visual operation assisting device for the roadheader faces the blind area of ​​the driver's field of vision, and is characterized in that: The tunnel boring machine visual operation auxiliary device comprises: An image acquisition module, the image acquisition module is arranged on a side of the roadheader away from the cab, and the image acquisition module is configured to acquire a partial image within the blind spot of the driver's field of vision; A display, the display being arranged in the cab, and the display being electrically connected to the image acquisition module; Wherein, the image acquisition module also includes: A shell, one side of which is open and fixed to a body of the tunnel boring machine; A dust removal grille group, the dust removal grille group is fixed on the side opening of the shell, the dust removal grille group comprises: a grille plate, the grille plate is a long strip plate, the extension direction of the grille plate is perpendicular to the first direction, a plurality of the grille plates are arranged parallel to each other on the side opening of the shell, an opening slot is arranged on each side of the grille plate, the opening slot is a gap parallel to the first direction, the opening slot on one grille plate of two adjacent grille plates is arranged opposite to the opening slot on the other grille plate, and the opening slot on one grille plate blows out airflow to the outside, and the opening slot on the other grille plate sucks air from the outside to the inside; An image acquisition sensor, wherein a plurality of the image acquisition sensors are sequentially arranged in the housing along a first direction, and the plurality of the image acquisition sensors are fixedly connected to the tunnel boring machine through a support rod, and the acquisition ends of the image acquisition sensors are open toward the side of the housing, and the acquisition ends of the plurality of the image acquisition sensors acquire real-time images through the gaps between the plurality of the grid plates, and the plurality of real-time images are removed from overlapping parts and spliced ​​to form a partial image within the blind spot of the driver's field of vision, and are presented on the display; A human infrared detection sensor is fixed on the vertical side surface of the grille plate located outside the shell.

2. The visual operation auxiliary device for a tunnel boring machine according to claim 1, characterized in that: The adjacent spacing between the grid plates is less than 10 cm, and the distance between the image acquisition sensor and the grid plate is less than 40 cm.

3. The visual operation auxiliary device for a tunnel boring machine according to claim 2, characterized in that: The image acquisition module also includes a microprocessor, which is electrically connected to the image acquisition sensor and the human infrared detection sensor. The microprocessor is configured to process image information, transmit it to the display, and receive and analyze signals from the human infrared detection sensor.

4. The visual operation auxiliary device for a tunnel boring machine according to claim 3, characterized in that: The tunnel boring machine visual operation auxiliary device further includes an air processing unit, and the air processing unit includes: A centrifugal fan, wherein the centrifugal fan is fixed on the tunneling machine, and an exhaust port of the centrifugal fan is connected to an opening slot on the outer side of the grille plate for blowing out air flow; An air filter, wherein the air inlet end of the air filter is connected to the open slot of the grille plate for sucking air from the outside to the inside, and the air outlet end of the air filter is connected to the air inlet of the centrifugal fan; An air flow distributor is also provided between the centrifugal fan and the opening slots for blowing out air flow on the outer sides of the plurality of grille plates.

5. A tunnel boring machine visual operation assisting method, applicable to the tunnel boring machine visual operation assisting device according to any one of claims 1 to 4, the tunnel boring machine visual operation assisting device comprising: Image acquisition sensor, grille plate and human infrared detection sensor; Characterized in that the tunnel boring machine visual operation auxiliary method comprises: At least two image acquisition sensors are provided, one of which is a first image acquisition sensor, and the other is a second image acquisition sensor. The image acquired by the first image acquisition sensor through the gaps between the plurality of grid plates is a first image, and the first image includes an image acquired on one side of the tunnel boring machine and stripes formed by the grid plates. The image acquired by the second image acquisition sensor through the gaps between the plurality of grid plates is a second image, and the second image includes an image acquired on one side of the tunnel boring machine and stripes formed by the grid plates; Acquire an image collected on one side of the tunnel boring machine in the first image, wherein the image collected on one side of the tunnel boring machine in the first image includes a plurality of first image strips, and stripes formed by a grid plate are between two adjacent first image strips; Acquire an image collected on one side of the tunnel boring machine in the second image, wherein the image collected on one side of the tunnel boring machine in the second image includes a plurality of second image strips, and stripes formed by the grid plate are between two adjacent second image strips; Performing image analysis on the plurality of first image strips and the plurality of second image strips, and splicing the plurality of first image strips and the plurality of second image strips to form a complete image; The complete image is transmitted to a display and forms a real-time video within the range that the current image acquisition sensor is facing.

6. The visual operation assisting method for a tunnel boring machine according to claim 5, characterized in that: The tunnel boring machine visual operation auxiliary device also includes a human infrared detection sensor; The tunnel boring machine visual operation auxiliary method further comprises: The human infrared detection sensor collects signals of whether there is a person within the range facing the image acquisition sensor, and transmits the signals to the microprocessor; When a signal that a person exists within the range facing the image acquisition sensor is collected, the microprocessor controls the alarm to sound an alarm, and the operator of the tunnel boring machine stops the operation of the tunnel boring machine; When a signal is collected that there is no person within the range facing the image acquisition sensor, the operator of the tunneling machine operates the tunneling machine according to the image on the display.

7. The visual operation assisting method for a tunnel boring machine according to claim 6, characterized in that: The tunnel boring machine visual operation auxiliary method further comprises: Inputting the complete image into a convolutional neural network model to perform character image analysis; If the convolutional neural network model determines that there is a person in the complete image, a start signal is sent to the alarm.

8. The visual operation assisting method for a tunnel boring machine according to claim 7, characterized in that: The grille plate is also provided with an open slot; The tunnel boring machine visual operation auxiliary method further comprises: The opening slots of the grille plate keep blowing air outwards, and the opening slots of an adjacent grille plate keep sucking air from the outside, so that an air flow wall is formed between the two grille plates.

Images