Shield muck granular image processing method and application

Abstract

The invention discloses a shield muck granular image processing method and application, and relates to the technical field of shield muck image processing.The shield muck granular image processing method comprises the following steps that a shield muck granular image is collected and segmented to obtain a plurality of granular sub-images, and a shield muck particle size distribution index value is obtained through analysis; the method comprises the following steps: acquiring operation adjustment parameters of the shield tunneling machine, evaluating operation adjustment requirements of the shield tunneling machine, analyzing the operation adjustment execution parameters of the shield tunneling machine according to an operation adjustment requirement evaluation result of the shield tunneling machine, performing adjustment to obtain operation adjustment information of the shield tunneling machine, and performing automatic management and control feedback on the shield tunneling machine based on the operation adjustment information of the shield tunneling machine. According to the method, the effectiveness and the stability of the adjusting process can be ensured through image processing of the shield muck, automatic management and control feedback of the shield tunneling machine is achieved according to the image processing result, the efficiency and the quality of shield construction are improved, resource waste is reduced, and the cost and the risk of manual intervention are also reduced.

Description

Technical Field

[0001] The invention relates to the technical field of shield slag image processing, and in particular to a shield slag granularity image processing method and application. Background Art

[0002] In the process of industrial construction, with the widespread application of shield machines, the granular image analysis of shield debris has received widespread attention from relevant personnel. The image of shield debris is captured by a camera. When the particle size of the shield debris in the image changes significantly, it indicates that the current operating state of the shield machine is not good and further analysis and adjustment are required. In order to reduce the waste of resources caused by the operating state of the shield machine, real-time and accurate monitoring and analysis of the shield debris is required.

[0003] The prior art, such as the invention patent with publication number: CN116958077A, is a method for estimating the slag discharge volume of an earth pressure balance shield, which estimates the slag discharge volume during the excavation of the earth pressure balance shield according to the depth image of the slag discharged on the belt conveyor, including: first, installing a depth camera above the belt conveyor to collect the slag depth image; then, in the stage of no slag discharge, calculating or determining the slag volume calculation parameters according to the background depth image, and delineating the image detection area for slag identification and volume calculation; after the shield machine starts to advance, the depth camera collects the depth image in real time, uses computer vision technology to identify the slag target in the image and calculates the slag volume; after each ring of advancement is completed, the slag discharge volume calculated in real time during the advancement process is accumulated to obtain the final slag discharge volume of each ring.

[0004] It can be seen from the above scheme that the current image processing of shield slag usually only focuses on the image itself, and is relatively lacking in the depth of processing and tracking. Since the shield slag image can often indirectly reflect the status of shield construction, when the image only focuses on surface recognition processing, it is often unable to fully and comprehensively evaluate the actual status of shield construction and make corresponding adaptive adjustments, thus resulting in a waste of slag resources. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a shield slag granularity image processing method and application, which can effectively solve the problems involved in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: On the one hand, the present invention provides a method for processing shield slag granularity images, comprising the following steps: S1, collecting shield slag granularity images through an automatic scanner, segmenting them to obtain a number of granularity sub-images, and extracting the shield slag particle size distribution parameters of each granularity sub-image.

[0007] S2, according to the shield slag particle size distribution parameters of each granularity sub-image, the shield slag particle size distribution index value is processed, and based on the shield slag particle size distribution index value, the operation adjustment demand of the shield machine is evaluated, thereby obtaining the operation adjustment demand evaluation result of the shield machine.

[0008] S3, according to the shield machine's operation adjustment demand assessment result, if the operation adjustment demand assessment result is demand adjustment, the shield machine's operation adjustment execution parameters are analyzed and adjusted, and the adjustment process is monitored to obtain the shield machine's operation adjustment information.

[0009] S4, based on the operation adjustment information of the shield machine, the operation adjustment indicator coefficient of the shield machine is obtained through analysis, thereby automatically controlling and feedbacking the shield machine based on the operation adjustment indicator coefficient of the shield machine.

[0010] As a preferred technical solution, the shield slag particle size distribution parameters of each granularity sub-image include the maximum particle size of the shield slag in each granularity sub-image, the particle size standard deviation, the particle surface density and the average size of the surface pores.

[0011] As an optimal technical solution, the processing obtains the shield slag particle size distribution index value, and the specific process is as follows: extract the shield slag reference particle size distribution parameters preset in the database, and the shield slag reference particle size distribution parameters include the reference particle size of the shield slag, the defined particle size standard deviation, the particle surface reference density and the surface pore reference average size.

[0012] Based on the particle size distribution parameters of shield soil in each granularity sub-image and the reference particle size distribution parameters of shield soil, the particle size distribution index value of shield soil is obtained through comprehensive analysis and processing.

[0013] The shield slag particle size distribution index value is a numerical result of quantifying the shield slag particle size distribution parameters of each granularity sub-image and the shield slag reference particle size distribution parameters, and is used to characterize the particle size distribution status of the shield slag in each granularity sub-image.

[0014] As a preferred technical solution, the operation adjustment demand of the shield machine is evaluated to obtain the evaluation result of the operation adjustment demand of the shield machine. The specific process is as follows: extracting the shield slag particle size distribution index threshold preset in the database.

[0015] If the shield slag particle size distribution index value is greater than or equal to the shield slag particle size distribution index threshold, the automatic scanner is used again to collect the shield slag granularity image for segmentation to obtain several granularity sub-images, which are analyzed and processed again to obtain the shield slag particle size distribution index value, and marked as the first shield slag particle size distribution index value.

[0016] The shield slag particle size distribution index value and the shield slag particle size distribution first index value are averaged to obtain the shield slag particle size distribution second index value.

[0017] If the second index value of the shield slag particle size distribution is greater than or equal to the shield slag particle size distribution index threshold, the shield machine's operation adjustment demand assessment result is demand adjustment; if the second index value of the shield slag particle size distribution is less than the shield slag particle size distribution index threshold, the shield machine's operation adjustment demand assessment result is no adjustment demand.

[0018] As an optimal technical solution, the analysis obtains the operation adjustment execution parameters of the shield machine for adjustment. The specific analysis process is as follows: the second index value of the shield slag particle size distribution is mapped and matched with the operation adjustment execution parameters corresponding to the second index value intervals of each particle size distribution defined in the database, and the operation adjustment execution parameters corresponding to the interval in which the second index value of the shield slag particle size distribution is located are obtained, and marked as the operation adjustment execution parameters of the shield machine. The operation adjustment execution parameters of the shield machine include the shield machine cutter head speed extreme value difference supplement value, the shield machine propulsion speed extreme value difference supplement value, the average filtration pressure supplement value of the shield machine mud treatment equipment and the average stirring speed supplement value of the shield machine mud treatment equipment.

[0019] The shield machine is adjusted based on the operation adjustment execution parameters of the shield machine.

[0020] As a preferred technical solution, the specific process of obtaining the operation adjustment information of the shield machine is as follows: monitoring the adjustment process within a preset monitoring period.

[0021] At the end of the preset monitoring period, the shield slag granularity image is collected again, and re-analyzed to obtain the shield slag particle size distribution index value, the shield slag particle size distribution index value currently obtained by re-analysis is marked as the third index value of shield slag particle size distribution, and the shield machine operation parameters within the monitoring period are extracted synchronously.

[0022] The shield machine operation parameters within the monitoring period include the shield machine cutter head speed extreme value difference within the monitoring period, the shield machine propulsion speed extreme value difference within the monitoring period, the average filtration pressure of the shield machine mud processing equipment within the monitoring period, and the average stirring speed of the shield machine mud processing equipment within the monitoring period.

[0023] The shield soil particle size distribution parameters of each granularity sub-image and the shield machine operation parameters within the monitoring period are combined as the shield machine operation adjustment information.

[0024] As an optimal technical solution, the analysis obtains the shield machine operation adjustment indicator coefficient, and the specific process is as follows: extract the shield machine reference operation parameters preset in the database, and the shield machine reference operation parameters include the shield machine critical cutter head speed extreme value difference, the shield machine reference propulsion speed extreme value difference, the ideal average filtration pressure of the shield machine mud treatment equipment and the ideal average stirring speed of the shield machine mud treatment equipment.

[0025] Based on the shield machine operating parameters within the monitoring period and the shield machine reference operating parameters, the shield machine operating index values ​​are obtained through comprehensive analysis and processing.

[0026] The shield machine operation index value is a numerical result of quantifying the shield machine operation parameters and the shield machine reference operation parameters within the monitoring period, and is used as a numerical basis for the shield machine operation adjustment index coefficient.

[0027] Based on the third index value of shield slag particle size distribution and the shield machine operation index value, the shield machine operation adjustment index coefficient is obtained through comprehensive analysis and processing.

[0028] The shield machine operation adjustment index coefficient is a numerical result of quantifying the third index value of shield slag particle size distribution and the shield machine operation index value, and is used to characterize the shield machine operation adjustment compliance degree.

[0029] As a preferred technical solution, the shield machine is automatically controlled and fed back based on the shield machine operation adjustment indicator coefficient. The specific process is as follows: extracting the first threshold value of the shield machine operation adjustment index and the second threshold value of the shield machine operation adjustment index preset in the database.

[0030] If the shield machine operation adjustment indicator coefficient is less than or equal to the first threshold of the shield machine operation adjustment index, an early warning message is generated and the shield machine operation is stopped. If the shield machine operation adjustment indicator coefficient is greater than or equal to the second threshold of the shield machine operation adjustment index, there is no need to adjust the shield machine for control feedback.

[0031] If the shield machine operation adjustment indicator coefficient is greater than the first threshold of the shield machine operation adjustment index, and the shield machine operation adjustment indicator coefficient is less than the second threshold of the shield machine operation adjustment index, the shield machine operation adjustment indicator coefficient and the first threshold of the shield machine operation adjustment index are differenced to obtain the shield machine operation adjustment indicator coefficient deviation value, and marked as the shield machine operation adjustment correction reference value.

[0032] The correction adjustment execution parameters corresponding to each operation adjustment correction reference value interval preset in the database are extracted, and according to the shield machine operation adjustment correction reference value, the correction adjustment execution parameters corresponding to the interval of the shield machine operation adjustment correction reference value are mapped and matched, and recorded as the shield machine operation correction execution parameters.

[0033] The shield machine operation correction execution parameters include a shield machine cutter head speed extreme value difference correction supplement value, a shield machine propulsion speed extreme value difference correction supplement value, a shield machine mud treatment equipment average filtration pressure correction supplement value and a shield machine mud treatment equipment average stirring speed correction supplement value, and the shield machine is readjusted and controlled with the shield machine operation correction execution parameters.

[0034] As a preferred technical solution, the shield slag particle size distribution index value is obtained in the following way:

[0035]

[0036] Among them, A is the shield slag particle size distribution index value, ai is the maximum particle size of the shield slag in the i-th granularity sub-image, a0 is the reference particle size of the shield slag, b i is the standard deviation of the particle size of the shield slag in the i-th granularity sub-image, b0 is the standard deviation of the defined particle size of the shield slag, c i is the particle surface density of shield slag in the i-th granularity sub-image, c0 is the particle surface reference density of shield slag, d i is the average surface pore size of the shield slag in the i-th granular sub-image, d0 is the reference average surface pore size of the shield slag, x1 is the maximum particle size weight, x2 is the particle size standard deviation weight, x3 is the particle surface density weight, x4 is the surface pore average size weight, i is the number of each granular sub-image, i = 1, 2, ..., n, n is the number of granular sub-images, and e is a natural constant.

[0037] A second aspect of the present invention provides an application of a shield slag granularity image processing method in analyzing shield slag granularity image processing.

[0038] Compared with the prior art, the embodiments of the present invention have at least the following beneficial effects:

[0039] (1) The present invention provides a shield slag granularity image processing method and application. By analyzing the shield slag particle size distribution parameters, the shield slag characteristics can be understood in more detail. Based on the shield slag particle size distribution index value, an accurate numerical basis is provided for the operation adjustment of the shield machine, ensuring the effectiveness and stability of the adjustment process. At the same time, through the automatic control feedback of the shield machine, the efficiency and quality of the shield construction are improved, the waste of resources is reduced, and the cost and risk of manual intervention are reduced.

[0040] (2) The present invention can timely and accurately determine whether the operating status of the shield machine needs to be adjusted by evaluating the operating adjustment needs of the shield machine, thereby avoiding waste of resources and low construction efficiency caused by the continuous operation of the shield machine under inappropriate working parameters. By processing and analyzing the granularity image of the shield slag, the evaluation result provides a scientific basis for the operation adjustment of the shield machine, making the adjustment more accurate and targeted. At the same time, it helps to discover potential problems and risks in advance so that timely measures can be taken to prevent and solve them, thereby improving the safety and reliability of shield construction.

[0041] (3) The present invention realizes intelligent management of shield machine operation by automatically controlling and feedbacking the shield machine based on the shield machine operation adjustment index coefficient, reduces the need for manual intervention, reduces labor costs and the possibility of human errors, and can adjust the operating status of the shield machine in real time and accurately to ensure that it always works under the optimal parameters, thereby improving construction efficiency and quality. At the same time, the shield machine can be adjusted in time to avoid engineering problems and safety hazards that may be caused by delayed adjustments.

[0042] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of system module connection of the present invention;

[0044] Figure 2 It is a scatter diagram of the relationship between the shield machine operation index value and the shield machine operation adjustment indicator coefficient involved in the embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] See also Figure 1 As shown, the first aspect of an embodiment of the present invention provides a method for processing shield slag granularity images, comprising the following steps: S1, collecting shield slag granularity images by an automatic scanner, segmenting them to obtain a number of granularity sub-images, and extracting the shield slag particle size distribution parameters of each granularity sub-image.

[0047] It should be noted that segmenting to obtain a plurality of granular sub-images refers to dividing the shield slag granular image acquired by the automatic scanner into a plurality of sub-images of equal area.

[0048] The divided area can usually be adjusted according to the frame size of the image captured by the automatic scanner. For example, in this embodiment, for a shield slag granular image with a frame size of A×B (A is the number of pixels in the length direction of the image, and B is the number of pixels in the width direction of the image), suppose we want to divide it into n*m sub-images of equal area, then the number of pixels in the length direction of each sub-image is A / n, and the number of pixels in the width direction is B / m, so that equal area division is achieved and n*m granular sub-images are obtained.

[0049] It should also be noted that the shield slag particle size distribution parameters of each granularity sub-image are obtained by analyzing and processing the shield slag granularity image acquired by the automatic scanner using image analysis software.

[0050] The particle size distribution parameters of shield mine soil in each granularity sub-image include the maximum particle size, particle size standard deviation, particle surface density and average surface pore size of shield mine soil in each granularity sub-image.

[0051] It should be understood that the particle size standard deviation is obtained by extracting the shield slag particle size of each granularity sub-image, performing mean processing to obtain the mean value of the shield slag particle size of each granularity sub-image, and then substituting it into the standard deviation calculation formula. The particle size standard deviation is used to measure the degree of discreteness of the particle size distribution. The larger the standard deviation, the more dispersed the particle size distribution, and the smaller the standard deviation, the more concentrated the particle size distribution.

[0052] The standard deviation calculation formula is as follows: Among them, σ is the standard deviation of particle size, α j is the particle size of the jth particle, is the average value of the particle size, j is the number of each particle, j=1, 2, ..., m, m is the number of particles.

[0053] It should be understood that the particle surface density refers to the number of particles per unit area, and the particle surface density and the average size of surface pores are used to reflect the looseness of shield slag.

[0054] It should be noted that the particle size distribution parameters of shield waste are used to reflect the feasibility of reuse of shield waste.

[0055] S2, according to the shield slag particle size distribution parameters of each granularity sub-image, the shield slag particle size distribution index value is processed, and based on the shield slag particle size distribution index value, the operation adjustment demand of the shield machine is evaluated, thereby obtaining the operation adjustment demand evaluation result of the shield machine.

[0056] In this embodiment, the particle size distribution index value of shield slag is obtained by processing, and the specific process is as follows: the reference particle size distribution parameters of shield slag stored in the database are extracted, and the reference particle size distribution parameters of shield slag include the reference particle size of shield slag, the defined particle size standard deviation, the reference density of the particle surface and the reference average size of the surface pores.

[0057] It should be noted that the database is used to store reference indicator data, and the reference indicator data includes first reference indicator data, second reference indicator data and third reference indicator data.

[0058] The first reference index data includes reference particle size distribution parameters of shield slag, reference operating parameters of the shield machine, operating adjustment execution parameters corresponding to each second index value interval of the particle size distribution, and correction adjustment execution parameters corresponding to each operating adjustment correction reference value interval.

[0059] The second reference index data includes a shield machine slag particle size distribution index threshold, a shield machine operation adjustment index first threshold, a shield machine operation adjustment index second threshold and a shield machine operation adjustment indicator coefficient deviation threshold.

[0060] The third reference index data include the maximum particle size weight, particle size standard deviation weight, particle surface density weight and surface pore average size weight, also include the cutter head speed weight, propulsion speed weight, filtration pressure weight and stirring speed weight, also include the shield slag particle size distribution third index value weight and shield machine operation index value weight.

[0061] It should be noted that the reference particle size distribution parameters of shield slag stored in the database are obtained by collecting the maximum particle size, particle size standard deviation, particle surface density and average surface pore size of shield slag in the granular sub-image samples and performing mean processing before establishing the database.

[0062] Based on the particle size distribution parameters of shield soil in each granularity sub-image and the reference particle size distribution parameters of shield soil, the particle size distribution index value of shield soil is obtained through comprehensive analysis and processing.

[0063] The shield slag particle size distribution index value is a numerical result of quantifying the shield slag particle size distribution parameters of each granularity sub-image and the shield slag reference particle size distribution parameters, and is used to characterize the particle size distribution status of the shield slag in each granularity sub-image.

[0064] In a specific embodiment, the shield slag particle size distribution index value is obtained in the following manner:

[0065]

[0066] Among them, A is the particle size distribution index of shield slag, a iis the maximum particle size of the shield slag in the i-th granularity sub-image, a0 is the reference particle size of the shield slag, b i is the standard deviation of the particle size of the shield slag in the i-th granularity sub-image, b0 is the standard deviation of the defined particle size of the shield slag, c i is the particle surface density of shield slag in the i-th granularity sub-image, c0 is the particle surface reference density of shield slag, d i is the average surface pore size of the shield slag in the i-th granular sub-image, d0 is the reference average surface pore size of the shield slag, x1 is the maximum particle size weight, x2 is the particle size standard deviation weight, x3 is the particle surface density weight, x4 is the surface pore average size weight, i is the number of each granular sub-image, i = 1, 2, ..., n, n is the number of granular sub-images, and e is a natural constant.

[0067] It should be noted that the maximum particle size weight, particle size standard deviation weight, particle surface density weight and surface pore average size weight all have a value range between 0 and 1. In this embodiment, the maximum particle size weight is the maximum particle size weight preset in the database, which indicates the numerical value of the influence of the maximum particle size on the particle size distribution index value of the shield slag. The particle size standard deviation weight is the particle size standard deviation weight preset in the database, which indicates the numerical value of the influence of the particle size standard deviation on the particle size distribution index value of the shield slag. The particle surface density weight is the particle surface density weight preset in the database, which indicates the numerical value of the influence of the particle surface density on the particle size distribution index value of the shield slag. The surface pore average size weight is the surface pore average size weight preset in the database, which indicates the influence of the surface pore average size on the The numerical value of the influence degree of the shield slag particle size distribution index value can be directly obtained from the database when used to obtain the preset maximum particle size weight, particle size standard deviation weight, particle surface density weight and surface pore average size weight. The corresponding relationship can be a pre-set mapping relationship. For example, the maximum particle size, particle size standard deviation, particle surface density and surface pore average size are respectively mapped with the maximum particle size weight, particle size standard deviation weight, particle surface density weight and surface pore average size weight preset in the database to form a mapping set. The real-time maximum particle size, particle size standard deviation, particle surface density and surface pore average size are respectively input into the mapping set to obtain the maximum particle size weight, particle size standard deviation weight, particle surface density weight and surface pore average size weight, and the mapping relationship is one-to-one correspondence.

[0068] It should also be noted that in this embodiment, the shield slag particle size distribution index value is obtained by processing the maximum particle size, particle size standard deviation, particle surface density and surface pore average size of the shield slag in each granularity sub-image, taking into account the mutual influence between these parameters. For example, a larger maximum particle size may lead to an increase in the particle size standard deviation, while affecting the particle surface density and the average surface pore size. Larger particles often have lower particle surface density, and their average surface pore size may also be different from that of smaller particles. When the maximum particle size changes, it will cause changes in the entire particle size distribution, which in turn affects the particle size standard deviation, and the particle surface density and the average surface pore size will also be adjusted accordingly with the change in the particle size distribution. At the same time, the change in the particle size standard deviation will also be fed back to the judgment of the maximum particle size, and will affect the particle surface density and the average surface pore size. When processing to obtain the shield slag particle size distribution index value, it is necessary to fully consider the interaction between these parameters to more accurately evaluate the shield slag particle size distribution index value.

[0069] In a specific embodiment, by analyzing the shield machine slag particle size distribution index value, the particle size distribution of the shield machine slag in each granularity sub-image can be accurately understood, providing a specific and accurate basis for the operation adjustment of the shield machine.

[0070] In this embodiment, the operation adjustment demand of the shield machine is evaluated, thereby obtaining the evaluation result of the operation adjustment demand of the shield machine. The specific process is as follows: extracting the shield slag particle size distribution index threshold preset in the database.

[0071] The threshold value of shield slag particle size distribution index is extracted from the database and is used to reflect the critical state of shield slag particle size analysis results and judge the feasibility of shield slag reuse.

[0072] In a specific embodiment, the shield slag particle size distribution index threshold is pre-set in a database and can be obtained by a variety of methods, such as collecting shield slag particle size distribution parameters of multiple groups of samples to obtain shield slag particle size distribution index values, thereby averaging the shield slag particle size distribution index values ​​to obtain the shield slag particle size distribution index threshold, or experts judge the feasibility limit of shield slag reuse through corresponding historical data to set it. In addition, the shield slag particle size distribution index threshold can also be synchronously updated based on the continuously updated shield slag particle size distribution index values.

[0073] It should also be noted that the following first threshold of shield machine operation adjustment index, second threshold of shield machine operation adjustment index and deviation threshold of shield machine operation adjustment indicator coefficient are obtained in the same way as the above-mentioned shield machine slag particle size distribution index threshold, so they will not be repeated here.

[0074] If the shield slag particle size distribution index value is greater than or equal to the shield slag particle size distribution index threshold, the automatic scanner is used again to collect the shield slag granularity image for segmentation to obtain several granularity sub-images, which are analyzed and processed again to obtain the shield slag particle size distribution index value, and marked as the first shield slag particle size distribution index value.

[0075] It should be understood that when the shield slag particle size distribution index value is greater than or equal to the shield slag particle size distribution index threshold, it means that the feasibility of reusing the shield slag produced by the shield machine at this time is low, but in order to reduce the error caused by a single acquisition, it is necessary to collect the image again and analyze it.

[0076] The shield slag particle size distribution index value and the shield slag particle size distribution first index value are averaged to obtain the shield slag particle size distribution second index value.

[0077] It should also be noted that the mean processing is to smooth out the random errors and fluctuations in a single measurement analysis, so as to make the result closer to the actual situation and improve the accuracy of the measurement result.

[0078] If the second index value of the shield slag particle size distribution is greater than or equal to the shield slag particle size distribution index threshold, the shield machine's operation adjustment demand assessment result is demand adjustment; if the second index value of the shield slag particle size distribution is less than the shield slag particle size distribution index threshold, the shield machine's operation adjustment demand assessment result is no adjustment demand.

[0079] It should be understood that when the second index value of the shield debris particle size distribution is greater than or equal to the threshold value of the shield debris particle size distribution index, it means that the feasibility of reusing the shield debris generated by the shield machine at this time is low, and the shield machine needs to be operated and adjusted to produce reusable shield debris and reduce resource waste. When the second index value of the shield debris particle size distribution is less than the threshold value of the shield debris particle size distribution index, it means that the feasibility of reusing the shield debris generated by the shield machine at this time is high, and the shield machine can continue to work in the current operating state without adjustment.

[0080] S3, according to the shield machine's operation adjustment demand assessment result, if the operation adjustment demand assessment result is demand adjustment, the shield machine's operation adjustment execution parameters are analyzed and adjusted, and the adjustment process is monitored to obtain the shield machine's operation adjustment information.

[0081] In this embodiment, the operation adjustment execution parameters of the shield machine are analyzed and adjusted. The specific analysis process is as follows: the second index value of the shield slag particle size distribution is mapped and matched with the operation adjustment execution parameters corresponding to the second index value intervals of each particle size distribution defined in the database, and the operation adjustment execution parameters corresponding to the interval in which the second index value of the shield slag particle size distribution is located are obtained, and marked as the operation adjustment execution parameters of the shield machine. The operation adjustment execution parameters of the shield machine include the shield machine cutter head speed extreme value difference supplement value, the shield machine propulsion speed extreme value difference supplement value, the average filtration pressure supplement value of the shield machine mud treatment equipment and the average stirring speed supplement value of the shield machine mud treatment equipment. Based on the operation adjustment execution parameters of the shield machine, the shield machine is adjusted.

[0082] In this embodiment, the operation adjustment information of the shield machine is obtained, and the specific process is as follows: the adjustment process is monitored within a preset monitoring period.

[0083] At the end of the preset monitoring period, the shield slag granularity image is collected again, and re-analyzed to obtain the shield slag particle size distribution index value, the shield slag particle size distribution index value currently obtained by re-analysis is marked as the third index value of shield slag particle size distribution, and the shield machine operation parameters within the monitoring period are extracted synchronously.

[0084] The shield machine operation parameters within the monitoring period include the shield machine cutter head speed extreme value difference within the monitoring period, the shield machine propulsion speed extreme value difference within the monitoring period, the average filtration pressure of the shield machine mud processing equipment within the monitoring period, and the average stirring speed of the shield machine mud processing equipment within the monitoring period.

[0085] It should be noted that the shield machine operating parameters within the monitoring period all reflect the cutting effect of the shield machine itself on the shield debris, and can be obtained through the integrated sensor device installed on the shield machine.

[0086] The integrated sensor device comprises an encoder, a displacement sensor, a pressure sensor and a speed sensor, and the encoder is used to detect the rotation speed of the cutter head of the shield machine during a monitoring period.

[0087] The higher the cutter head speed of the shield machine during the monitoring cycle, the finer the chips produced, resulting in a smaller cutting particle size.

[0088] The advancement speed of the shield machine during the monitoring cycle refers to the distance that the cutting equipment (such as a water jet) moves along the cutting path per unit time. If the advancement speed is too fast or too slow, a larger cutting particle size will be produced. When the advancement speed is too fast, the length of material passed by the cutting tool per unit time increases, resulting in uneven heat distribution on the cutting surface, which may make the cutting process unstable and produce a larger cutting particle size. When the advancement speed is too slow, the length of material passed by the laser or cutting tool per unit time decreases, and the heat accumulation on the cutting surface increases, which may cause excessive melting or ablation of the material, and also produce a larger cutting particle size.

[0089] It should be noted that the greater the extreme value difference of the shield machine cutter head speed in the monitoring period and the extreme value difference of the shield machine propulsion speed in the monitoring period, the greater the shield machine operation fluctuation and the worse the operating state in the monitoring period.

[0090] The shield soil particle size distribution parameters of each granularity sub-image and the shield machine operation parameters within the monitoring period are combined as the shield machine operation adjustment information.

[0091] S4, based on the operation adjustment information of the shield machine, the operation adjustment indicator coefficient of the shield machine is obtained through analysis, thereby automatically controlling and feedbacking the shield machine based on the operation adjustment indicator coefficient of the shield machine.

[0092] In this embodiment, the shield machine operation adjustment indicator coefficient is analyzed, and the specific process is as follows: the shield machine reference operation parameters stored in the database are extracted, and the shield machine reference operation parameters include the shield machine critical cutter head speed extreme value difference, the shield machine reference propulsion speed extreme value difference, the ideal average filtration pressure of the shield machine mud treatment equipment and the ideal average stirring speed of the shield machine mud treatment equipment.

[0093] It should be noted that the reference operating parameters of the shield machine stored in the database are obtained by collecting the extreme value difference of the shield machine cutter head speed, the extreme value difference of the shield machine propulsion speed, the average filtration pressure of the shield machine mud treatment equipment and the average stirring speed of the shield machine mud treatment equipment under steady-state operation before establishing the database, and performing mean processing.

[0094] It should also be noted that, in a specific embodiment, when the average particle size of the shield muck cut by the shield machine is within a preset required level range, the operating state of the shield machine at this time can be marked as a stable operating state.

[0095] Based on the shield machine operating parameters within the monitoring period and the shield machine reference operating parameters, the shield machine operating index values ​​are obtained through comprehensive analysis and processing.

[0096] The shield machine operation index value is a numerical result of quantifying the shield machine operation parameters and the shield machine reference operation parameters within the monitoring period, and is used as a numerical basis for the shield machine operation adjustment index coefficient.

[0097] In a specific embodiment, the shield machine operation index value is obtained in the following manner:

[0098]

[0099] Among them, B is the operation index value of the shield machine, f is the extreme value difference of the shield machine cutter head speed during the monitoring period, f0 is the extreme value difference of the critical shield machine cutter head speed, g is the extreme value difference of the shield machine propulsion speed during the monitoring period, g0 is the extreme value difference of the reference propulsion speed of the shield machine, h is the average filtration pressure of the shield machine mud treatment equipment during the monitoring period, h0 is the ideal average filtration pressure of the shield machine mud treatment equipment, k is the average stirring speed of the shield machine mud treatment equipment during the monitoring period, k0 is the ideal average stirring speed of the shield machine mud treatment equipment, y1 is the cutter head speed weight, y2 is the propulsion speed weight, y3 is the filtration pressure weight, y4 is the stirring speed weight, and e is a natural constant.

[0100] It should be noted that the cutter head speed weight, the propulsion speed weight, the filtration pressure weight and the stirring speed weight all have a value range between 0 and 1. In this embodiment, the cutter head speed weight is a preset cutter head speed weight in the database, which indicates the numerical value of the influence of the cutter head speed on the shield machine operation index value, the propulsion speed weight is a preset propulsion speed weight in the database, which indicates the numerical value of the influence of the propulsion speed on the shield machine operation index value, the filtration pressure weight is a preset filtration pressure weight in the database, which indicates the numerical value of the influence of the filtration pressure on the shield machine operation index value, and the stirring speed weight is a preset stirring speed weight in the database, which indicates the influence of the stirring speed on the shield machine operation index value. The numerical value of the degree of influence of the shield machine operation index value can be directly used to obtain the preset cutter head speed weight, propulsion speed weight, filtration pressure weight and stirring speed weight from the database. The corresponding relationship can be a pre-set mapping relationship. For example, the cutter head speed, propulsion speed, filtration pressure and stirring speed respectively form a mapping set with the cutter head speed weight, propulsion speed weight, filtration pressure weight and stirring speed weight preset in the database, and the real-time cutter head speed, propulsion speed, filtration pressure and stirring speed are respectively input into the mapping set to obtain the cutter head speed weight, propulsion speed weight, filtration pressure weight and stirring speed weight, wherein the mapping relationship is one-to-one correspondence.

[0101] It should also be noted that, in this embodiment, the shield machine operation index value is obtained according to the extreme difference in the shield machine cutter head speed during the monitoring period, the extreme difference in the shield machine propulsion speed during the monitoring period, the average filtration pressure of the shield machine mud treatment equipment during the monitoring period, and the average stirring speed of the shield machine mud treatment equipment during the monitoring period. The mutual influence between these parameters is taken into account. For example, the change in the shield machine cutter head speed during the monitoring period will directly affect the propulsion speed of the shield machine. When the cutter head speed is accelerated, the propulsion speed may need to be adjusted accordingly to maintain a good excavation effect. At the same time, the shield machine mud during the monitoring period The filtration pressure and stirring speed of the processing equipment are also closely related to the cutter head speed and the propulsion speed. A higher cutter head speed may produce more debris, thereby increasing the filtration pressure of the mud processing equipment. At this time, the stirring speed needs to be appropriately adjusted to ensure the uniformity and filtration effect of the mud. Changes in the propulsion speed will also affect the working state of the mud processing equipment. Too fast a propulsion speed may lead to untimely mud treatment, which in turn affects the filtration pressure and stirring speed. When processing the shield machine operation index value, it is necessary to fully consider the interaction between these parameters to more accurately evaluate the operating state of the shield machine.

[0102] Based on the third index value of shield slag particle size distribution and the shield machine operation index value, the shield machine operation adjustment index coefficient is obtained through comprehensive analysis and processing.

[0103] The shield machine operation adjustment index coefficient is a numerical result of quantifying the third index value of shield slag particle size distribution and the shield machine operation index value, and is used to characterize the shield machine operation adjustment compliance degree.

[0104] In a specific embodiment, the shield machine operation adjustment index coefficient is obtained in the following manner:

[0105]

[0106] Among them, C is the shield machine operation adjustment index coefficient, A is the third index value of shield slag particle size distribution, B is the shield machine operation index value, μ1 is the weight of the third index value of shield slag particle size distribution, μ2 is the weight of the shield machine operation index value, and e is a natural constant.

[0107] It should be noted that the weight of the third index value of shield slag particle size distribution and the weight of the shield machine operation index value are both in the range of 0 to 1. In this embodiment, the weight of the third index value of shield slag particle size distribution is the third index value of shield slag particle size distribution weight preset in the database, which indicates the numerical value of the influence of the third index value of shield slag particle size distribution on the shield machine operation adjustment index coefficient. The weight of the shield machine operation index value is the shield machine operation index value weight preset in the database, which indicates the numerical value of the influence of the shield machine operation index value on the shield machine operation adjustment index coefficient. When used, it can be directly obtained from The preset third index value weight of shield slag particle size distribution and the shield machine operation index value weight are obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the third index value of shield slag particle size distribution and the shield machine operation index value are respectively formed into a mapping set with the third index value weight of shield slag particle size distribution and the shield machine operation index value weight preset in the database, and the real-time third index value of shield slag particle size distribution and the shield machine operation index value are respectively input into the mapping set to obtain the third index value weight of shield slag particle size distribution and the shield machine operation index value weight, wherein the mapping relationship is one-to-one correspondence.

[0108] See also Figure 2 As shown, a scatter plot of the relationship between the shield machine operation index value and the shield machine operation adjustment indicator coefficient involved in the embodiment of the present invention is shown, wherein the horizontal axis is the shield machine operation index value, and the vertical axis is the shield machine operation adjustment indicator coefficient. The multiple scatter points in the figure are the shield machine operation index value involved in this embodiment versus the shield machine operation adjustment indicator coefficient. It can be seen from the figure that the shield machine operation adjustment indicator coefficient does not increase linearly with the increase of the shield machine operation index value. This is because the shield machine operation adjustment effect is not only related to the shield machine's own operating parameters, but also needs to be reflected by the shield slag particle size distribution parameters. The shield machine operation index value obtained by comprehensively considering the shield machine's own operating parameters and the shield slag particle size distribution parameters The third indicator value of the shield slag particle size distribution can fully reflect the shield machine operation adjustment effect.

[0109] In this embodiment, the shield machine is automatically controlled and fed back based on the shield machine operation adjustment indicator coefficient. The specific process is as follows: extracting the first threshold value of the shield machine operation adjustment index and the second threshold value of the shield machine operation adjustment index preset in the database.

[0110] If the shield machine operation adjustment indicator coefficient is less than or equal to the first threshold of the shield machine operation adjustment index, an early warning message is generated and the shield machine operation is stopped. If the shield machine operation adjustment indicator coefficient is greater than or equal to the second threshold of the shield machine operation adjustment index, there is no need to adjust the shield machine for control feedback.

[0111] It should be understood that when the shield machine operation adjustment indicator coefficient is less than or equal to the first threshold value of the shield machine operation adjustment index, it means that the shield machine operation adjustment execution parameters cannot have an adjustment effect on the shield machine, and the current operation effect of the shield machine is poor. In order to reduce resource waste, an early warning prompt can be issued and the operation of the shield machine can be stopped. When the shield machine operation adjustment indicator coefficient is greater than or equal to the second threshold value of the shield machine operation adjustment index, it means that the shield machine operation adjustment execution parameters can effectively adjust the working state of the shield machine, and the operation of the shield machine can be adjusted by the shield machine operation adjustment execution parameters.

[0112] It should be noted that the early warning prompt may be to trigger a buzzer alarm device to prompt construction personnel when the shield machine operation adjustment indicator coefficient is less than or equal to the first threshold value of the shield machine operation adjustment index.

[0113] If the shield machine operation adjustment indicator coefficient is greater than the first threshold of the shield machine operation adjustment index, and the shield machine operation adjustment indicator coefficient is less than the second threshold of the shield machine operation adjustment index, the shield machine operation adjustment indicator coefficient and the first threshold of the shield machine operation adjustment index are differenced to obtain the shield machine operation adjustment indicator coefficient deviation value, and marked as the shield machine operation adjustment correction reference value.

[0114] It should be noted that the operation adjustment effect of the shield machine may be affected by the service life of the shield machine and the construction site environment. Therefore, when the shield machine operation adjustment indicator coefficient is greater than the first threshold of the shield machine operation adjustment index, and the shield machine operation adjustment indicator coefficient is less than the second threshold of the shield machine operation adjustment index, it means that the shield machine operation adjustment correction reference value is effective for the shield machine operation adjustment, but it is not enough to support the efficient operation of the shield machine.

[0115] The correction adjustment execution parameters corresponding to each operation adjustment correction reference value interval preset in the database are extracted, and according to the shield machine operation adjustment correction reference value, the correction adjustment execution parameters corresponding to the interval of the shield machine operation adjustment correction reference value are mapped and matched, and recorded as the shield machine operation correction execution parameters.

[0116] The shield machine operation correction execution parameters include a shield machine cutter head speed extreme value difference correction supplement value, a shield machine propulsion speed extreme value difference correction supplement value, a shield machine mud treatment equipment average filtration pressure correction supplement value and a shield machine mud treatment equipment average stirring speed correction supplement value, and the shield machine is readjusted and controlled with the shield machine operation correction execution parameters.

[0117] It should be noted that when the shield machine operation adjustment indicator coefficient deviation value is less than or equal to the shield machine operation adjustment indicator coefficient deviation threshold, it means that the shield machine operation adjustment execution parameters can adjust the shield machine working effect. When the shield machine operation adjustment indicator coefficient deviation value is greater than the shield machine operation adjustment indicator coefficient deviation threshold, it means that the shield machine operation adjustment execution parameters cannot effectively adjust the shield machine working effect. Further waste of resources cannot be avoided and the current shield machine operation should be stopped.

[0118] It should also be noted that the readjustment and control of the shield machine with the shield machine operation correction execution parameters refers to the corresponding modification of the shield machine operation correction execution parameters as the adjustment amount based on the current shield machine working parameters. In a specific embodiment, for the shield machine cutter head speed working parameter, if the current cutter head speed is r, and the shield machine cutter head speed extreme value difference correction supplement value is t, then the cutter head speed after readjustment and control should be r+t.

[0119] A second aspect of an embodiment of the present invention provides an application of a shield slag granularity image processing method in analyzing shield slag granularity image processing.

[0120] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0121] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can understand and use the present invention well. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the present invention, they should all belong to the protection scope of the present invention.

Claims

1. A shield slag granularity image processing method, characterized by: The following steps are involved: S1, collecting shield slag granularity images by automatic scanner, segmenting them to obtain several granularity sub-images, and extracting shield slag particle size distribution parameters of each granularity sub-image; S2, according to the shield slag particle size distribution parameters of each granularity sub-image, the shield slag particle size distribution index value is processed, and based on the shield slag particle size distribution index value, the operation adjustment demand of the shield machine is evaluated, thereby obtaining the shield machine operation adjustment demand evaluation result; S3, according to the shield machine operation adjustment demand assessment result, if the operation adjustment demand assessment result is demand adjustment, the shield machine operation adjustment execution parameters are analyzed and adjusted, and the adjustment process is monitored to obtain the shield machine operation adjustment information; S4, based on the operation adjustment information of the shield machine, the operation adjustment indicator coefficient of the shield machine is obtained through analysis, thereby automatically controlling and feedbacking the shield machine based on the operation adjustment indicator coefficient of the shield machine.

2. According to claim 1, a shield slag granularity image processing method is characterized by: The shield slag particle size distribution parameters of each granularity sub-image include the maximum particle size of the shield slag in each granularity sub-image, the particle size standard deviation, the particle surface density and the average size of the surface pores.

3. According to claim 2, a shield slag granularity image processing method is characterized by: The shield slag particle size distribution index value is obtained by the processing, and the specific process is as follows: Extracting the shield slag reference particle size distribution parameters preset in the database, wherein the shield slag reference particle size distribution parameters include the reference particle size of the shield slag, the defined particle size standard deviation, the particle surface reference density and the surface pore reference average size; Based on the shield slag particle size distribution parameters of each granularity sub-image and the shield slag reference particle size distribution parameters, the shield slag particle size distribution index value is obtained through comprehensive analysis and processing; The shield slag particle size distribution index value is a numerical result of quantifying the shield slag particle size distribution parameters of each granularity sub-image and the shield slag reference particle size distribution parameters, and is used to characterize the particle size distribution status of the shield slag in each granularity sub-image.

4. According to claim 3, a shield slag granularity image processing method is characterized by: The shield machine operation adjustment demand is evaluated, thereby obtaining the shield machine operation adjustment demand evaluation result, and the specific process is as follows: Extract the threshold value of shield slag particle size distribution index preset in the database; If the shield slag particle size distribution index value is greater than or equal to the shield slag particle size distribution index threshold, the shield slag granularity image is collected again using the automatic scanner to segment and obtain a number of granularity sub-images, which are analyzed and processed again to obtain the shield slag particle size distribution index value, and marked as the first shield slag particle size distribution index value; The shield slag particle size distribution index value and the shield slag particle size distribution first index value are averaged to obtain the shield slag particle size distribution second index value; If the second index value of the shield slag particle size distribution is greater than or equal to the shield slag particle size distribution index threshold, the shield machine's operation adjustment demand assessment result is demand adjustment; if the second index value of the shield slag particle size distribution is less than the shield slag particle size distribution index threshold, the shield machine's operation adjustment demand assessment result is no adjustment demand.

5. According to claim 1, a shield slag granularity image processing method is characterized by: The analysis obtains the shield machine operation adjustment execution parameters for adjustment, and the specific analysis process is as follows: Map and match the second index value of the shield slag particle size distribution with the operation adjustment execution parameters corresponding to each particle size distribution second index value interval defined in the database, obtain the operation adjustment execution parameters corresponding to the interval where the second index value of the shield slag particle size distribution is located, and mark them as the operation adjustment execution parameters of the shield machine, wherein the operation adjustment execution parameters of the shield machine include the shield machine cutter head speed extreme value difference supplementary value, the shield machine propulsion speed extreme value difference supplementary value, the average filtration pressure supplementary value of the shield machine mud treatment equipment, and the average stirring speed supplementary value of the shield machine mud treatment equipment; The shield machine is adjusted based on the operation adjustment execution parameters of the shield machine.

6. A shield slag granularity image processing method according to claim 5, characterized in that: The specific process of obtaining the operation adjustment information of the shield machine is as follows: Monitor the adjustment process based on the preset monitoring cycle; At the end of the preset monitoring period, the shield slag granularity image is collected again, and the shield slag particle size distribution index value is obtained again, and the shield slag particle size distribution index value currently obtained by the re-analysis is marked as the third index value of the shield slag particle size distribution, and the shield machine operation parameters within the monitoring period are simultaneously extracted; The shield machine operation parameters within the monitoring period include the shield machine cutter head speed extreme value difference within the monitoring period, the shield machine propulsion speed extreme value difference within the monitoring period, the average filtration pressure of the shield machine mud processing equipment within the monitoring period, and the average stirring speed of the shield machine mud processing equipment within the monitoring period; The shield soil particle size distribution parameters of each granularity sub-image and the shield machine operation parameters within the monitoring period are combined as the shield machine operation adjustment information.

7. The shield slag granularity image processing method according to claim 1 is characterized by: The analysis obtained the shield machine operation adjustment index coefficient, and the specific process is as follows: Extracting the shield machine reference operating parameters preset in the database, wherein the shield machine reference operating parameters include the shield machine critical cutter head speed extreme value difference, the shield machine reference propulsion speed extreme value difference, the ideal average filtration pressure of the shield machine mud processing equipment, and the ideal average stirring speed of the shield machine mud processing equipment; Based on the shield machine operating parameters within the monitoring period and the shield machine reference operating parameters, the shield machine operating index value is obtained through comprehensive analysis and processing; The shield machine operation index value is a numerical result of quantifying the shield machine operation parameters and the shield machine reference operation parameters within the monitoring period, and is used as a numerical basis for the shield machine operation adjustment index coefficient; Based on the third index value of shield slag particle size distribution and shield machine operation index value, the shield machine operation adjustment index coefficient is obtained through comprehensive analysis and processing; The shield machine operation adjustment index coefficient is a numerical result of quantifying the third index value of shield slag particle size distribution and the shield machine operation index value, and is used to characterize the shield machine operation adjustment compliance degree.

8. The shield slag granularity image processing method according to claim 7, characterized in that: The shield machine is automatically controlled and fed back based on the shield machine operation adjustment index coefficient, and the specific process is as follows: Extracting a first threshold value of a shield machine operation adjustment index and a second threshold value of a shield machine operation adjustment index preset in a database; If the shield machine operation adjustment index coefficient is less than or equal to the first threshold of the shield machine operation adjustment index, an early warning message is generated and the shield machine operation is stopped; if the shield machine operation adjustment index coefficient is greater than or equal to the second threshold of the shield machine operation adjustment index, there is no need to adjust the shield machine for control feedback; If the shield machine operation adjustment index coefficient is greater than the first threshold value of the shield machine operation adjustment index, and the shield machine operation adjustment index coefficient is less than the second threshold value of the shield machine operation adjustment index, the shield machine operation adjustment index coefficient and the first threshold value of the shield machine operation adjustment index are subjected to difference processing to obtain the shield machine operation adjustment index coefficient deviation value, and marked as the shield machine operation adjustment correction reference value; Extract the correction adjustment execution parameters corresponding to each operation adjustment correction reference value interval preset in the database, and according to the shield machine operation adjustment correction reference value, obtain the correction adjustment execution parameters corresponding to the interval where the shield machine operation adjustment correction reference value is located by mapping and matching, and record them as the shield machine operation correction execution parameters; The shield machine operation correction execution parameters include a shield machine cutter head speed extreme value difference correction supplement value, a shield machine propulsion speed extreme value difference correction supplement value, a shield machine mud treatment equipment average filtration pressure correction supplement value and a shield machine mud treatment equipment average stirring speed correction supplement value, and the shield machine is readjusted and controlled with the shield machine operation correction execution parameters.

9. The shield slag granularity image processing method according to claim 3 is characterized by: The shield slag particle size distribution index value is specifically obtained as follows: Among them, A is the particle size distribution index of shield slag, a i is the maximum particle size of the shield slag in the i-th granularity sub-image, a0 is the reference particle size of the shield slag, b i is the standard deviation of the particle size of the shield slag in the i-th granularity sub-image, b0 is the standard deviation of the defined particle size of the shield slag, c i is the particle surface density of shield slag in the i-th granularity sub-image, c0 is the particle surface reference density of shield slag, d i is the average surface pore size of the shield slag in the i-th granular sub-image, d0 is the reference average surface pore size of the shield slag, x1 is the maximum particle size weight, x2 is the particle size standard deviation weight, x3 is the particle surface density weight, x4 is the surface pore average size weight, i is the number of each granular sub-image, i = 1, 2, ..., n, n is the number of granular sub-images, and e is a natural constant.

10. Application of the shield slag granularity image processing method as claimed in any one of claims 1 to 9 in analyzing shield slag granularity image processing.

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