Intelligent regulation and control shield segment crack minimally invasive repair method

Abstract

The invention relates to the technical field of tunnel engineering, and discloses an intelligent regulation and control shield segment crack minimally invasive repair method, which comprises the following operation steps: intelligently identifying a crack, comprehensively scanning a shield segment by using high-definition camera equipment, obtaining a high-definition image of the surface of the segment, and obtaining a high-definition image of the surface of the segment by applying an image processing technology and a deep learning algorithm. The image is analyzed and processed, key parameters such as the position, the width, the length and the depth of the crack are automatically identified, a crack three-dimensional model is constructed, and accurate data support is provided for subsequent minimally invasive repair; and making a minimally invasive repair scheme, and combining factors such as a segment material and a stress condition according to a crack identification result. According to the intelligent regulation and control shield segment crack minimally invasive repair method, accurate recognition, minimally invasive treatment and effect evaluation of shield segment cracks are achieved, and the purposes of improving the repair efficiency, reducing the construction risk and ensuring the safety and stability of a tunnel structure are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel engineering, and in particular relates to a minimally invasive repair method for intelligently regulating shield segment cracks. Background Art

[0002] During the shield tunnel construction process, the integrity of the segments, as the core component of the tunnel structure, is of immeasurable importance to the overall safety, stability and durability of the tunnel. The shield segments are not only the innermost barrier of the tunnel, but also the key structure to resist soil pressure, groundwater pressure and various special loads. They constitute the main body of the permanent lining of the tunnel and form a solid underground passage through precise splicing and fastening.

[0003] During the construction and subsequent operation of shield tunnels, although the shield segments are well designed and rigorously installed, due to the extremely complex construction conditions, dynamic changes in the geological environment, and natural aging and load accumulation during long-term use, the segments will inevitably have cracks and other damage problems. These cracks not only affect the overall structural strength and stability of the tunnel, but may also cause serious problems such as water seepage and mud leakage, further aggravating the deterioration of the tunnel structure. For such problems, traditional repair methods have shown many limitations in practice. The specific defects are as follows: First, low repair efficiency: Traditional repair methods usually involve large-scale excavation or dismantling of damaged segments, which is not only large in scale and time-consuming, but also time-consuming. , and it is easy to cause secondary disturbance to the strata around the tunnel, increasing construction risks. At the same time, long-term construction will also have a serious impact on tunnel traffic, and even require service interruption, bringing additional economic losses and social impacts. Second, the repair effect is difficult to guarantee: Traditional repair methods often rely on manual operation and experience judgment. There is a lack of unified standards and precise control methods for the precise treatment of cracks, filling of repair materials, and quality inspection after repair. This leads to great uncertainty in the repair effect. Sometimes, even if repairs are carried out, it is difficult to ensure that the cracks are completely closed and the repair materials are well combined with the pipe segment matrix, thus affecting the long-term safety of the tunnel. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the background technology, to achieve accurate identification, minimally invasive treatment and effect evaluation of cracks in shield segments, to improve repair efficiency, reduce construction risks, and ensure the safety and stability of tunnel structures, and to propose a minimally invasive repair method for intelligently controlling cracks in shield segments.

[0005] In order to achieve the purpose of the present invention, the present invention discloses a minimally invasive repair method for intelligently regulating shield segment cracks, comprising the following steps:

[0006] S10, intelligent identification of cracks: use high-definition camera equipment to comprehensively scan the shield segments, obtain high-definition images of the segment surface, apply image processing technology and deep learning algorithms to analyze and process the images, automatically identify the key parameters of the crack location, width, length, and depth, and build a three-dimensional model of the crack to provide accurate data support for subsequent minimally invasive repair;

[0007] S20. Formulate a minimally invasive repair plan: Based on the crack identification results, combined with the segment material and stress conditions, formulate a personalized minimally invasive repair plan to determine the key parameters of the repair path, repair material, grouting pressure, and grouting volume;

[0008] S30, minimally invasive repair device preparation: prepare the minimally invasive repair device, including the side frame, active connection frame, passive connection frame, repair platform, multi-directional drilling mechanism and grouting system components, and pre-debug the device to ensure that all components operate normally;

[0009] S40, minimally invasive repair operation: install the minimally invasive repair device to the crack position of the shield segment, ensure that the side frame fits the curved surface of the segment, adjust the position of the repair platform through the active connecting frame to align it with the crack, start the multi-directional drilling mechanism, accurately drill along the depth direction of the crack to form a grouting channel, start the grouting system, and inject the repair material into the crack according to the preset grouting pressure and grouting volume, monitor the grouting process, ensure that the repair material fully fills the crack to avoid bubbles or cavities;

[0010] S50. Evaluation of repair effect: After the repair material solidifies, use non-destructive testing techniques such as ultrasonic testing and infrared thermal imaging to inspect the repair area, evaluate the key indicators of crack closure and repair material strength, and ensure that the repair effect meets the design requirements.

[0011] Furthermore, step S10 specifically includes the following steps:

[0012] S101. Equipment preparation and installation: Select high-definition video equipment with high resolution, low distortion and good lighting adaptability to ensure that the subtle features of the segment surface can be captured. Install the high-definition video equipment in a position that can fully cover the surface of the shield segment to ensure that there are no blind spots in the shooting.

[0013] S102, image acquisition: start the camera device to perform a comprehensive scan of the shield segment to obtain a high-definition image of the segment surface. During the scanning process, ensure that the camera device is stable to avoid image blur or distortion; save the acquired high-definition image to a storage device for subsequent processing and analysis;

[0014] S103, image processing and analysis; pre-processing the collected high-definition images, including denoising, contrast enhancement, and edge sharpening operations, to improve image quality and facilitate subsequent analysis; using image processing software or algorithms, extracting features and detecting edges on the pre-processed images, identifying possible crack areas, and inputting the candidate crack areas identified by the image processing technology into the deep learning model. The deep learning model is trained with a large number of crack images and can automatically learn and identify the characteristics of the cracks, including position, width, and length. With the help of the deep learning model, the key parameters of the width and length of the cracks are automatically measured. For the measurement of depth parameters, ultrasonic detection is used for auxiliary measurement;

[0015] S104, constructing a three-dimensional model of the cracks; integrating the crack information in the two-dimensional image including the position, width, and length to form a two-dimensional distribution map of the cracks; using three-dimensional modeling software or an algorithm, constructing a three-dimensional model of the cracks according to the two-dimensional distribution map of the cracks and the geometric size information of the pipe segment. In the modeling process, the direction, shape, and depth of the cracks need to be considered.

[0016] Furthermore, step S20 specifically includes the following steps:

[0017] S201, Crack assessment and analysis: Review the crack identification results, including the key parameters of the crack location, shape, width, and depth, to ensure a comprehensive and accurate understanding of the crack characteristics, and evaluate the impact of the cracks on the overall structure of the segment in combination with the segment material such as concrete strength, steel configuration, and stress conditions such as load distribution and stress concentration areas;

[0018] S202, repair path planning: based on the crack characteristics and segment structure, plan the optimal repair path, the path should be as short and effective as possible, while avoiding additional damage to important structures or sensitive areas on the segment, and mark the repair path on the segment for subsequent construction operations;

[0019] S203. Selection of repair materials: According to the characteristics of the cracks, such as width, depth and material of the pipe segment, select repair materials with good adaptability, bonding strength, durability and environmental protection. If necessary, perform performance tests on the selected materials to ensure that they meet the repair requirements;

[0020] S204. Setting of grouting parameters: According to the width and depth of the cracks and the material of the segment, the grouting pressure shall be reasonably set. The grouting pressure shall be moderate to ensure that the grouting material can fully fill the cracks without causing excessive pressure on the segment structure. According to the volume of the cracks and the performance of the grouting material, the grouting volume shall be accurately calculated. The grouting volume shall be sufficient to fill the cracks and leave a margin to ensure the repair effect.

[0021] Furthermore, the repair plan should select appropriate grouting pumps and grouting pipes based on the requirements of grouting pressure and grouting volume. During the grouting operation, use cleaning tools to clean up the debris and dust in the grouting hole to ensure that the grouting hole is unobstructed. Insert the grouting pipe into the grouting hole and ensure that the sealing between the grouting pipe and the grouting hole is good. Start the grouting pump and slowly inject the mixed grouting material into the grouting hole. During the grouting process, the grouting pressure and grouting speed should be controlled to avoid excessive pressure on the segment structure or overflow of grouting materials. During the grouting process, closely observe the changes in grouting pressure and grouting volume, as well as the diffusion of grouting materials. If any abnormality is found, the grouting parameters should be adjusted in time or the grouting operation should be stopped.

[0022] Furthermore, step S30 specifically includes the following steps:

[0023] S301, assembling the device; assembling the side frame, active connection frame, passive connection frame, repair platform, multi-directional drilling mechanism and grouting system components according to the design drawings and technical requirements, ensuring that the connection of each component is tight and stable without looseness;

[0024] S302, pre-debugging the multi-directional drilling mechanism; starting the multi-directional drilling mechanism, checking whether its drilling direction, drilling speed and drilling depth parameters are accurate and adjustable, and at the same time, observing whether there is abnormal vibration, noise or drill jamming during the drilling process;

[0025] S303, overall linkage debugging: After ensuring that each component is debugged normally individually, perform overall linkage debugging, start the entire device, observe whether the cooperation between the components is coordinated, whether the operation is stable, and at the same time, check whether the control system controls each component accurately and reliably.

[0026] Furthermore, step S40 specifically includes the following steps:

[0027] S401, device installation and positioning: move the minimally invasive repair device as a whole to the predetermined position of the shield segment crack, carefully place the side frame close to the curved surface of the segment, ensure that there is no gap between the frame and the segment to achieve a good fit, and accurately adjust the position of the repair platform through the adjustment function of the active connecting frame to accurately align it with the center of the crack. This step is the key to ensure the accuracy of subsequent drilling and grouting operations;

[0028] S402, crack drilling: after ensuring the accurate position of the repair platform, start the multi-directional drilling mechanism, adjust the drilling angle and depth according to the direction and depth of the crack, maintain a stable drilling speed and appropriate drilling pressure during the drilling process to avoid excessive damage to the pipe segment, stop drilling after drilling to the end of the crack or the predetermined depth, and form a connected grouting channel;

[0029] S403, grouting operation; before grouting, it is necessary to prepare an appropriate amount of repair materials such as cement slurry and epoxy resin, and ensure that their quality meets the use requirements, connect the grouting pipe and the grouting system, ensure that the grouting pipeline is unobstructed, start the grouting system and start grouting according to the preset grouting pressure and grouting volume, and closely monitor the changes in the grouting pressure and grouting volume during the grouting process to ensure the smooth progress of the grouting process. During the grouting process, it is also necessary to pay attention to the changes in the grouting pressure to ensure that the grouting pressure fluctuates within a reasonable range to avoid excessive pressure on the pipe segment. When the grouting volume reaches the preset value or the crack has been fully filled, stop the grouting operation, close the grouting system and disconnect the grouting pipeline;

[0030] S404. Subsequent processing: clean up the waste and residues generated during the grouting process, keep the work site clean and tidy, and check the repair effect within a period of time after the grouting is completed to observe whether the cracks have been completely filled and whether the repair materials have solidified.

[0031] Furthermore, step S50 specifically includes the following operation steps:

[0032] S501, ultrasonic testing: confirm that the repair material has been fully cured, remove debris and dirt on the surface of the repair area, ensure that the test surface is flat and unobstructed, place the ultrasonic probe on the test point, start the equipment, scan according to the preset parameters, analyze the test data through the display screen of the ultrasonic testing equipment or the subsequent data processing software, and evaluate the closure degree of the crack and the internal quality of the repair material;

[0033] S502, infrared thermal imaging test: Try to conduct the test under a stable ambient temperature to avoid the influence of external heat sources on the test results. Start the infrared thermal imaging equipment to scan the repair area and obtain the infrared thermal image. Use professional image processing software to analyze the infrared thermal image, evaluate the temperature distribution of the repair area, and then infer the strength and sealing of the repair material.

[0034] S503, evaluate the repair effect; based on the test results of ultrasonic testing and infrared thermal imaging, comprehensively evaluate the closure degree of the crack, the strength of the repair material and the key indicators of sealing performance to determine whether the repair effect meets the design requirements;

[0035] S504. Regular re-inspection: According to the project requirements or equipment operation status, regular re-inspection of the repair area shall be carried out to ensure the durability of the repair effect.

[0036] Compared with the prior art, the significant progress of the present invention lies in: the present invention realizes intelligent recognition and three-dimensional modeling of cracks by combining high-definition camera equipment with image processing technology and deep learning algorithms. This technical feature overcomes the limitations of traditional methods that rely on manual visual inspection and empirical judgment, and significantly improves the accuracy and efficiency of crack recognition. It can not only accurately obtain surface parameters such as the position, width, and length of the cracks, but also infer the crack depth through algorithms, providing detailed and accurate data support for subsequent minimally invasive repairs. This intelligent recognition method not only reduces human errors, but also greatly shortens the detection time and improves the overall efficiency of the repair work. Secondly, in the formulation of minimally invasive repair plans, The present invention formulates a personalized minimally invasive repair plan based on the precise identification results of cracks, combined with complex factors such as the material of the pipe segment and the stress condition. This technical feature ensures the pertinence and effectiveness of the repair plan, avoids the disadvantages of the traditional "one size fits all" method, and the personalized repair plan can better adapt to the characteristics of different cracks and the actual conditions of the pipe segment, thereby achieving a more accurate repair effect. In the preparation and operation of the minimally invasive repair device, the present invention adopts a specially designed minimally invasive repair device, including side frames, active connecting frames, passive connecting frames, repair platforms, multi-directional drilling mechanisms and grouting systems. The coordinated work of these components realizes the precise positioning and minimally invasive repair of cracks, which is consistent with the traditional method. Compared with traditional repair methods, the minimally invasive repair device has the advantages of simple operation, small disturbance to the segment structure, and high repair accuracy. Through the multi-directional drilling mechanism, precise drilling is carried out along the depth direction of the crack to form a grouting channel, ensuring that the repair material can penetrate into the crack and fully fill the crack space. At the same time, the precise control of the grouting system ensures the uniform distribution and effective solidification of the repair material in the crack, avoids the generation of bubbles or cavities, and improves the repair quality. Finally, in the repair effect evaluation link, the present invention adopts non-destructive testing technology to conduct a comprehensive inspection of the repair area. This technical feature not only ensures the non-destructiveness of the detection process, but also improves the accuracy and reliability of the detection results. Through ultrasonic detection The comprehensive application of various technical means such as infrared thermal imaging can comprehensively evaluate key indicators such as crack closure and strength of repair materials to ensure that the repair effect meets the design requirements. This scientific evaluation method provides strong support for subsequent maintenance and care work, and ensures the long-term safety of the tunnel structure. In summary, the minimally invasive repair method for intelligently controlling shield segment cracks of the present invention has shown significant beneficial effects in various links such as crack identification, repair plan formulation, repair device preparation and operation, and repair effect evaluation. It not only improves the repair efficiency and accuracy, but also reduces construction risks and disturbances to the tunnel structure, providing a strong guarantee for the safe, stable and sustainable operation of shield tunnels.

[0037] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 This is a structural block diagram of the method for minimally invasive repair of cracks in shield segments according to the present invention. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0041] Combination Figure 1 As shown, the intelligent control shield segment crack minimally invasive repair method of the present invention includes the following steps:

[0042] S10, intelligent crack identification, using high-definition camera equipment to comprehensively scan the shield segments, obtain high-definition images of the segment surface, apply image processing technology and deep learning algorithms to analyze and process the images, automatically identify key parameters such as the location, width, length, and depth of the cracks, and build a three-dimensional crack model to provide accurate data support for subsequent minimally invasive repair;

[0043] Step S10 specifically includes the following steps:

[0044] S101. Equipment preparation and installation. Select high-definition video equipment with high resolution, low distortion and good lighting adaptability to ensure that the subtle features of the segment surface can be captured. Install the high-definition video equipment in a suitable position, usually in a position that can fully cover the surface of the shield segment to ensure that there are no blind spots in the shooting.

[0045] S102, image acquisition, start the camera equipment, perform a comprehensive scan of the shield segment, and obtain a high-definition image of the segment surface. During the scanning process, ensure that the camera equipment is stable to avoid image blur or distortion. Save the acquired high-definition image to a storage device for subsequent processing and analysis;

[0046] S103, image processing and analysis, pre-processing the collected high-definition images, including denoising, contrast enhancement, edge sharpening and other operations, to improve image quality and facilitate subsequent analysis, using image processing software or algorithms to extract features and detect edges on the pre-processed images, identify possible crack areas, and input the candidate crack areas identified by image processing technology into the deep learning model. The deep learning model is trained with a large number of crack images and can automatically learn and identify the characteristics of the cracks, including position, width, length, etc. With the help of the deep learning model, key parameters such as the width and length of the cracks are automatically measured. For the measurement of depth parameters, ultrasonic detection is used for auxiliary measurement;

[0047] S104, constructing a three-dimensional crack model, integrating the crack information in the two-dimensional image including position, width, length, etc., to form a two-dimensional distribution map of the cracks, and using three-dimensional modeling software or algorithms to construct a three-dimensional crack model based on the two-dimensional distribution map of the cracks and the geometric size information of the pipe segment. In the modeling process, factors such as the direction, shape and depth of the cracks need to be considered.

[0048] In step S10, by refining the process of intelligent crack identification, the present invention shows more significant beneficial effects. First, through the high requirements of the equipment preparation and installation stage, it is ensured that the high-definition camera equipment can capture the subtle features of the pipe segment surface, laying a solid foundation for subsequent image processing and analysis. Secondly, the comprehensiveness and stability requirements of the image acquisition stage avoid image blur or distortion, and ensure the quality of the collected image data. In the image processing and analysis stage, the combination of preprocessing technology and deep learning model not only improves the efficiency of image processing, but also significantly enhances the accuracy and precision of crack identification, and realizes the automatic measurement of key parameters such as crack position, width, and length. In particular, for the measurement of crack depth, ultrasonic detection technology is introduced to assist, which further improves the reliability and accuracy of the measurement. Finally, by constructing a three-dimensional model of the crack, the crack information is expanded from two dimensions to three dimensions, providing more intuitive and comprehensive data support for subsequent minimally invasive repair, which is helpful to formulate a more accurate repair plan and improve the repair effect.

[0049] Taking a city subway shield tunnel as an example, the specific implementation steps are as follows:

[0050] In step S101, a high-definition industrial camera with high resolution, low distortion and good lighting adaptability is selected as the camera device. The camera is equipped with an automatic focusing and stabilization system to ensure the quality of the captured image. The camera is installed on a special mobile platform and is controlled by programming to move along the track to achieve a comprehensive scan of the entire shield segment surface to ensure that there is no blind spot in the shooting;

[0051] In step S102, after starting the camera device, it is controlled by a preset program to scan according to the set path and speed, while ensuring that the camera remains stable during the scanning process to avoid image blur caused by shaking. After the scanning is completed, the collected high-definition image is transmitted to a storage device for subsequent processing and analysis;

[0052] In step S103, professional image processing software is used to preprocess the collected images, including operations such as noise removal, contrast enhancement, and edge sharpening, so as to improve image quality. Subsequently, an edge detection algorithm is used to extract features and detect edges on the preprocessed images, and possible crack areas are preliminarily identified. Then, these candidate areas are input into a deep learning model that has been trained with a large number of crack images. The deep learning model automatically learns and identifies the characteristics of cracks, and accurately measures key parameters such as the position, width, and length of the cracks. For the measurement of crack depth, an ultrasonic detector is used for auxiliary measurement. The probe is placed on the crack surface, and the crack depth is calculated by the reflection of ultrasonic waves in the crack and the echo time.

[0053] In step S104, a three-dimensional model of the cracks is constructed using three-dimensional modeling software based on the two-dimensional distribution map of the cracks and the geometric size information of the pipe segment. During the modeling process, factors such as the direction, shape and depth of the cracks are fully considered to ensure the accuracy and authenticity of the model. The final three-dimensional model not only shows the distribution of cracks on the surface of the pipe segment, but also intuitively reflects the shape and depth information of the cracks in three-dimensional space, providing strong data support for subsequent minimally invasive repair.

[0054] S20. Formulate a minimally invasive repair plan. According to the crack identification results, combined with factors such as the segment material and stress conditions, formulate a personalized minimally invasive repair plan to determine key parameters such as the repair path, repair material, grouting pressure, and grouting volume;

[0055] Step S20 specifically includes the following steps:

[0056] S201, Crack assessment and analysis, review the crack identification results, including the location, shape, width, depth and other key parameters of the cracks, to ensure a comprehensive and accurate understanding of the crack characteristics, and evaluate the impact of the cracks on the overall structure of the segment in combination with the segment material such as concrete strength, steel configuration, etc. and stress conditions such as load distribution, stress concentration areas, etc.;

[0057] S202, repair path planning, based on the crack characteristics and segment structure, plan the optimal repair path, the path should be as short and effective as possible, while avoiding additional damage to important structures or sensitive areas on the segment, and mark the repair path on the segment for subsequent construction operations;

[0058] S203. Selection of repair materials. According to the characteristics of the cracks, such as width, depth and material of the segments, select repair materials with good adaptability, bonding strength, durability and environmental protection. If necessary, perform performance tests on the selected materials to ensure that they meet the repair requirements.

[0059] “When necessary” means that when there are doubts about the performance of the selected repair material, or the performance of the material in similar applications has not been fully verified, or the repair project has particularly high requirements for material performance, it is necessary to conduct performance tests on the selected material to ensure that it meets the repair requirements.

[0060] S204. Setting of grouting parameters. Reasonably set grouting pressure according to crack width, depth and segment material. Grouting pressure should be moderate to ensure that grouting material can fully fill cracks without causing excessive pressure on segment structure. Accurately calculate grouting volume according to crack volume and grouting material performance. Grouting volume should be sufficient to fill cracks and leave a certain margin to ensure repair effect.

[0061] The description of "certain margin" is usually determined comprehensively based on engineering experience, the specific conditions of the cracks (such as width, depth, and shape), the performance of the grouting material, and the expected repair effect.

[0062] Due to the complexity of cracks, the diversity of grouting materials, and the differences in repair goals, it is difficult to give a uniform margin range value that is applicable to all situations. In practical applications, engineers or technicians will estimate this margin based on field conditions, experimental data, and past experience. Generally speaking, this margin should be sufficient to ensure that the grouting material can completely fill the cracks and can form sufficient strength to support and repair the cracked area after curing. At the same time, the margin should not be too large to avoid wasting materials or causing unnecessary pressure on the segment structure.

[0063] Therefore, the specific margin range value needs to be determined according to the actual situation and may vary from project to project. In actual operation, it is recommended to communicate with experienced engineers or technicians to ensure that the setting of the grouting volume can meet the repair requirements and achieve the expected repair effect. It should be noted that although the specific margin range value is not given here, it does not mean that this parameter is set arbitrarily. In actual application, this parameter should be determined according to scientific methods and rigorous attitude to ensure the quality and effect of the repair work.

[0064] In step S20, by refining the processes of crack assessment, repair path planning, repair material selection and grouting parameter setting, the dependent claim provides a more systematic, scientific and efficient solution for the crack repair of shield segments. First, the crack assessment and analysis step ensures a comprehensive understanding and accurate assessment of crack characteristics, laying a solid foundation for subsequent repair work. Secondly, the repair path planning step plans the optimal repair path by comprehensively considering crack characteristics and segment structure, which not only improves the repair efficiency but also avoids additional damage to the segment structure. Furthermore, the repair material selection step emphasizes the adaptability, bonding strength, durability and environmental protection of the material, ensuring the quality of the repair material and the durability of the repair effect. Finally, the grouting parameter setting step ensures that the grouting material can fully fill the cracks and achieve a good repair effect by reasonably setting the grouting pressure and grouting amount, while avoiding the risk of excessive pressure on the segment structure. The comprehensive application of these steps significantly improves the accuracy and effectiveness of shield segment crack repair, extends the service life of the segment, and ensures the safe operation of the tunnel.

[0065] Taking the crack repair of a subway shield tunnel as an example, the specific implementation steps are as follows:

[0066] In step S201, the technician first reviews the results of crack identification, including key parameters such as the location, shape, width and depth of the cracks, and understands the material (such as concrete strength, steel bar configuration, etc.) and stress conditions (such as load distribution, stress concentration area, etc.) of the segment by consulting relevant information. Based on this information, the technician conducts a comprehensive and accurate assessment of the cracks and analyzes the impact of the cracks on the overall structure of the segment;

[0067] In step S202, the technicians plan an optimal repair path based on the characteristics of the cracks and the structure of the segment. The path is not only as short and effective as possible, but also avoids causing additional damage to important structures or sensitive areas on the segment. Subsequently, the technicians clearly mark the repair path on the segment for subsequent construction operations.

[0068] In step S203, the technicians selected a repair material with good adaptability, bonding strength, durability and environmental protection according to the width and depth of the crack and the material of the pipe segment. In order to ensure that the selected material meets the repair requirements, the technicians also conducted necessary performance tests on it, including bonding strength test, durability test, etc.;

[0069] In step S204, the technicians reasonably set the grouting pressure according to the width and depth of the cracks and the material of the segment. The grouting pressure was controlled within a moderate range to ensure that the grouting material can fully fill the cracks without causing excessive pressure on the segment structure. In addition, the technicians also accurately calculated the grouting volume based on the volume of the cracks and the performance of the grouting material to ensure that the grouting volume is sufficient to fill the cracks and leave a certain margin to further ensure the repair effect. Through this series of delicate operations, the technicians successfully completed the repair work on the shield segment cracks.

[0070] The repair plan should select appropriate grouting pumps and grouting pipes based on the requirements of grouting pressure and grouting volume. During the grouting operation, use cleaning tools to clean up the debris and dust in the grouting holes to ensure that the grouting holes are unobstructed. Insert the grouting pipe into the grouting hole and ensure that the sealing between the grouting pipe and the grouting hole is good. Start the grouting pump and slowly inject the mixed grouting material into the grouting hole. During the grouting process, the grouting pressure and grouting speed should be controlled to avoid excessive pressure on the segment structure or overflow of grouting materials. During the grouting process, closely observe the changes in grouting pressure and grouting volume, as well as the diffusion of grouting materials. If any abnormality is found, the grouting parameters should be adjusted in time or the grouting operation should be stopped.

[0071] According to the requirements of grouting pressure and grouting volume, appropriate grouting pumps and grouting pipes are selected to ensure the efficiency and accuracy of grouting operations. Secondly, before the grouting operation, the debris and dust in the grouting holes are cleaned with cleaning tools to ensure the unobstructed flow of the grouting holes and avoid the problems of grouting failure or uneven distribution of grouting materials caused by blockage. At the same time, the sealing between the grouting pipe and the grouting hole is ensured to be good, which effectively prevents leakage during the grouting process and improves the grouting effect. During the grouting process, by controlling the grouting pressure and grouting speed, potential damage to the segment structure caused by excessive pressure is avoided, and waste and pollution caused by overflow of grouting materials are also prevented. In addition, by closely observing the changes in grouting pressure and grouting volume, as well as the diffusion of grouting materials, abnormal situations can be discovered and handled in a timely manner, such as a sudden increase in grouting pressure and uneven diffusion of grouting materials, thereby ensuring the safety and effectiveness of grouting operations. The comprehensive application of these measures not only improves the success rate of crack repair, but also extends the service life of the segment and ensures the safe operation of the tunnel.

[0072] Continuing with the example of the crack repair of a subway shield tunnel, when entering the grouting stage, the specific implementation steps are as follows: First, according to the width, depth and material of the cracks, the technicians calculated the required grouting pressure and grouting volume, and selected the appropriate grouting pump and grouting pipe accordingly. The grouting pump has a stable output pressure and flow regulation function, and the grouting pipe has sufficient strength and toughness to adapt to the pressure changes during the grouting process. Then, before the grouting operation, the technicians used cleaning tools such as high-pressure air guns and brushes to carefully clean the debris and dust in the grouting holes to ensure that the grouting holes are unobstructed. At the same time, the sealing between the grouting pipe and the grouting hole was checked, and good sealing was ensured by applying sealant and tightening connectors. Then, the technicians inserted the grouting pipe into the grouting hole and confirmed that its position was correct. Subsequently, the grouting pump was started to grout the mixed grouting. The slurry material (such as epoxy resin, cement slurry, etc.) is slowly injected into the grouting hole. During the grouting process, the technicians closely monitor the changes in grouting pressure and grouting volume through the pressure gauge and flow meter of the grouting pump, and adjust the grouting parameters such as grouting pressure and grouting speed according to the actual situation to avoid excessive pressure on the segment structure or overflow of grouting materials. At the same time, the technicians also use tools such as flashlights and observation mirrors to observe the diffusion of grouting materials. They noticed that the grouting materials gradually diffused in the cracks and filled the entire crack space to form a solid repair. During the grouting process, the technicians also paid special attention to the changes in grouting pressure and grouting volume, as well as the diffusion of grouting materials. Once an abnormal situation was found (such as a sudden increase in grouting pressure, uneven diffusion of grouting materials, etc.), the grouting operation was immediately stopped, and the status of the grouting equipment and grouting holes was checked, and adjustments and processing were made in time.

[0073] S30, minimally invasive repair device preparation, prepare the minimally invasive repair device, including side frames, active connection frames, passive connection frames, repair platforms, multi-directional drilling mechanisms and grouting systems, etc., pre-debug the device to ensure that all components operate normally;

[0074] Step S30 specifically includes the following steps:

[0075] S301, assemble the device, assemble the side frame, active connection frame, passive connection frame, repair platform, multi-directional drilling mechanism and grouting system and other components according to the design drawings and technical requirements, and ensure that the connection of each component is tight and stable without looseness;

[0076] S302, pre-debugging the multi-directional drilling mechanism, starting the multi-directional drilling mechanism, checking whether its parameters such as drilling direction, drilling speed and drilling depth are accurate and adjustable, and at the same time, observing whether there is abnormal vibration, noise or drill jamming during the drilling process;

[0077] S303, overall linkage debugging, after ensuring that each component is debugged normally individually, carry out overall linkage debugging, start the entire device, observe whether the cooperation between the components is coordinated, whether the operation is stable, and at the same time, check whether the control system controls each component accurately and reliably.

[0078] Through the strict assembly process of step S301, the connection between the various components of the device is ensured to be tight and stable, effectively avoiding performance degradation or safety hazards caused by loose components. Secondly, the pre-debugging of the multi-directional drilling mechanism in step S302 not only verifies the basic functions of the multi-directional drilling mechanism, but also discovers and solves possible abnormal vibrations, noise or drill jams in advance, ensuring the smooth progress of subsequent repair operations. Finally, the overall linkage debugging in step S303 is a comprehensive test of the performance of the entire device. By simulating the actual working scene, the coordination between the various components and the accuracy of the control system are verified, laying a solid foundation for subsequent crack repair operations. The implementation of this series of operation steps not only improves the efficiency and quality of device assembly, but also ensures the safety and reliability of the repair operation, thereby effectively solving the technical problems mentioned in the background technology.

[0079] In step S301, the technicians first fix the side frame at a predetermined position according to the design drawings and technical requirements to ensure that it is stable and does not shake. Then, the active connection frame, passive connection frame, repair platform and other components are installed on the side frame one by one, and fastened with high-strength bolts to ensure that the connection between each component is firm and not loose. At the same time, the technicians also pay special attention to the installation position of the grouting system to ensure that it can be easily connected to the grouting hole and perform grouting operations;

[0080] In step S302, the technicians started the multi-directional drilling mechanism and conducted pre-debugging. They first set the drilling direction and drilling speed to observe whether the multi-directional drilling mechanism can drill according to the preset parameters. At the same time, they also used equipment such as vibration sensors and noise meters to monitor the vibration and noise during the drilling process to ensure that they were within the normal range. In addition, the technicians also paid special attention to whether there was a drill jam during the drilling process and prepared corresponding solutions. After a series of pre-debugging, the technicians confirmed that the multi-directional drilling mechanism performed well and could be put into formal use.

[0081] In step S303, the technicians conducted overall linkage debugging. They first started the control system of the entire device to observe whether the components could coordinate and cooperate according to the preset procedures. At the same time, they also simulated the actual working scenario of crack repair and conducted a comprehensive performance test on the device. During the test, the technicians paid special attention to the control accuracy and reliability of the control system on each component, and conducted repeated tests to ensure its stability. After verification of the overall linkage debugging, the technicians confirmed that the entire device has superior performance and stable operation, and can meet the operational requirements of crack repair.

[0082] S40, minimally invasive repair operation, install the minimally invasive repair device to the crack position of the shield segment, ensure that the side frame fits the curved surface of the segment, adjust the position of the repair platform through the active connecting frame to align it with the crack, start the multi-directional drilling mechanism, accurately drill along the depth direction of the crack to form a grouting channel, start the grouting system, and inject the repair material into the crack according to the preset grouting pressure and grouting volume, monitor the grouting process, ensure that the repair material fully fills the crack to avoid bubbles or cavities;

[0083] Step S40 specifically includes the following steps:

[0084] S401, device installation and positioning, move the minimally invasive repair device as a whole to the predetermined position of the shield segment crack, carefully place the side frame close to the curved surface of the segment, ensure that there is no gap between the frame and the segment to achieve a good fit, and accurately adjust the position of the repair platform through the adjustment function of the active connecting frame to accurately align it with the center of the crack. This step is the key to ensure the accuracy of subsequent drilling and grouting operations;

[0085] S402, crack drilling, after ensuring the accurate position of the repair platform, start the multi-directional drilling mechanism, adjust the drilling angle and depth according to the direction and depth of the crack, maintain a stable drilling speed and appropriate drilling pressure during the drilling process to avoid excessive damage to the pipe segment, stop drilling after drilling to the end of the crack or the predetermined depth, and form a connected grouting channel;

[0086] S403, grouting operation, before grouting, it is necessary to prepare an appropriate amount of repair materials such as cement slurry, epoxy resin, etc., and ensure that their quality meets the use requirements, connect the grouting pipe and the grouting system, ensure that the grouting pipeline is unobstructed, start the grouting system and start grouting according to the preset grouting pressure and grouting volume, and closely monitor the changes in the grouting pressure and grouting volume during the grouting process to ensure the smooth progress of the grouting process. During the grouting process, it is also necessary to pay attention to the changes in the grouting pressure to ensure that the grouting pressure fluctuates within a reasonable range to avoid excessive pressure on the pipe segment. When the grouting volume reaches the preset value or the crack has been fully filled, stop the grouting operation, close the grouting system and disconnect the grouting pipeline;

[0087] S404. Follow-up treatment and cleaning of waste and residues generated during the grouting process to keep the work site clean and tidy. Within a period of time after the grouting is completed, the repair effect needs to be checked to observe whether the cracks have been completely filled and whether the repair materials have solidified.

[0088] Through the sophisticated device installation and positioning steps, it is ensured that the repair platform can be accurately aligned with the center of the crack, greatly improving the accuracy and efficiency of the subsequent repair work. Secondly, in the crack drilling step, the flexible application of the multi-directional drilling mechanism enables the drilling process to be adjusted according to the actual situation of the crack, which not only ensures the drilling effect, but also effectively avoids unnecessary damage to the pipe segment. Furthermore, the precise control and real-time monitoring during the grouting operation ensure the smooth progress of the grouting process, which not only ensures the grouting quality, but also prevents the adverse effects on the pipe segment due to excessive grouting pressure. Finally, the meticulous execution of the subsequent processing steps not only maintains the cleanliness of the work site, but also ensures the effectiveness and reliability of the repair work through timely inspection of the repair effect. In summary, this dependent claim significantly improves the accuracy, safety and efficiency of shield pipe segment crack repair by refining the operating steps.

[0089] When repairing the cracks in the shield pipe segment of a subway tunnel, first, according to the location and shape of the cracks, the minimally invasive repair device is moved as a whole to the predetermined position, and the side frame is finely adjusted to ensure that the repair platform fits tightly with the curved surface of the pipe segment. Then, the repair platform is accurately aligned with the center of the crack by using the adjustment function of the active connecting frame. Next, the multi-directional drilling mechanism is started, and the drilling angle and depth are flexibly adjusted according to the specific direction and depth of the crack until the end of the crack is drilled or the predetermined depth is reached, forming a connected grouting channel. Before grouting, repair materials such as cement slurry that meet the quality requirements are prepared and the grouting system is connected. During the grouting process, the preset grouting pressure and grouting volume are strictly followed, and the changes in the grouting pressure and grouting volume are closely monitored to ensure the smooth progress of the grouting process. When the grouting volume reaches the preset value or the crack has been fully filled, the grouting is stopped in time and the grouting system is turned off. Finally, the work site is cleaned up to keep it clean and orderly, and the repair effect is carefully checked within a period of time after the grouting is completed to confirm that the crack has been completely filled and the repair material has been solidified, thereby ensuring the successful completion of the repair work.

[0090] S50. Evaluation of repair effect. After the repair material solidifies, use non-destructive testing techniques such as ultrasonic testing and infrared thermal imaging to inspect the repair area, evaluate key indicators such as crack closure and repair material strength, and ensure that the repair effect meets the design requirements.

[0091] Step S50 specifically includes the following steps:

[0092] S501, ultrasonic testing, confirming that the repair material has been fully cured, removing debris and dirt on the surface of the repair area, ensuring that the test surface is flat and unobstructed, placing the ultrasonic probe on the test point, starting the equipment, scanning according to the preset parameters, analyzing the test data through the display screen of the ultrasonic testing equipment or subsequent data processing software, and evaluating the closure degree of the crack and the internal quality of the repair material;

[0093] S502, infrared thermal imaging detection, try to carry out the detection under a stable ambient temperature to avoid the influence of external heat sources on the detection results, start the infrared thermal imaging equipment, scan the repair area, obtain the infrared thermal image, use professional image processing software to analyze the infrared thermal image, evaluate the temperature distribution of the repair area, and then infer the strength and sealing of the repair material;

[0094] S503, evaluate the repair effect, based on the test results of ultrasonic testing and infrared thermal imaging, comprehensively evaluate key indicators such as the degree of crack closure, the strength and sealing of the repair material, and determine whether the repair effect meets the design requirements;

[0095] S504. Regular re-inspection: According to the project requirements or equipment operation status, the repair area should be re-inspected regularly to ensure the durability of the repair effect.

[0096] Through ultrasonic testing, the degree of closure of cracks and the filling and solidification of repair materials inside the cracks can be accurately evaluated, effectively ensuring the quality of the repair work. Secondly, the introduction of infrared thermal imaging detection technology has further improved the comprehensiveness and accuracy of the detection. By detecting the temperature distribution in the repair area, the strength and sealing of the repair material can be indirectly evaluated, thereby preventing potential safety hazards. Furthermore, a comprehensive evaluation based on the detection results of ultrasonic and infrared thermal imaging can comprehensively and objectively judge whether the repair effect meets the design requirements, providing a strong basis for subsequent project acceptance. Finally, the setting of regular re-inspections ensures the durability of the repair effect, timely discovers and handles possible problems, and ensures the safe operation of the shield segment. In summary, this dependent claim requires that the scientificity, accuracy and reliability of the quality inspection and evaluation of the shield segment cracks after repair have been significantly improved through the comprehensive use of multiple detection methods and a regular re-inspection mechanism.

[0097] In a shield segment crack repair project of a subway tunnel, after the repair work was completed, detailed quality inspection and evaluation were carried out in accordance with the steps of this dependent claim. First, ultrasonic testing was carried out to ensure that the repair material had been fully cured, and then the debris and dirt on the surface of the repair area were removed. The crack and its surrounding area were scanned using ultrasonic testing equipment, and the test data was observed in real time through the display screen. The subsequent data processing software was used to conduct in-depth analysis of the test data to evaluate the closure of the crack and the internal quality of the repair material. Subsequently, infrared thermal imaging testing was carried out. Under a relatively stable ambient temperature, the infrared thermal imaging equipment was started to conduct a comprehensive scan of the repair area to obtain infrared thermal images, and the images were analyzed using professional image processing software to evaluate the temperature distribution of the repair area, thereby inferring the strength and sealing of the repair material. Finally, based on the test results of ultrasonic testing and infrared thermal imaging, key indicators such as the closure of the crack, the strength and sealing of the repair material were comprehensively evaluated to determine whether the repair effect met the design requirements. In addition, in order to ensure the durability of the repair effect, a regular re-inspection plan was also formulated. According to the project requirements and equipment operation conditions, the repair area was re-inspected regularly to timely discover and deal with potential problems, thereby ensuring the safe operation of the shield segment.

[0098] The shield segments are fully scanned by high-definition cameras to obtain detailed surface image information. Subsequently, image processing technology and deep learning algorithms are used to conduct in-depth analysis of the images, automatically identify the key parameters of the cracks, and construct a three-dimensional model of the cracks. This process not only improves the accuracy and efficiency of crack identification, but also provides accurate data support for subsequent repair work. On the basis of crack identification, a personalized minimally invasive repair plan is formulated in combination with actual factors such as the material properties and stress conditions of the segments. This plan comprehensively considers multiple aspects such as the optimization of the repair path, the selection of repair materials, and the precise control of the grouting pressure and grouting amount, ensuring the pertinence and effectiveness of the repair work. Next, the minimally invasive repair device is prepared and pre-debugging is performed to ensure that all components are operating normally. This step is a prerequisite for the smooth progress of the repair operation. Subsequently, the minimally invasive repair device is installed to the crack. The position is ensured by the close fit of the side frame and the curved surface of the segment and the precise adjustment of the active connecting frame to ensure that the repair platform can be accurately aligned with the crack. During the minimally invasive repair operation, the multi-directional drilling mechanism is started to perform precise drilling along the depth direction of the crack to form a connected grouting channel. Subsequently, the grouting system is started to evenly inject the repair material into the crack according to the preset grouting pressure and grouting volume. At the same time, the grouting process is monitored to ensure that the repair material can fully fill the crack to avoid bubbles or cavities, thereby ensuring the quality of the repair. Finally, after the repair material is solidified, non-destructive testing technologies such as ultrasonic testing and infrared thermal imaging are used to conduct a comprehensive inspection of the repair area. By evaluating key indicators such as crack closure and repair material strength, it is verified whether the repair effect meets the design requirements. This process not only ensures the quality and reliability of the repair work, but also provides a scientific basis for subsequent project acceptance.

[0099] 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.

[0100] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A minimally invasive repair method for intelligently controlling shield segment cracks, characterized in that: The following steps are involved: S10, intelligent identification of cracks: use high-definition camera equipment to comprehensively scan the shield segments, obtain high-definition images of the segment surface, apply image processing technology and deep learning algorithms to analyze and process the images, automatically identify the key parameters of the crack location, width, length, and depth, and build a three-dimensional model of the crack to provide accurate data support for subsequent minimally invasive repair; S20, formulation of minimally invasive repair plan; According to the crack identification results, combined with the segment material and stress conditions, a personalized minimally invasive repair plan is formulated to determine the key parameters of the repair path, repair material, grouting pressure, and grouting volume; S30, minimally invasive repair device preparation; Prepare minimally invasive repair devices, including side frames, active connection frames, passive connection frames, repair platforms, multi-directional drilling mechanisms and grouting system components, and pre-debug the devices to ensure that all components operate normally; S40, minimally invasive repair procedures; Install the minimally invasive repair device to the crack position of the shield segment, ensure that the side frame fits the curved surface of the segment, adjust the position of the repair platform through the active connecting frame to align it with the crack, start the multi-directional drilling mechanism, accurately drill along the depth direction of the crack to form a grouting channel, start the grouting system, and inject the repair material into the crack according to the preset grouting pressure and grouting volume. Monitor the grouting process to ensure that the repair material fully fills the crack and avoids the formation of bubbles or cavities; S50, Restoration effect evaluation; After waiting for the repair material to solidify, use non-destructive testing technologies such as ultrasonic testing and infrared thermal imaging to inspect the repair area and evaluate key indicators such as crack closure and repair material strength to ensure that the repair effect meets the design requirements.

2. The method for minimally invasive repair of cracks in intelligently controlled shield segments according to claim 1 is characterized in that: The step S10 specifically includes the following steps: S101. Equipment preparation and installation: Select high-definition video equipment with high resolution, low distortion and good lighting adaptability to ensure that the subtle features of the segment surface can be captured. Install the high-definition video equipment in a position that can fully cover the surface of the shield segment to ensure that there are no blind spots in the shooting. S102, image acquisition: start the camera device to perform a comprehensive scan of the shield segment to obtain a high-definition image of the segment surface. During the scanning process, ensure that the camera device is stable to avoid image blur or distortion; save the acquired high-definition image to a storage device for subsequent processing and analysis; S103, image processing and analysis; pre-processing the collected high-definition images, including denoising, contrast enhancement, and edge sharpening operations, to improve image quality and facilitate subsequent analysis; using image processing software or algorithms, extracting features and detecting edges on the pre-processed images, identifying possible crack areas, and inputting the candidate crack areas identified by the image processing technology into the deep learning model. The deep learning model is trained with a large number of crack images and can automatically learn and identify the characteristics of the cracks, including position, width, and length. With the help of the deep learning model, the key parameters of the width and length of the cracks are automatically measured. For the measurement of depth parameters, ultrasonic detection is used for auxiliary measurement; S104, constructing a three-dimensional model of the cracks; integrating the crack information in the two-dimensional image including the position, width, and length to form a two-dimensional distribution map of the cracks; using three-dimensional modeling software or an algorithm, constructing a three-dimensional model of the cracks according to the two-dimensional distribution map of the cracks and the geometric size information of the pipe segment. In the modeling process, the direction, shape, and depth of the cracks need to be considered.

3. The method for minimally invasive repair of cracks in intelligently controlled shield segments according to claim 1 is characterized in that: The step S20 specifically includes the following steps: S201, Crack assessment and analysis: Review the crack identification results, including the key parameters of the crack location, shape, width, and depth, to ensure a comprehensive and accurate understanding of the crack characteristics, and evaluate the impact of the cracks on the overall structure of the segment in combination with the segment material such as concrete strength, steel configuration, and stress conditions such as load distribution and stress concentration areas; S202, repair path planning: based on the crack characteristics and segment structure, plan the optimal repair path, the path should be as short and effective as possible, while avoiding additional damage to important structures or sensitive areas on the segment, and mark the repair path on the segment for subsequent construction operations; S203. Selection of repair materials: According to the characteristics of the cracks, such as width, depth and material of the pipe segment, select repair materials with good adaptability, bonding strength, durability and environmental protection. If necessary, perform performance tests on the selected materials to ensure that they meet the repair requirements; S204. Setting of grouting parameters: According to the width and depth of the cracks and the material of the segment, the grouting pressure shall be reasonably set. The grouting pressure shall be moderate to ensure that the grouting material can fully fill the cracks without causing excessive pressure on the segment structure. According to the volume of the cracks and the performance of the grouting material, the grouting volume shall be accurately calculated. The grouting volume shall be sufficient to fill the cracks and leave a margin to ensure the repair effect.

4. The method for minimally invasive repair of cracks in intelligently controlled shield segments according to claim 3 is characterized in that: In the repair plan, appropriate grouting pumps and grouting pipes should be selected according to the requirements of grouting pressure and grouting volume. During the grouting operation, cleaning tools should be used to clean the debris and dust in the grouting holes to ensure that the grouting holes are unobstructed. The grouting pipes should be inserted into the grouting holes, and it should be ensured that the sealing between the grouting pipes and the grouting holes is good. The grouting pumps should be started to slowly inject the mixed grouting materials into the grouting holes. During the grouting process, the grouting pressure and grouting speed should be controlled to avoid excessive pressure on the segment structure or overflow of grouting materials. During the grouting process, the changes in grouting pressure and grouting volume, as well as the diffusion of grouting materials, should be closely observed. If any abnormality is found, the grouting parameters should be adjusted in time or the grouting operation should be stopped.

5. The method for minimally invasive repair of cracks in intelligently controlled shield segments according to claim 1 is characterized in that: The step S30 specifically includes the following steps: S301, assembling the device; assembling the side frame, active connection frame, passive connection frame, repair platform, multi-directional drilling mechanism and grouting system components according to the design drawings and technical requirements, ensuring that the connection of each component is tight and stable without looseness; S302, pre-debugging the multi-directional drilling mechanism; Start the multi-directional drilling mechanism and check whether its drilling direction, drilling speed and drilling depth parameters are accurate and adjustable. At the same time, observe whether there is abnormal vibration, noise or drill jam during the drilling process; S303, overall linkage debugging: After ensuring that each component is debugged normally individually, perform overall linkage debugging, start the entire device, observe whether the cooperation between the components is coordinated, whether the operation is stable, and at the same time, check whether the control system controls each component accurately and reliably.

6. The method for minimally invasive repair of cracks in intelligently controlled shield segments according to claim 1 is characterized in that: The step S40 specifically includes the following steps: S401, device installation and positioning: move the minimally invasive repair device as a whole to the predetermined position of the shield segment crack, carefully place the side frame close to the curved surface of the segment, ensure that there is no gap between the frame and the segment to achieve a good fit, and accurately adjust the position of the repair platform through the adjustment function of the active connecting frame to accurately align it with the center of the crack. This step is the key to ensure the accuracy of subsequent drilling and grouting operations; S402, crack drilling: after ensuring the accurate position of the repair platform, start the multi-directional drilling mechanism, adjust the drilling angle and depth according to the direction and depth of the crack, maintain a stable drilling speed and appropriate drilling pressure during the drilling process to avoid excessive damage to the pipe segment, stop drilling after drilling to the end of the crack or the predetermined depth, and form a connected grouting channel; S403, grouting operation; before grouting, it is necessary to prepare an appropriate amount of repair materials such as cement slurry and epoxy resin, and ensure that their quality meets the use requirements, connect the grouting pipe and the grouting system, ensure that the grouting pipeline is unobstructed, start the grouting system and start grouting according to the preset grouting pressure and grouting volume, and closely monitor the changes in the grouting pressure and grouting volume during the grouting process to ensure the smooth progress of the grouting process. During the grouting process, it is also necessary to pay attention to the changes in the grouting pressure to ensure that the grouting pressure fluctuates within a reasonable range to avoid excessive pressure on the pipe segment. When the grouting volume reaches the preset value or the crack has been fully filled, stop the grouting operation, close the grouting system and disconnect the grouting pipeline; S404. Subsequent processing: clean up the waste and residues generated during the grouting process, keep the work site clean and tidy, and check the repair effect within a period of time after the grouting is completed to observe whether the cracks have been completely filled and whether the repair materials have solidified.

7. The method for minimally invasive repair of cracks in intelligently controlled shield segments according to claim 1 is characterized in that: The step S50 specifically includes the following steps: S501, ultrasonic testing: confirm that the repair material has been fully cured, remove debris and dirt on the surface of the repair area, ensure that the test surface is flat and unobstructed, place the ultrasonic probe on the test point, start the equipment, scan according to the preset parameters, analyze the test data through the display screen of the ultrasonic testing equipment or the subsequent data processing software, and evaluate the closure degree of the crack and the internal quality of the repair material; S502, infrared thermal imaging test: Try to conduct the test under a stable ambient temperature to avoid the influence of external heat sources on the test results. Start the infrared thermal imaging equipment to scan the repair area and obtain the infrared thermal image. Use professional image processing software to analyze the infrared thermal image, evaluate the temperature distribution of the repair area, and then infer the strength and sealing of the repair material. S503, evaluate the repair effect; based on the test results of ultrasonic testing and infrared thermal imaging, comprehensively evaluate the closure degree of the crack, the strength of the repair material and the key indicators of sealing performance to determine whether the repair effect meets the design requirements; S504. Regular re-inspection: According to the project requirements or equipment operation status, regular re-inspection of the repair area shall be carried out to ensure the durability of the repair effect.

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