TBM real-time rock slag monitoring device

Abstract

The invention discloses a TBM real-time rock slag monitoring device which comprises a protection box, a fixing and supporting mechanism, a data acquisition mechanism, a data exchange and storage system, a lens self-cleaning mechanism and power supply equipment. The data acquisition mechanism is used for directly performing real-time image acquisition on the rock slag on the rock slag conveying belt, and the acquired data is transmitted to the data exchange and storage system for storage, so that the continuity and the reliability of the acquired data are ensured; the position of the protection box can be flexibly adjusted through the fixing and supporting mechanism so as to adapt to different working environments and monitoring requirements, the vibration influence in TBM tunneling work is reduced, the stability during image acquisition is improved, the height and angle of the photographing cabin can be adjusted in cooperation with a driving assembly in the data acquisition mechanism, and the stability of the photographing cabin is improved. Image acquisition is performed at the optimal angle and distance all the time, so that the image acquisition quality is improved; and a lens self-cleaning mechanism is arranged to carry out self-cleaning work on a transparent part at the bottom of the photographing cabin, so that the definition of image acquisition can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel excavation construction equipment, in particular to a TBM real-time slag monitoring device. Background Art

[0002] TBM is short for Tunnel Boring Machine, which is used for tunnel construction under hard rock geological conditions. During the excavation work of TBM, rocks or rock masses will be crushed, thereby generating a large amount of rock slag, which is not only a by-product of the construction process, but also contains rich address information, which is of great significance for guiding excavation construction operations and conducting advanced geological forecasts. Through real-time monitoring and analysis of rock slag, construction personnel can timely understand the current geological conditions, identify possible geological disaster risks, and adjust the excavation parameters of TBM accordingly to improve the efficiency and safety of excavation construction.

[0003] Currently, the real-time monitoring methods for TBM rock debris mostly use manual observation and offline analysis.

[0004] When manual sampling and observation are used, construction workers take samples from the rock slag conveyor belt of the TBM regularly or irregularly during the excavation process, and use the naked eye or a microscope to observe the composition, particle size, shape and other characteristics of the rock slag. The properties of the rock mass ahead reflected by these characteristics provide a reference for the excavation operation of the TBM. The disadvantage of manual observation is that it is highly dependent on the experience and judgment of the operator, so it is highly subjective and has poor real-time performance. At the same time, due to the limited sampling frequency, it is difficult to achieve real-time monitoring of rock slag, which may lead to a delayed response to key geological changes and increase construction risks.

[0005] When using offline analysis, a fixed camera is used to shoot the slag on the slag conveyor belt to obtain image data or video data, which is then transmitted to the background for analysis. The geological conditions are assisted by feature extraction and pattern recognition of the image. The disadvantages of offline analysis are unstable image acquisition quality, unstable data transmission and storage, and difficult lens maintenance. The image quality of the camera equipment is often not high due to the influence of external factors such as vibration, dust, and light. It is easy to have blur and reflective light problems, which affects the accuracy of geological analysis. In addition, it is difficult to adapt to the shooting requirements of different angles and distances when using fixed camera equipment, which will also reduce the validity of image data. In a complex tunnel environment, the network connection is difficult to be stable, resulting in frequent interruptions in data transmission. If there is no emergency processing mechanism in the event of network disconnection, data may be lost or unable to be stored in time, affecting subsequent analysis. Since the tunnel environment is full of dust and slag, the lens of the photographic equipment is easily contaminated, resulting in reduced clarity of image acquisition, requiring frequent manual maintenance, and increasing the difficulty of operation and equipment downtime.

[0006] The utility model patent document with authorization announcement number CN220231504U discloses an analysis device for rock slag of a shield machine, including a conveying mechanism, a flushing mechanism, an image acquisition mechanism and a liquid storage tank; the conveying mechanism is arranged in the shield machine; the image acquisition mechanism can identify the rock slag on the conveying mechanism and determine the composition of the rock slag; the flushing mechanism is provided with a flushing pipeline, and a nozzle is provided on the flushing pipeline, through which water can be sprayed onto the conveying mechanism, thereby flushing the rock slag on the conveying mechanism, thereby improving the accuracy of data collected by the image acquisition mechanism; when the flushing mechanism flushes the rock slag on the conveying mechanism, the fine particles in the rock slag can be mixed with water to form a rock slag sample solution, and enter the liquid storage tank arranged below the conveying mechanism with the water flow, thereby analyzing the composition of the rock slag sample.

[0007] The invention patent application with publication number CN111879610A discloses a real-time measurement system and method for the mechanical parameters of rock slag during excavation, including a rock slag conveyor belt, a cleaning device, an image acquisition device, an on-site loading device, a handling device, an indoor physical and mechanical experimental device and a rock slag measurement system. The rock slag conveyor belt conveys rock slag, the cleaning device cleans the rock slag, the image acquisition device acquires images, the on-site loading device performs an on-site mechanical loading program on the rock slag to obtain on-site mechanical parameters, the indoor physical and mechanical experimental device obtains the mechanical properties corresponding to the rock slag experimental measurement parameters, the rock slag measurement system processes the collected image information, establishes mapping data samples through a database, and establishes a training model through a machine learning module, thereby measuring the mechanical parameters of rock slag during excavation in real time, without manual intervention, and automatically collecting a large amount of data, providing big data support for intelligent control driving of tunnel boring machines, inversion of deep mechanical parameters of tunnels, and intelligent prediction and control of rock bursts, and has the characteristics of real-time performance.

[0008] The above patent documents all disclose technical solutions for acquiring rock slag parameters by using image acquisition equipment to acquire images of rock slag and analyzing the acquired images. However, they fail to solve the technical problems of how to adjust the acquisition angle and range of the rock slag images and how to reduce environmental pollution to the lens. Therefore, there is still room for improvement in improving image acquisition effects. Summary of the invention

[0009] The technical problem to be solved by the present invention is to provide a TBM real-time slag monitoring device which can effectively improve the slag image acquisition range and the slag image acquisition clarity.

[0010] To solve the above technical problems, the technical solution adopted by the present invention is: a TBM real-time slag monitoring device, including a protection box, a fixed support mechanism, a data acquisition mechanism, a data exchange storage system, a lens self-cleaning mechanism and a power supply device;

[0011] The protection box is an openable and closable box structure, the data exchange storage system and the power supply device are arranged inside the protection box, and the power supply device is electrically connected to the data acquisition mechanism, the data exchange storage system and the lens self-cleaning mechanism;

[0012] The fixed support mechanism includes multiple groups of support rod assemblies installed at the bottom of the protection box. The support rod assembly includes a support rod and a clamping part. The two ends of the support rod are rotatably connected to the protection box and the clamping part respectively. The clamping part can be detachably connected to the slag conveyor belt of the TBM.

[0013] The data acquisition mechanism includes a photographic cabin arranged below the protective box and a driving assembly arranged inside the protective box. A photographic device for collecting images downward is arranged in the photographic cabin. The bottom of the photographic cabin is a transparent part. The photographic cabin is in transmission connection with the driving assembly. The driving assembly drives the photographic cabin to rise and fall relative to the protective box.

[0014] The data exchange storage system includes a controller, which is electrically connected to the photographic equipment in the data acquisition mechanism;

[0015] The lens self-cleaning mechanism includes a cleaning brush, a liquid storage tank and a servo motor. The cleaning brush is in contact with the transparent part at the bottom of the photographic cabin. The liquid storage tank is a cavity arranged inside the photographic cabin and is connected to the cleaning brush through an infusion tube. The servo motor is fixed on the photographic cabin. The servo motor cooperates with the cleaning brush to drive the cleaning brush to slide on the transparent part of the photographic cabin.

[0016] As an improvement of the above solution: the protective box includes a box body and a box door, the box body is provided with an opening adapted to the box door, and the box door is hinged to the box body at the opening of the box body; inclined surfaces are provided around the box body so that the longitudinal section of the box body is a trapezoid with a small top and a large bottom.

[0017] As an improvement of the above scheme: the fixed support mechanism includes four groups of support rod assemblies respectively arranged at the four corners of the bottom of the protective box; the support rods in the support rod assembly are rotatably connected to the protective box and the clamping part through a rotating wheel group, and the clamping part in the support rod assembly includes a spiral clamp and a shock-absorbing pad, the spiral clamp includes an adjusting knob and two clamping blocks arranged at intervals, the distance between the two clamping blocks can be adjusted by adjusting the knob, and the shock-absorbing pad is arranged on the opposite surfaces of the two clamping blocks.

[0018] As an improvement of the above-mentioned scheme: a plurality of photographic equipment slots for fixing photographic equipment are fixed in the photographic cabin of the data acquisition mechanism, and an optical plumbness meter and a level sensor are also provided in the photographic cabin, and both the optical plumbness meter and the level sensor are electrically connected to the controller of the data exchange and storage system; the transparent part at the bottom of the photographic cabin is anti-reflection coated glass, and the photographic cabin is also provided with an openable and closable photographic cabin door.

[0019] As an improvement of the above scheme: the driving component includes a hydraulic control device and a control and monitoring platform, the hydraulic control device and the control and monitoring platform are fixed in a protective box, the control and monitoring platform is provided with a plurality of cylinders connected to the hydraulic control device, the bottom of the protective box is provided with through holes adapted to the cylinders, the cylinders are connected to the photographic cabin after passing through the corresponding through holes; the hydraulic control device and the control and monitoring platform are electrically connected to the controller of the data exchange and storage system.

[0020] As an improvement of the above solution: the data acquisition mechanism also includes a fill light belt, which is fixed to the bottom of the protection box and located around the photography cabin.

[0021] As an improvement of the above scheme: the data exchange and storage system also includes a central router and a data storage module electrically connected to the controller; the central router is used to transmit the image data and video data collected by the photographic equipment and receive the excavation data of the TBM, and the data storage module is used to store the image data and video data transmitted by the controller; the controller determines the clarity of the image and video by performing denoising, dust detection, edge detection and frequency domain analysis on the image data and video data collected by the photographic equipment.

[0022] As an improvement on the above scheme: the cleaning brush in the lens self-cleaning mechanism is a strip structure extending along the width direction of the transparent part, the bottom of the protective box is provided with a guide groove forming a sliding fit with one end of the cleaning brush, and the servo motor is transmission-coordinated with the other end of the cleaning brush through a transmission component extending along the length direction of the transparent part; a wetting cotton is fixed on the transparent part at the starting position of the cleaning brush, and the wetting cotton is connected to the infusion tube.

[0023] As an improvement of the above solution: the power supply device is an uninterruptible power supply.

[0024] The beneficial effects of the present invention are as follows: the present invention fixes a protective box equipped with a data acquisition mechanism on the slag conveyor belt of the TBM by setting a fixed support mechanism, and uses the data acquisition mechanism to directly perform real-time image acquisition of the slag on the lower slag conveyor belt, and transmits the acquired data to the data exchange storage system for storage, thereby ensuring the continuity and reliability of the acquired data; the present invention can flexibly adjust the position of the protective box through the fixed support mechanism to adapt to different working environments and monitoring requirements, while ensuring the stability of the protective box, reducing the vibration impact during TBM excavation work, and improving the stability during image acquisition. The height and angle of the photographic cabin can also be adjusted in conjunction with the driving component in the data acquisition mechanism to ensure that the image is always acquired at the optimal angle and distance, thereby improving the quality of image acquisition; the present invention also performs self-cleaning work on the transparent part at the bottom of the photographic cabin by setting a lens self-cleaning mechanism, and uses a cleaning brush to comprehensively clean the transparent part when the transparent part is polluted by the environment to remove dust or pollutants attached to the transparent part, thereby ensuring the transparency of the transparent part, thereby effectively improving the clarity of image acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 It is a structural schematic diagram of a support rod assembly in a fixed support mechanism;

[0027] Figure 3 It is a structural schematic diagram of the image acquisition mechanism;

[0028] Figure 4 It is a schematic diagram of the internal structure of the image acquisition mechanism;

[0029] Figure 5 This is a bottom view of the image acquisition mechanism and the lens self-cleaning mechanism after assembly.

[0030] Marked in the figure: 100-protection box, 110-box door, 200-fixed support mechanism, 210-support rod, 220-clamping part, 221-screw clamp, 222-shock pad, 230-rotating wheel group, 300-data acquisition mechanism, 310-photographic cabin, 320-transparent part, 330-photographic equipment slot, 340-optical vertical meter, 350-level sensor, 360-photographic cabin door, 370-hydraulic control equipment, 380-control and monitoring platform, 390-fill light belt, 410-controller, 420-central router, 430-data storage module, 500-lens self-cleaning mechanism, 510-cleaning brush, 520-liquid storage tank, 530-servo motor, 540-infusion tube, 600-power supply equipment. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0032] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “front”, “rear”, “left”, “right”, “up”, “down” and “inside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of description. They do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0033] like Figure 1 As shown, the TBM real-time slag monitoring device disclosed in the present invention includes a protection box 100, a fixed support mechanism 200, a data acquisition mechanism 300, a data exchange storage system, a lens self-cleaning mechanism 500 and a power supply device 600. The protection box 100 is used to protect the data exchange storage system and the power supply equipment 600 installed inside the protection box 100, so as to avoid damage to the equipment due to external impact, dust pollution and other factors, and effectively improve the service life of the device; the fixed support mechanism 200 is used to support and fix the protection box 100, and the protection box 100 can be fixed on the rock slag conveyor belt of the TBM through the fixed support mechanism 200; the data acquisition mechanism 300 is used to capture images of the rock slag on the rock slag conveyor belt to realize real-time monitoring of the rock slag; the data exchange storage system is the control system of the entire TBM real-time rock slag monitoring device, which is used to receive and store the image data and video data collected by the data acquisition mechanism 300, and can issue control commands to other components; the lens self-cleaning mechanism 500 is used to clean the lens for image acquisition; the power supply equipment 600 is used to power the electrical components in the TBM real-time rock slag monitoring device.

[0034] like Figure 1 As shown, the protection box 100 in the present invention is composed of a box body and a box door 110. The box body is a hollow structure, and an opening is provided on one side of the box body. The box door 110 is hingedly connected to the opening of the box body by hinges, so that the protection box 100 can be opened and closed, so that the internal equipment of the protection box 100 can be inspected and maintained. Because there is a lot of dust and rock debris in the excavation environment of the TBM, it is easy to accumulate on the protection box 100. The present invention further improves the structure of the protection box 100, and multiple inclined surfaces are provided around the box body of the protection box 100 so that the longitudinal section of the box body presents a trapezoidal shape with a small top and a large bottom, which can cause the dust and rock debris falling on the protection box 100 to slide down and fall along the inclined surface of the box body.

[0035] like Figure 1 and Figure 2As shown, the fixed support mechanism 200 in the present invention is composed of multiple groups of support rod assemblies installed at the bottom of the protection box 100. The protection box 100 is supported by multiple groups of support rod assemblies to fix the entire TBM real-time slag monitoring device on the slag conveyor belt of the TBM. The fixing on the slag conveyor belt here refers to fixing on the frame of the slag conveyor belt. The present invention adopts four groups of support rod assemblies as a preferred solution, and the four groups of support rods are respectively arranged at the four corners of the bottom of the protection box 100.

[0036] Specifically, Figure 2 As shown, the support rod assembly is composed of a support rod 210, a clamping part 220 and a rotating wheel set 230. A set of rotating wheel sets 230 are respectively provided at both ends of the support rod 210, and the rotating wheel sets 230 respectively form a rotatable fit with the bottom of the protection box 100 and the clamping part 220. The rotating wheel set 230 can be a conventional adjustable wheel set, and the angle between the support rod 210 and the protection box 100 and the angle between the support rod 210 and the clamping part 220 can be adjusted by adjusting the rotation angle of the rotating wheel set 230. The clamping part 220 includes a spiral clamp 221 and a shock-absorbing pad 222. The spiral clamp 221 includes an adjusting knob and two clamping blocks arranged at intervals. The spacing between the two clamping blocks can be adjusted by adjusting the knob, so that the clamping part 220 is clamped and fixed on the slag conveyor belt; in addition, a shock-absorbing pad 222 is provided on the opposite surfaces of the two clamping blocks of the spiral clamp 221. The present invention can effectively improve the stability of the protection box 100 by providing a fixed support mechanism 200 to support the protection box 100. Since strong vibrations are associated with the excavation work of the TBM, which seriously affect the image acquisition effect of the rock debris, the fixed support mechanism 200 has a good shock-absorbing effect on the protection box 100 to ensure the stability of the internal components of the protection box 100, thereby solving the technical problem of unstable image acquisition quality caused by the vibration of the device; at the same time, the multiple groups of support rod assemblies of the fixed support mechanism 200 are adjustable support rod assemblies, and the connection angles at both ends of the support rod 210 are adjusted by rotating the wheel group 230, so that the TBM real-time rock debris monitoring device can be flexibly adjusted during installation and operation, so that the entire device can adapt to different working environments and monitoring requirements.

[0037] like Figure 1 As shown, the data acquisition mechanism 300 in the present invention includes a photographic cabin 310 and a driving assembly. The photographic cabin 310 is arranged below the protective box 100, and the photographic cabin 310 is used to collect real-time images of the slag on the slag conveyor belt below the TBM real-time slag monitoring device; the driving assembly is arranged inside the protective box 100, and the driving assembly is connected to the photographic cabin 310 in a transmission manner to drive the photographic cabin 310 to move, so that the photographic cabin 310 can be raised and lowered relative to the protective box 100, so that the shooting position and shooting angle of the photographic cabin 310 can be adjusted.

[0038] Specifically, Figure 3 and Figure 4 As shown, a cavity is provided inside the photographic cabin 310 of the data acquisition mechanism 300, and a photographic cabin door 360 is installed on the photographic cabin 310 to realize the opening and closing of the photographic cabin 310. A plurality of photographic equipment slots 330 are fixed inside the photographic cabin 310, and the photographic equipment can be fixed inside the photographic cabin 310 by snapping the photographic equipment in the photographic equipment slots 330. The bottom of the photographic cabin 310 is a transparent portion 320, so that the photographic equipment above the transparent portion 320 can collect the rock slag image downward through the transparent portion 320; the transparent portion 320 is made of glass or other transparent materials. In the present invention, the transparent portion 320 is made of anti-reflection coated glass to reduce the interference of light reflection on the image collection work, thereby facilitating the improvement of the clarity of the collected image. An optical plumb meter 340 and a horizontal sensor 350 are also fixedly installed in the photographic cabin 310. The optical plumb meter 340, the horizontal sensor 350 and the photographic equipment are electrically connected to the data exchange storage system and the power supply equipment 600. The optical plumb meter 340 and the horizontal sensor 350 can monitor the verticality and horizontal angle of the entire photographic cabin 310 in real time, and transmit the monitoring data to the data exchange storage system.

[0039] Specifically, Figure 3 As shown, the driving components in the data acquisition mechanism 300 include a hydraulic control device 370 and a control and monitoring platform 380. Both the hydraulic control device 370 and the control and monitoring platform 380 are fixed in the protection box 100 and are electrically connected to the data exchange storage system. A plurality of cylinders are arranged on the control and monitoring platform 380. The hydraulic control device 370 delivers high-pressure medium to the control and monitoring platform 380 to make the cylinders work. A through hole for the cylinders to pass through is arranged at the bottom of the protection box 100. After the cylinders pass through the corresponding through hole, their output ends are connected to the photographic cabin 310 below the protection box 100. The data exchange storage system receives the real-time monitoring data transmitted by the optical sag meter 340 and the level sensor 350, and controls the hydraulic control device 370 to pressurize the cylinders of the control and monitoring platform 380 through the monitoring data to adjust the angle and position of the entire photographic cabin 310, so as to adjust the shooting angle and shooting distance of the photographic equipment, ensure that the image acquisition is always at the best shooting angle and shooting distance, and thus effectively improve the quality of image acquisition.

[0040] Furthermore, in order to provide sufficient lighting for image acquisition in a low-light environment in a tunnel, the present invention further adds a fill light strip 390 to the data acquisition mechanism 300. Figure 5As shown, the fill light belt 390 is located around the photographic cabin 310, and the fill light belt 390 is fixed to the bottom of the protective box 100. The fill light belt 390 illuminates the slag conveyor belt below from above, so that the photographic equipment can capture clear slag images even in insufficient light.

[0041] like Figure 1 As shown, the data exchange storage system in the present invention is composed of a controller 410, a central router 420 and a data storage module 430 which are electrically connected. The controller 410, the central router 420 and the data storage module 430 form an efficient interactive storage link. The central router 420 can receive the excavation data from the TBM, the real-time monitoring data transmitted by the optical sag meter 340 and the horizontal sensor 350, and the image data and video data collected by the photographic equipment. The central router 420 aligns the received data with the excavation data for timestamp alignment to ensure the timing of the data is accurate. The controller 410 is used as the core scheduling unit of the TBM real-time slag monitoring device for global control of the entire device; the controller 410 not only schedules the drive components in the data acquisition mechanism 30, but is also responsible for measuring the scale, processing the collected data, and coordinating the work of each device according to demand. The data storage module 430 is used to store the image data and video data transmitted from the controller 410 when the wireless transmission is interrupted to ensure the integrity and traceability of the data. The present invention can ensure the continuity and reliability of data through the operation of the data exchange storage system even in an unstable network environment in the tunnel or in a power outage. It can not only achieve efficient data transmission and data processing, but also ensure the safe storage and timing consistency of data under adverse conditions.

[0042] The data exchange storage system in the present invention can determine whether the collected images and videos are clear by analyzing the image data and video data transmitted by the data acquisition mechanism 300, and adjust the shooting parameters accordingly to improve the shooting quality. Specifically, the controller 410 in the data exchange storage system determines the clarity of the image and video by performing denoising, dust detection, edge detection and frequency domain analysis on the image data and video data collected by the photographic device; when performing denoising, median filtering is used to reduce the noise caused by dust; when performing dust detection, the mean and variance of the image are analyzed, the brightness and contrast of the local area are compared, and possible dust areas are identified; when performing edge detection, the Laplace operator or Sobel operator is used to extract the edge information of the image to detect the edge blocked by dust; when performing frequency domain analysis, the image is Fourier transformed to evaluate the changes in high-frequency components and detect the impact of dust on clarity. Finally, the structural similarity index and contrast measurement are combined to comprehensively consider the influence of dust to obtain a final clarity score, and a threshold is set according to the clarity score. When the clarity threshold is not met, the lens self-cleaning mechanism 500 is activated to perform self-cleaning.

[0043] like Figure 1 and Figure 5As shown, the lens self-cleaning mechanism 500 in the present invention is composed of a cleaning brush 510, a moistening cotton, a liquid reservoir 520, a servo motor 530 and an infusion tube 540. The liquid reservoir 520 is a sealed cavity structure arranged inside the photographic cabin 310. An openable and closable liquid injection port connected to the liquid reservoir 520 is arranged on the photographic cabin 310, and a cleaning liquid can be injected into the liquid reservoir 520 through the liquid injection port. One end of the infusion tube 540 is connected to the liquid reservoir 520, and the other end is connected to the moistening cotton. The liquid reservoir 520 outputs the cleaning liquid to the moistening cotton through the infusion tube 540. The cleaning brush 510 is in a strip structure, and the length of the cleaning brush 510 is preferably enough to cover the width of the transparent part 320, and the cleaning brush 510 is close to the transparent part 320; a guide groove extending along the length direction of the transparent part 320 is fixed on the bottom plate of the photographic cabin 310, and one end of the cleaning brush 510 extends into the guide groove to form a sliding fit with the guide groove, and a transmission component such as a rack or a worm gear extending along the length direction of the transparent part 320 is also fixed on the bottom plate of the photographic cabin 310, and the other end of the cleaning brush 510 is in transmission fit with the transmission component. The servo motor 530 is fixed at the bottom of the photographic cabin 310, and the servo motor 530 drives the cleaning brush 510 through the transmission component, so that the cleaning brush 510 can slide along the length direction of the transparent part 320. The wet cotton is fixed at the starting position of the cleaning brush 510 on the transparent part 320. The cleaning liquid in the liquid storage tank 520 is transported to the wet cotton through the infusion tube 540. The wet cotton is wetted by the cleaning liquid. The cleaning brush 510 contacts and soaks the wet cotton at the initial position of the movement, and then wipes the transparent part 320 by sliding on the transparent part 320 to remove dust and pollutants adhering to the transparent part 320, thereby ensuring the cleanliness of the transparent part 320 and the transparent part, thereby achieving the effect of improving the clarity of the captured image. The opening and closing of the servo motor 530 in the lens self-cleaning mechanism 500 is controlled by the controller 410 of the data exchange storage system. The controller 410 determines whether to start the lens self-cleaning mechanism 500 to perform self-cleaning work on the transparent part 320 according to the clarity score of the image captured by the photographic equipment. By providing the lens self-cleaning mechanism 500, the transparent part 320 serving as a shooting relay of the photographic equipment in the present invention is always in a clean state, thus avoiding frequent manual maintenance operations and ensuring that the TBM real-time slag monitoring device can operate stably for a long time in a complex tunnel environment.

[0044] The power supply device 600 in the present invention adopts an uninterruptible power supply, which supplies power to other electrical equipment and provides a stable power supply for the entire TBM real-time slag monitoring device. Even if a sudden power outage occurs, the device can continue to work for a period of time to prevent data loss or sudden shutdown of the device.

Claims

1. TBM real-time slag monitoring device, characterized by: It comprises a protective box (100), a fixed support mechanism (200), a data acquisition mechanism (300), a data exchange storage system, a lens self-cleaning mechanism (500) and a power supply device (600); The protection box (100) is an openable and closable box structure; the data exchange storage system and the power supply device (600) are arranged inside the protection box (100); the power supply device (600) is electrically connected to the data acquisition mechanism (300), the data exchange storage system and the lens self-cleaning mechanism (500); The fixed support mechanism (200) comprises a plurality of support rod assemblies installed at the bottom of the protection box (100), the support rod assemblies comprising support rods (210) and clamping parts (220), the two ends of the support rods (210) are rotatably connected to the protection box (100) and the clamping parts (220), respectively, and the clamping parts (220) can be detachably connected to the slag conveyor belt of the TBM; The data acquisition mechanism (300) comprises a photographic cabin (310) arranged below the protective box (100) and a driving assembly arranged inside the protective box (100); a photographic device for collecting images downward is arranged inside the photographic cabin (310); the bottom of the photographic cabin (310) is a transparent portion (320); the photographic cabin (310) is in transmission connection with the driving assembly; the driving assembly drives the photographic cabin (310) to rise and fall relative to the protective box (100); The data exchange storage system includes a controller (410), and the controller (410) is electrically connected to the photographic device in the data acquisition mechanism (300); The lens self-cleaning mechanism (500) comprises a cleaning brush (510), a liquid storage tank (520) and a servo motor (530); the cleaning brush (510) is in contact with a transparent portion (320) at the bottom of a photographic cabin (310); the liquid storage tank (520) is a cavity arranged inside the photographic cabin (310) and is connected to the cleaning brush (510) through a liquid infusion tube (540); the servo motor (530) is fixed on the photographic cabin (310); the servo motor (530) and the cleaning brush (510) are in transmission cooperation with each other to drive the cleaning brush (510) to slide on the transparent portion (320) of the photographic cabin (310).

2. The TBM real-time slag monitoring device according to claim 1, characterized in that: The protective box (100) comprises a box body and a box door (110); the box body is provided with an opening matched with the box door (110); the box door (110) is hinged to the box body at the opening of the box body; inclined surfaces are provided around the box body so that the longitudinal section of the box body is a trapezoid with a small top and a large bottom.

3. The TBM real-time slag monitoring device according to claim 1, characterized in that: The fixed support mechanism (200) comprises four groups of support rod assemblies respectively arranged at the four corners of the bottom of the protection box (100); the support rods (210) in the support rod assemblies are rotatably connected to the protection box (100) and the clamping part (220) through a rotating wheel group (230); the clamping part (220) in the support rod assembly comprises a spiral clamp (221) and a shock-absorbing pad (222); the spiral clamp (221) comprises an adjusting knob and two clamping blocks arranged at intervals; the spacing between the two clamping blocks can be adjusted by adjusting the knob; the shock-absorbing pad (222) is arranged on opposite surfaces of the two clamping blocks.

4. The TBM real-time slag monitoring device according to claim 1, characterized in that: A plurality of photographic equipment slots (330) for fixing photographic equipment are fixed in the photographic cabin (310) of the data acquisition mechanism (300); an optical slump meter (340) and a level sensor (350) are also arranged in the photographic cabin (310); both the optical slump meter (340) and the level sensor (350) are electrically connected to a controller (410) of a data exchange storage system; a transparent portion (320) at the bottom of the photographic cabin (310) is anti-reflection coated glass, and an openable and closable photographic cabin door (360) is also arranged on the photographic cabin (310).

5. The TBM real-time slag monitoring device according to claim 1 or 4, characterized in that: The driving assembly comprises a hydraulic control device (370) and a control and monitoring platform (380), the hydraulic control device (370) and the control and monitoring platform (380) being fixed in a protective box (100), the control and monitoring platform (380) being provided with a plurality of cylinders connected to the hydraulic control device (370), the bottom of the protective box (100) being provided with through holes adapted to the cylinders, the cylinders being connected to the photographic cabin (310) after passing through the corresponding through holes; the hydraulic control device (370) and the control and monitoring platform (380) being electrically connected to a controller (410) of a data exchange storage system.

6. The TBM real-time slag monitoring device according to claim 4, characterized in that: The data acquisition mechanism (300) further comprises a fill light belt (390), which is fixed to the bottom of the protection box (100) and is located around the photographic cabin (310).

7. The TBM real-time slag monitoring device according to claim 1, characterized in that: The data exchange storage system also includes a central router (420) and a data storage module (430) electrically connected to the controller (410); the central router (420) is used to transmit image data and video data collected by the photographic equipment and receive TBM excavation data, and the data storage module (430) is used to store the image data and video data transmitted by the controller (410); the controller (410) determines the clarity of the image and video by performing denoising, dust detection, edge detection and frequency domain analysis on the image data and video data collected by the photographic equipment.

8. The TBM real-time slag monitoring device according to claim 1, characterized in that: The cleaning brush (510) in the lens self-cleaning mechanism (500) is a strip-shaped structure extending along the width direction of the transparent part (320); a guide groove is provided at the bottom of the protective box (100) to form a sliding fit with one end of the cleaning brush (510); the servo motor is in transmission fit with the other end of the cleaning brush (510) via a transmission component extending along the length direction of the transparent part (320); a moistening cotton is fixed on the transparent part (320) at the starting position of the movement of the cleaning brush (510), and the moistening cotton is connected to the infusion tube (540).

9. The TBM real-time slag monitoring device according to claim 1, characterized in that: The power supply device (600) is an uninterruptible power supply.

Images