A system and method for dynamically expanding and fracturing rock mass cracks during tunneling

Abstract

The present invention provides a dynamic crack propagation and rock breaking system for rock masses during tunneling, which includes a real-time rock mass crack capture module, an image processing and control module, and a particle flow pressurization and emission module arranged at the position of the boom of a roadheader. The present invention utilizes the advantages of high energy, high speed, and high precision of high-energy particle flow technology to achieve the dynamic propagation of newly formed cracks in rock masses during tunneling, assist the roadheader in breaking rocks, and simultaneously realize the synchronization of the auxiliary rock breaking process and the tunneling rock breaking process, shortening the rock breaking time and improving the rock breaking efficiency. At the same time, using image processing technology, the cracks generated during tunneling are classified, multiple cracks with the largest degree of cracking are selected, and then the high-energy particle flow is ejected along the crack propagation direction, reducing unnecessary energy loss while achieving precise and efficient rock mass propagation. The present invention also provides a method for dynamic crack propagation and rock breaking of rock masses during tunneling.

Description

Technical Field

[0001] The present invention relates to the technical field of hard rock roadway (tunnel) driving, and particularly relates to a dynamic crack expansion and rock breaking system and method for rock mass during the driving process. Background Technique

[0002] At present, rock breaking by roadheaders has become the main method for roadway (tunnel) driving. However, the lithology of some roadways (tunnels) is relatively hard and dense, and ordinary roadheaders cannot easily break the rock mass. At the same time, problems such as pick breakage often occur, resulting in great limitations in the use of roadheaders in hard rock roadways (tunnels).

[0003] For this reason, there are currently solutions to use technologies such as hydraulics and microwaves to jointly break rocks with roadheaders. For example, Chinese Patent Application No. CN114635707A discloses a method for rapid and continuous driving of hard rock roadways or tunnels based on hydraulic fracturing. First, the drilling length and arrangement method of hydraulic fracturing are found, then drilling and hydraulic fracturing are carried out, and finally mechanical cutting and rock breaking are carried out on the fractured rock mass. Chinese Patent Application No. CN107083967A discloses a method and system for using hydraulic fracturing technology to assist a tunnel boring machine in driving hard rock. By opening holes for placing telescopic drill rods on the cutting head of the roadheader, vertical drilling is carried out on the rock mass to be broken by the drill rods before driving and rock breaking, and then high-pressure water is injected to reduce the strength of the rock mass. When the scale of the rock mass cracks reaches the requirement for rock breaking, the cutting head is used for rock breaking. Chinese Patent Application No. CN113107516A discloses a hard rock tunnel boring machine with combined auxiliary rock breaking by microwave heating and high-pressure water cutting. First, microwave heating is carried out on the rock mass to be broken to reduce its strength, then the rock mass is cut by high-pressure water, and finally the roadheader is used for rock breaking.

[0004] However, the above-mentioned solutions are all static pre-fracturing of the rock mass to be broken. By a series of technologies such as drilling, adding high-pressure water, and microwave thermal radiation, the strength of the rock mass is reduced before the roadheader breaks the rock, so as to assist the roadheader in driving and rock breaking. Although such solutions can make it easier for the roadheader to drive hard rock, there are problems such as complex construction processes and long rock breaking cycles. At the same time, because the above-mentioned static auxiliary rock breaking solutions are difficult to effectively target and fracture according to the natural cracks of the rock mass, and cannot dynamically fracture the cracks generated in real time during the driving process, a large amount of additional energy is wasted during the rock mass fracturing process, and the rock breaking efficiency is reduced, which is not conducive to the rapid and efficient driving of hard rock roadways (tunnels) in the era of dynamic construction. Therefore, there is an urgent need for a solution in the field of hard rock roadway (tunnel) driving and rock breaking that can dynamically fracture the cracks generated in real time during the driving process, thereby reducing the strength of the rock mass and assisting the roadheader in rock breaking.

[0005] In addition, it should be noted that the high-energy particle beam technology is a technology that uses extremely high-energy particle beams for material processing and modification. Due to its advantages of high energy, high speed, high precision, and high controllability, it has been applied to certain extent in the fields of medicine, military industry, etc. However, in the field of rock breaking in roadway (tunnel) tunneling, the application of this technology is still in its initial stage. Summary of the Invention

[0006] The object of the present invention is to provide a solution that applies high-energy particle beam technology and realizes the synchronization of the auxiliary rock-breaking process and the tunneling rock-breaking process in view of the deficiencies in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides a dynamic crack expansion rock-breaking system for rock mass during tunneling, which includes a real-time rock mass crack capture module, an image processing and control module, and a particle beam pressurization and emission module arranged at the boom position of the tunneling machine;

[0008] The real-time rock mass crack capture module includes a first connecting arm and an industrial camera. The first connecting part is connected to the boom of the tunneling machine, and the industrial camera is connected to the first connecting part for real-time shooting of rock mass images;

[0009] The image processing and control module is communicatively connected to both the real-time rock mass crack capture module and the particle beam pressurization and emission module. The image processing and control module is used to perform grayscale processing on the image, identify cracks and cracking directions through the enhancement of image features, and transmit the information of multiple cracks with the largest crack opening to the particle beam pressurization and emission module;

[0010] The particle beam pressurization and emission module includes a particle beam pressurization and conveying assembly and a particle beam emission assembly. The particle beam pressurization and conveying assembly is used to pressurize the particle beam, and the particle beam emission assembly is used to emit the high-energy particle beam at a preset angle;

[0011] The particle beam emission assembly is connected to the boom of the tunneling machine through a second connecting part, and the particle beam emission assembly corresponds to the unbroken area in front of the rock-breaking route of the boom of the tunneling machine.

[0012] Further, the particle beam pressurization and conveying assembly includes a mounting base, a particle beam pressurization tank, an intermediate tank, and a particle beam channel. The particle beam pressurization tank is connected to the boom of the tunneling machine through the mounting base. The intermediate tank is connected to the particle beam channel and the particle beam pressurization tank. The intermediate tank is provided with an electric plugboard for controlling opening and closing, and the particle beam channel is connected to the particle beam emission assembly.

[0013] Further, the particle flow emission assembly includes a particle flow emission box, which is provided with a particle flow rotary emitter, a power supply, a motor and a signal receiver. The particle flow rotary emitter is provided with one or more flat nozzles. The particle flow rotary emitter is in transmission connection with the motor for adjusting the spraying angle. The signal receiver is used to receive the control signal of the image processing and control module, and the power supply is used to supply power to the particle flow emission box.

[0014] Further, the second connecting portion is a connecting shaft and a connecting seat. The connecting shaft is connected to the particle flow emission box. A rotary driving element is arranged in the connecting seat, and the rotary driving element is in transmission connection with the connecting shaft.

[0015] Further, three groups of the particle flow emission assemblies are provided, and three ion flow channels of the particle flow pressurized transportation assembly are correspondingly provided.

[0016] The dynamic crack expansion and rock breaking system for rock mass during tunneling further includes a rock blocking module, which is connected to the boom of the roadheader. The rock blocking module includes a rock blocking plate and a guiding plate. The rock blocking plate is arranged in an arc shape. The guiding plates are arranged on both sides of the rock blocking plate and connected to the rock blocking plate. The guiding plates are inclined. The area directly below the rock blocking plate is the position where the industrial camera takes real-time pictures.

[0017] The present invention also provides a method for dynamic crack expansion and rock breaking of rock mass during tunneling, which adopts a dynamic crack expansion and rock breaking system for rock mass during tunneling as described above, and includes the following steps:

[0018] S1. Start the roadheader and simultaneously start the particle flow pressurizing module for pressurization;

[0019] S2. Extend the cutting head of the roadheader to the preset position of the section. Record each cutting route as , and simultaneously take the center line of the cutting head as the axis, and record the broken area formed by the first part of the axis as , and record the broken area formed by the second part of the axis as ;

[0020] S3. While the roadheader is cutting, the rock mass crack real-time capture module is triggered synchronously. The industrial camera aims at the area, continuously and rapidly takes pictures of the rock mass situation during the operation, and transmits the images to the image processing and control module;

[0021] S4. The image processing and control module performs grayscale processing on the images, identifies the cracks and the cracking directions through the enhancement of image features, and transmits the information of the m cracks with the largest crack opening to the particle flow pressurizing and emitting module;

[0022] S5, the particle flow rotating emitter of the particle flow emission module rotates by a preset angle until it is aligned with the m crack directions in the area. After activation, high-energy particle flows are ejected and perform assisted fracturing along the original cracking directions of the cracks. When the roadheader turns to the cutting route, the intensity of the assisted fracturing by the high-energy particle flows at the

[0023] position decreases.

[0024] Furthermore, the roadheader breaks the rock from top to bottom along an S-shaped route. When the cutting head performs the i-th cutting, the cracks will develop towards the area where the cutting route is located below, and become more concentrated in the area.

[0025] Furthermore, S4 specifically includes the following sub-steps:

[0026] S41, convert the color image captured by the industrial camera into a grayscale image to reduce the calculation amount and highlight the crack features;

[0027] S42, use the BM3D algorithm or Gaussian filtering to smooth the grayscale image and remove the noise interference;

[0028] S43, adopt an improved Canny edge detection algorithm to extract the crack edges, calculate the gradient magnitude and direction of the image. During this period, perform non-maximum suppression on the gradient magnitude to retain the local maximum values. Subsequently, determine the strong edges and weak edges through the Otsu method, and connect the weak edges to form a complete crack contour, obtaining the region of interest (ROI) of the cracks;

[0029] S44, perform fine segmentation on the cracks within the region of interest to obtain an accurate mask of the cracks, remove the broken cracks and fill the small crack gaps; perform connected region labeling on the binary image to identify all independent crack regions, adopt eight-connected domain analysis to label the pixel sets of each crack region; calculate the crack length for each connected region, adopt a skeletonization algorithm to extract the centerline of the cracks, and calculate the number of pixels on the centerline as an approximation of the crack length; calculate the main direction of the cracks for each connected region, and use principal component analysis to calculate the main axis direction of the crack region, which is the crack propagation direction;

[0030] S45, according to the crack length and direction features, screen out the cracks that meet the requirements, and select the first m longest cracks as the target cracks;

[0031] S46, encode the information of the m screened cracks into structured data, including the crack center coordinates , crack length L, crack direction θ; Transmit the encoded crack information to the particle flow pressurization and emission module through the communication interface.

[0032] The above solution of the present invention has the following beneficial effects:

[0033] The dynamic crack propagation and rock breaking system and method for rock mass during tunneling provided by the present invention utilize the advantages of high energy, high speed, high precision, etc. of the high-energy particle flow technology. The high-energy particle flow technology is applied to the roadway (tunnel) boring machine to capture the cracks generated in the rock mass during the boring process of the boring machine in real time, and emit high-energy particle flows along the crack opening direction to the cracks, completing the whole process from the generation to the propagation of the cracks within microseconds. Furthermore, the strength of the rock mass is reduced in time during the tunneling process, realizing the dynamic propagation of newly generated cracks in the rock mass during tunneling, assisting the boring machine in rock breaking, and at the same time realizing the synchronization of the auxiliary rock breaking process and the tunneling rock breaking process, shortening the rock breaking time and improving the rock breaking efficiency;

[0034] The present invention uses image processing technology to classify the cracks generated during tunneling, screen out multiple cracks with the largest degree of cracking, and then shoot high-energy particle flows along the crack opening direction, reducing unnecessary energy loss while realizing precise and efficient rock mass propagation;

[0035] Based on the route setting method, the positional relationship between the particle flow pressurization and emission module and the boom of the boring machine, etc., the present invention differentiates the crushing area, so as to assist in crack initiation for the upper area (or lower area) of the second cutting route during the first cutting, and assist in crack initiation for the upper area (or lower area) of the third cutting route during the second cutting, and so on, better realizing the synchronization of the auxiliary rock breaking process and the tunneling rock breaking process;

[0036] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is the overall side view of the system of the present invention;

[0038] Figure 2 is the front view of the rock mass crack real-time capture module and the particle flow pressurization and emission module of the present invention;

[0039] Figure 3 is the schematic diagram of the particle flow pressurization and emission module of the present invention;

[0040] Figure 4 is the schematic diagram of the particle flow emission box of the present invention;

[0041] Figure 5 is the schematic diagram of the rock blocking module of the present invention;

[0042] Figure 6 It is the flow chart of the method steps of the present invention;

[0043] Figure 7 It is the schematic diagram of the cutting route of the present invention.

[0044]

Explanation of the attached drawing reference numerals

[0045] 1 - Boom of the roadheader; 2 - Universal robotic arm; 3 - Industrial camera; 5 - Particle flow pressure tank; 6 - Intermediate tank; 7 - Particle flow channel; 8 - Particle flow emission tank; 9 - Electric slide; 10 - Connecting shaft; 11 - Connecting seat; 12 - Particle flow rotary emission head; 13 - Power supply; 14 - Motor; 15 - Signal receiver; 16 - Rock baffle; 17 - Guide plate; 18 - Mounting hole; 19 - Dust - hanging cloth; 20 - High - pressure air outlet; 21 - Fixed snap ring. Specific implementation manners

[0046] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the attached drawings and specific embodiments. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the attached drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a locking connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] An embodiment of the present invention provides a dynamic crack propagation and rock breaking system for rock mass during tunneling. Utilizing the advantages of high energy, high velocity, and high precision of high-energy particle beam technology, the high-energy particle beam technology is applied to a roadway (tunnel) boring machine to capture in real time the cracks generated in the rock mass during the boring process of the boring machine, and emit a high-energy particle beam along the crack opening direction to the cracks, completing the whole process from crack generation to crack propagation within microseconds, thereby timely reducing the strength of the rock mass during tunneling, realizing the dynamic propagation of newly generated cracks in the rock mass during tunneling, and assisting the boring machine to break the rock. As Figure 1 , Figure 2 shown, the system provided in this embodiment includes a real-time rock mass crack capture module, an image processing and control module, and a particle beam pressurization and emission module. It should be noted that the action modes of high-energy particle beam assisted rock breaking include: kinetic energy impact, where high-speed particles impact the rock mass surface to generate transient shock waves (the peak pressure can reach the GPa level), triggering crack propagation; thermal stress assistance, where the kinetic energy of the particle beam is converted into heat energy, locally heating the rock mass to the plastic deformation temperature, reducing the strength and softening the rock, enabling further crack propagation.

[0050] In this embodiment, the real-time rock mass crack capture module includes a universal robotic arm 2 and an industrial camera 3. The universal robotic arm 2 is fixed to the bottom of the boring machine rocker arm 1 through a fixed structure, and the industrial camera 3 is installed at the execution end of the universal robotic arm 2, so that the shooting angle of the industrial camera 3 can be adjusted omnidirectionally. The industrial camera 3 is used to capture in real time the situation of the rock mass below the boring machine, and its performance is high definition and high speed. For example, the shooting frequency can be 0.01 s / time. Among them, the real-time rock mass crack capture module is electrically connected to the image processing and control module to transmit the image to the image processing and control module, and the image processing and control module processes the real-time captured image.

[0051] In this embodiment, after receiving the transmitted image, the image processing and control module performs grayscale processing on the image, enhances the image features to identify the cracks and the crack opening direction, and at the same time can reflect the crack situation on the user operation interface in the boring machine cab in real time through the GUI, and timely transmit the information of multiple cracks with the largest crack opening to the particle beam pressurization and emission module.

[0052] In this embodiment, the particle beam pressurization and emission module includes a mounting base, a particle beam pressurization tank 5, an intermediate tank 6, a particle beam channel 7, a particle beam emission tank 8, etc. Among them, the particle beam pressurization tank 5 is fixed to the boring machine rocker arm 1 by the mounting base, and can pressurize the particle beam. It can be provided with multiple-stage electromagnetic acceleration tracks to accelerate the particle beam in stages through electromagnetic fields, so that the particles reach higher kinetic energy. The intermediate tank 6 connects the particle beam channel 7 and the particle beam pressurization tank 5. The intermediate tank 6 is provided with an electric shutter 9, which is used to control the opening and closing of the particle beam entering the particle beam channel 7. Multiple particle beam channels 7 are provided, for example Figure 3The three shown are respectively coupled and connected to a particle flow emission box 8. The particle flow emission box 8 is connected to the lower, left, and right sides of the roadheader rocker arm 1 through a connecting shaft 10 and a connecting seat 11, and is located in front of the real-time rock mass crack capture module. Of course, in other embodiments, more particle flow emission boxes 8 can be provided to further improve the auxiliary rock breaking ability.

[0053] Meanwhile, as Figure 4 shown, in a specific implementation manner of this embodiment, the particle flow emission box 8 is provided with a particle flow rotary emission head 12, a power supply 13, a motor 14, and a signal receiver 15. Among them, the particle flow rotary emission head 12 is provided with one or more flat nozzles, such as Figure 3 the two nozzles shown. The particle flow rotary emission head 12 is communicated with the particle flow channel 7, and at the same time, the particle flow rotary emission head 12 is drivingly connected to the motor 14 to adjust the spraying angle through the drive of the motor 14. The signal receiver 15 is used to receive the control signal of the image processing and control module, so that the motor 14 drives the particle flow rotary emission head 12 to rotate to a preset angle, and the power supply 13 is used to supply power to the entire particle flow emission box 8.

[0054] Therefore, by adopting the particle flow emission box 8 in this form, the particle flow rotary emission head 12 can rotate according to the identified crack position and turn to an angle consistent with the crack to emit the particle flow. Compared with the current scheme of pre-reducing the rock mass strength to assist the roadheader in rock breaking, this method can hit the cracks generated in the rock mass during tunneling with high-energy particle flow, while reducing the rock mass strength and the difficulty of the roadheader in rock breaking, realizing the synchronization of the auxiliary rock breaking process and the tunneling rock breaking process, shortening the rock breaking time, and improving the rock breaking efficiency.

[0055] As a preferred implementation manner, the connecting shaft 10 in this embodiment can be further set to have a rotating function, that is, a rotation driving element and the like are also provided in the connecting seat 11 connected to the connecting shaft 10, so that the entire particle flow emission box 8 can perform angular yaw, or further increase the pitching function to achieve the purpose of more flexible adjustment of the particle flow emission and adapt to various different crack positions.

[0056] As a preferred implementation manner, nano-phase change material microcapsules can be further mixed in the high-energy particle flow in this embodiment. Among them, the nano-phase change material microcapsule is a composite material that encapsulates a phase change material (core material) in a nano-scale shell layer, and solves problems such as leakage and large volume change of traditional phase change materials through microencapsulation technology. Therefore, when high-energy particles impact the crack, the mixed microcapsules rupture to release the phase change material (exothermic), and the crack is assisted to expand through thermal shock to achieve better rock breaking efficiency.

[0057] Considering the synchronous progress of the auxiliary rock breaking process and the tunneling rock breaking process, in order to reduce the impact of rock debris and dust on the industrial camera 3 during tunneling when taking images of the rock mass, and to avoid the inability to identify cracks, in this embodiment, a rock blocking module can be further provided, which is located directly below the cutting head of the roadheader (the execution end of the roadheader boom 1) and is connected to the roadheader boom 1. At the same time, as Figure 5 shown, in a specific embodiment, the rock blocking module includes a rock blocking plate 16 and a guiding plate 17. Among them, the rock blocking plate 16 is integrally arranged in a slightly arc shape. The front edge position of the rock blocking plate 16 can resist the tunneling face. The falling rock blocks are borne by the rock blocking plate 16. And based on the slightly arc-shaped structure, the falling rock blocks will not accumulate above, but slide to both sides of the rock blocking plate 16. The guiding plate 17 is arranged on both sides of the rock blocking plate 16, and it is further arranged in an inclined manner and is connected or integrally arranged with the rock blocking plate 16. The guiding plate 17 further guides the rock blocks to fall to both sides. Therefore, there are almost no rock blocks falling in the area directly below the rock blocking plate 16, and this area is exactly the position where the industrial camera 3 takes real-time images, that is, the position of the rock mass below the cutting head. Therefore, the shielding impact on the industrial camera 3 when taking images of the rock mass can be significantly reduced.

[0058] As a further improvement, in this embodiment, a certain number of mounting holes 18 are provided on the guiding plate 17, and a dust blocking hanging cloth 19 is further installed through the mounting holes 18, so that the dust blocking hanging cloth 19 is suspended on both sides of the rock blocking plate 16, thereby further reducing the impact of dust raising when the rock blocks fall on the shooting position (depending on the situation, there is no need to hang if the dust is not large).

[0059] It can be understood that based on the settings of the rock blocking plate 16 and the guiding plate 17, there may still be some debris falling from the gap between the rock blocking plate 16 and the tunneling face. In order to reduce the impact of this part of the debris and dust, the rock blocking module further includes a high-pressure air outlet 20, which is provided in a certain number and is located near the front edge position below the rock blocking plate 16. Among them, the angle of the high-pressure air outlet 20 can be adjusted, such as obliquely upward, etc., to form an air wall to block the debris and dust from falling from the front edge of the rock blocking plate 16. It should be noted that the high-pressure air outlet 20 is connected to a corresponding fan or high-pressure pump, etc. through an air duct, and the air duct can be arranged on the surface of the roadheader boom 1 or inside the roadheader boom 1, etc.

[0060] In one specific embodiment, the rock baffle 16 is detachably connected to the boom 1 of the roadheader through a fixing snap ring 21, so that the entire rock baffle module can be conveniently assembled and disassembled and can be directly removed when not in use. The fixing snap ring 21 includes an upper part and a lower part. The lower part is connected (or integrally provided) to the trailing edge position of the rock baffle module. A snap interface is provided between the lower part and the upper part. After the whole formed by the lower part and the upper part is sleeved on a preset position of the boom 1 of the roadheader, it is fixed through the snap bolts and nuts on the snap interface, so that the fixing snap ring 21 is fixed to the boom 1 of the roadheader, thereby fixing the entire rock baffle module to the boom 1 of the roadheader.

[0061] Of course, in other embodiments, other connection methods with the boom 1 of the roadheader can also be adopted, and those skilled in the art can flexibly select based on actual requirements, the layout of the boom 1 of the roadheader, etc.

[0062] In this embodiment, through the setting of the rock baffle module, the rock blocks and the raised dust falling during rock breaking by the cutting head will not affect the area below the cutting head, so that the industrial camera 3 can smoothly and accurately capture the image of the rock mass below the cutting head, ensuring the real-time capture of the cracks generated in the rock mass, thus ensuring the dynamic crack expansion of the newly generated cracks in the rock mass during the tunneling process, and realizing the synchronization of the auxiliary rock breaking process and the tunneling rock breaking process.

[0063] Based on the same inventive concept, this embodiment also provides a method for dynamically expanding cracks in a rock mass during tunneling. Please refer to Figure 6 simultaneously, which specifically includes the following steps:

[0064] S1. The roadheader is started, and the particle flow pressurization module is synchronously started for pressurization so as to directly emit high-energy particle flow during tunneling.

[0065] S2. The roadheader first extends the cutting head to the upper left corner of the cross-section and breaks the rock along an S-shaped route, as Figure 7 shown, so as to plan the particle flow emission route. Each cutting route is denoted as , and at the same time, taking the center line of the cutting head as the axis, the broken area formed above the axis is denoted as , and the broken area formed below the axis is denoted as , providing a basis for dividing regions for subsequent particle flow emission.

[0066] It should be noted that by distinguishing the broken areas, it is possible to assist in crack initiation in the upper area (or lower area) of the second cutting route during the first cutting; assist in crack initiation in the upper area (or lower area) of the third cutting route during the second cutting; and during the i-th cutting, for Auxiliary fracturing is carried out in the upper area (or lower area) of the cutting route. Based on the S-shaped route from top to bottom, when the cutting head performs the i-th cutting, the crack will develop towards the area where the cutting route is located below (of course, it will also develop towards the remaining rock mass of the cutting route). Therefore, it will preferentially develop to the area directly below the cutting route and be more concentrated in the upper area (if the S-shaped route is from bottom to top, it will be more concentrated in the lower area). Therefore, based on the positional relationship between the particle flow pressurized emission module and the boom 1 of the roadheader, the high-energy particle flow emitted exactly corresponds to the area directly below the cutting head to enable accurate auxiliary fracturing. the area where the cutting route is located (and of course also towards the remaining rock mass of the cutting route), so it will preferentially develop to the area directly below the cutting route and be more concentrated in the upper area (if the S-shaped route is from bottom to top, it will be more concentrated in the lower area ). Therefore, based on the positional relationship between the particle flow pressurized emission module and the boom 1 of the roadheader, the high-energy particle flow emitted exactly corresponds to the area directly below the cutting head to enable accurate auxiliary fracturing.

[0067] S3, while the roadheader is cutting, the rock mass crack real-time capture module is triggered synchronously. The industrial camera 3 aims at the area below the cutting head and continuously takes high-speed pictures of the rock mass situation during the operation and transmits the images to the image processing and control module.

[0068] S4, after receiving the image set, the image processing and control module performs grayscale processing on the images. Through the enhancement of image features, it identifies the cracks and the cracking directions and transmits the information of the m cracks with the largest cracking to the particle flow pressurized emission module.

[0069] S5, after receiving the information of the m cracks, the particle flow rotating emission head 12 of the particle flow emission module rotates a certain angle to be consistent with the directions of the m cracks in the area below the cutting head. The electric plug board 9 of the middle box 6 is opened, and the high-energy particle flow randomly enters each particle flow emission box 8 through the particle flow channel 7 and shoots out, and performs auxiliary fracturing along the original cracking direction of the cracks to make them expand. When the roadheader turns to the cutting route, due to the reduction of the intensity of the high-energy particle flow-assisted fracturing at the position, the rock-breaking difficulty can be reduced.

[0070] It should be noted that in this embodiment, the specific value of m can be the same as the total number of nozzles of all the particle flow rotating emission heads 12, so that the high-energy particle flow can specifically perform auxiliary fracturing on the m cracks with the largest identified cracking. Based on the setting that the particle flow rotating emission head 12 can rotate, and further expanding the adjustment of the yaw and pitch degrees of freedom, it can be ensured as much as possible that the direction is consistent with each of the m cracks, so that the high-energy particle flow can fully enter the cracks to form kinetic energy impact and thermal stress-assisted fracturing.

[0071] It should be noted that S4 in this embodiment can specifically include the following sub-steps:

[0072] ​S41, Image Grayscale Conversion: Convert the color image captured by the industrial camera 3 into a grayscale image to reduce the computational load and highlight the crack features.

[0073] Among them, based on traditional grayscale conversion, the RGB channel weights can be dynamically adjusted according to the camera light measurement results or image histogram features. When the illumination is uneven, multi-scale Retinex or CLAHE enhancement can be selected to preserve the crack details.

[0074] Specifically, when dynamically adjusting the RGB channel weights, the dynamic weighted average method is adopted to complete the conversion from RGB to grayscale. The following formula is an example of one set of weights:

[0075] ;

[0076] where R, G, B are the original color channel values of the pixel point.

[0077] S42, Image Denoising: If the hardware permits, use the BM3D algorithm to remove the motion blur and noise generated by high-speed shooting; if the hardware does not permit, use Gaussian filtering to smooth the grayscale image and remove the interference of small particle dust.

[0078] Specifically, the two-dimensional Gaussian filter kernel function is adopted:

[0079] ;

[0080] The pixel value after filtering is:

[0081] ;

[0082] where, represents the pixel value, represents the pixel value after filtering, is the standard deviation, is the kernel radius, usually taking . The kernel size and standard deviation of Gaussian filtering need to be adjusted according to the noise level.

[0083] S43, Crack ROI Detection: Perform edge enhancement, extract crack edges using an improved Canny edge detection algorithm, and calculate the gradient magnitude and direction of the image. During this process, perform non-maximum suppression to remove non-edge pixels and only retain the pixels with the strongest response in the gradient direction; subsequently, determine strong edges and weak edges through Otsu's method and connect the weak edges to form a complete crack contour. It should be noted that the output of the Canny operator is a binary edge image, where edge pixels are 1 (white) and background pixels are 0 (black). Based on the crack edges output by the improved Canny, locate the region of interest (ROI) to focus on the crack concentration area under the cutting head, reduce unnecessary computational workload, and improve the response speed.

[0084] Specifically, when using the Canny edge detection algorithm, calculate the horizontal gradient through the Scharr operator and the vertical gradient :

[0085] ;

[0086] Therefore, the gradient magnitude and direction :

[0087] ;

[0088] Non-maximum suppression is a key step in refining edges. Its core is to retain real edge pixels by locally comparing the gradient magnitude and suppress redundant responses of non-maxima. To avoid noise interference and edge breaks, when comparing the gradient magnitude, introduce a direction consistency constraint to only retain pixels with continuous gradient directions and increasing magnitudes.

[0089] And ;

[0090] Among them, and are adjacent in the gradient direction.

[0091] When using Otsu's method, adaptively select high and low thresholds , satisfying , then the strong edge retention condition:

[0092] ;

[0093] The weak edge retention condition:

[0094] ;

[0095] Among them, weak edges are only retained when the gradient directions are consistent and connected to strong edges, otherwise they are suppressed. It should be noted that the Otsu method is more adaptable to different lighting conditions and rock texture changes compared to the traditional double-threshold method.

[0096] S44, Crack feature extraction: Use a pre-trained lightweight U-Net model to finely segment the cracks within the ROI area to obtain an accurate mask of the cracks to distinguish real cracks from rock textures; then, use image morphological processing methods to remove broken cracks and fill small crack gaps; analyze the connected regions within the ROI area, label the connected regions of the binary image, and identify all independent crack regions. Specifically, use eight-connected domain analysis to label the pixel sets of each crack region; calculate the crack length for each connected region, use the skeletonization algorithm to extract the centerline of the crack, and calculate the number of pixels on the centerline as an approximation of the crack length; calculate the main direction of the crack for each connected region, use principal component analysis (PCA) to calculate the main axis direction of the crack region, where the main axis direction is the propagation direction of the crack.

[0097] It should be noted that the purpose of connected region labeling is to divide all mutually connected crack pixels in the binary image into independent regions for subsequent analysis of features such as the length and direction of each crack. For eight-connected domain analysis, since cracks may be curved or obliquely extended, eight-connected domain analysis can more completely capture continuous crack regions and avoid breaks. Based on the skeletonization algorithm, the crack length L is approximately the number of skeleton pixels:

[0098] ;

[0099] where is the coordinate difference of adjacent skeleton pixels, usually taking .

[0100] When performing principal component analysis, calculate the covariance matrix:

[0101] ;

[0102] where is the mean coordinate of the pixels in the crack region, and N is the total number of pixels. The main direction is the direction of the eigenvector corresponding to the largest eigenvalue:

[0103] ;

[0104] Thus, the main axis direction of the crack region, that is, the propagation direction of the crack, is obtained.

[0105] S45, Crack screening and sorting: According to the crack length and direction features, screen out the cracks that meet the requirements. Specifically, it can be: Set a length threshold L min, filter out cracks with too small lengths; set the direction range θ min ~θ max , filter out cracks with directions not meeting the requirements; sort the screened cracks in descending order of length, and select the first m longest cracks as target cracks.

[0106] S46, transmission of crack information: Encode the information of the m screened cracks into structured data, including the crack center coordinates , crack length L, and crack direction θ; transmit the encoded crack information to the particle flow pressurized emission module through the communication interface for subsequent high-energy particle flow emission control.

[0107] As described above, the method for dynamically expanding and cracking rock mass cracks during tunneling provided in this embodiment, based on the route setting method, the positional relationship between the particle flow pressurized emission module and the boom 1 of the tunneling machine, etc., realizes the synchronization of the auxiliary rock-breaking process and the tunneling rock-breaking process, shortens the rock-breaking time, improves the rock-breaking efficiency, and at the same time utilizes image processing technology to identify the cracks generated during tunneling, screen out several cracks with the largest cracking degree, and then specifically emit high-energy particle flows along the crack cracking direction, achieving precise and efficient rock mass expansion while reducing unnecessary energy loss.

[0108] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope recorded in this specification.

[0109] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A dynamic crack propagation and rock breaking system for rock mass during tunneling, characterized in that, It includes a rock crack real-time capture module, an image processing and control module, and a particle flow pressurized emission module, which are set at the rocker arm position of the tunnel boring machine; The rock mass crack real-time capture module includes a first connecting arm and an industrial camera, wherein the first connecting portion is connected to the tunnel boring machine rocker arm, and the industrial camera is connected to the first connecting portion for real-time rock mass image capture; The image processing and control module is in communication with the rock mass crack real-time capture module and the particle flow pressurization emission module. The image processing and control module is used to grayscale the image, identify the cracks and cracking directions by enhancing the image features, and transmit the information of the multiple largest cracks to the particle flow pressurization emission module. The particle flow pressurization emission module includes a particle flow pressurization delivery component and a particle flow emission component, wherein the particle flow pressurization delivery component is used to pressurize the particle flow, and the particle flow emission component is used to emit the high-energy particle flow at a preset angle; The particle flow emission component is connected to the tunnel boring machine rocker arm through a second connection portion, and the particle flow emission component corresponds to the unbroken area in front of the rock breaking route of the tunnel boring machine rocker arm; A method for dynamically expanding and breaking rock mass cracks during tunneling is adopted, comprising the following steps: S1, the roadheader is turned on and the particle flow pressurization module is started synchronously for pressurization; S2, the roadheader extends the cutting head to the preset position of the cross-section, and each cutting route is recorded as , and at the same time, with the midline of the cutting head as the axis, the broken area formed by the first part of the axis is recorded as , and the broken area formed by the second part of the axis is recorded as ; S3. While the roadheader is cutting, the real-time rock mass crack capture module is triggered synchronously, and the industrial camera aims at the area, continuously and rapidly takes pictures of the rock mass during the operation, and transmits the images to the image processing and control module; S4, the image processing and control module grayscales the image, identifies cracks and cracking directions by enhancing image features, and transmits information about the m largest cracks to the particle flow pressurization emission module; S5, the particle flow rotating emitter of the particle flow emission module rotates a preset angle to align with the directions of m cracks in the area. After activation, high-energy particle flow is ejected and performs assisted cracking along the original cracking directions of the cracks. When the roadheader turns to the cutting route, the intensity of the assisted cracking by the high-energy particle flow at the The roadheader breaks the rock from top to bottom along an S-shaped route. When the cutting head makes the th cut, the cracks will develop towards the area where the cutting route is located below, and become more concentrated in the area.

2. The dynamic crack propagation and rock breaking system for rock mass cracks during tunneling according to claim 1, characterized in that, The particle flow pressurized conveying assembly includes a mounting base, a particle flow pressurized box, an intermediate box, and a particle flow channel. The particle flow pressurized box is connected to the tunnel boring machine rocker arm through the mounting base, the intermediate box is connected to the particle flow channel and the particle flow pressurized box, the intermediate box is provided with an electric plug-in plate for controlling opening and closing, and the particle flow channel is connected to the particle flow emission assembly.

3. The dynamic crack propagation and rock breaking system for rock mass cracks during tunneling according to claim 1, characterized in that, The particle flow emission assembly includes a particle flow emission box, which is provided with a particle flow rotating emission head, a power supply, a motor and a signal receiver. The particle flow rotating emission head is provided with one or more flat nozzles, and the particle flow rotating emission head is connected to the motor for adjusting the injection angle. The signal receiver is used to receive the control signal of the image processing and control module, and the power supply is used to power the particle flow emission box.

4. A dynamic crack propagation and rock breaking system for rock mass cracks during tunneling according to claim 3, characterized in that, The second connecting portion is a connecting shaft and a connecting seat. The connecting shaft is connected to the particle flow emission box. A rotation driving element is provided in the connecting seat. The rotation driving element is in driving connection with the connecting shaft.

5. The dynamic crack propagation and rock breaking system for rock mass during tunneling according to claim 2, characterized in that The particle flow emission components are provided in three groups, and the particle flow pressurized transport component has three ion flow channels provided therein.

6. The dynamic crack propagation and rock breaking system for rock mass cracks during tunneling according to claim 1, characterized in that, The dynamic crack propagation and rock breaking system for rock mass during tunneling further includes a rock blocking module, which is connected to the boom of the tunneling machine. The rock blocking module includes a rock blocking plate and a guiding plate. The rock blocking plate is arranged in an arc shape. The guiding plates are arranged on both sides of the rock blocking plate and connected to the rock blocking plate. The guiding plates are inclined. The area directly below the rock blocking plate is the position where the industrial camera takes real-time pictures.

7. A dynamic crack propagation and rock breaking system for rock mass cracks during tunneling according to claim 1, characterized in that, The value of m is the same as the total number of nozzles of all particle flow rotary emitters.

8. A dynamic crack propagation and rock breaking system for rock mass cracks during tunneling according to claim 1, characterized in that, S4 specifically includes the following sub-steps: S41: Convert the color image taken by the industrial camera into a grayscale image to reduce the amount of calculation and highlight the crack features. S42: Use the BM3D algorithm or Gaussian filtering to smooth the grayscale image and remove noise interference. S43: Adopt an improved Canny edge detection algorithm to extract the crack edges, and calculate the gradient amplitude and direction of the image. During this process, non-maximum suppression is performed on the gradient amplitude to retain the local maximum values. Subsequently, the Otsu method is used to determine the strong edges and weak edges, and the weak edges are connected to form a complete crack contour, obtaining the region of interest of the cracks. S44: Fine-segment the cracks in the region of interest to obtain an accurate mask of the cracks, remove the broken cracks and fill the gaps of small cracks. Mark the connected regions of the binary image to identify all independent crack regions. Adopt eight-connected domain analysis to mark the pixel sets of each crack region. Calculate the crack length for each connected region. Use the skeletonization algorithm to extract the center line of the crack and calculate the number of pixels of the center line as an approximation of the crack length. Calculate the main direction of the crack for each connected region. Use principal component analysis to calculate the main axis direction of the crack region, which is the crack propagation direction. S45: According to the crack length and direction features, screen out the cracks that meet the requirements, and select the first m longest cracks as the target cracks. S46, encode the m pieces of crack information filtered out into structured data, including the crack center coordinates , crack length L, and crack direction θ; transmit the encoded crack information to the particle flow pressurization and emission module through the communication interface.

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