Hobbing cutter abnormity tracking and early warning method and device and heading machine

Abstract

The invention relates to a hob anomaly tracking and early warning method and device and a heading machine, and belongs to the technical field of tunnel construction, and the method comprises the steps: obtaining an infrared image, used for reflecting temperature distribution, of a preset region of a cutterhead, inputting the infrared image into a trained algorithm model, and recognizing a hob in the infrared image and the current temperature of the corresponding hob; identifying the number of each hob in the infrared image according to the rotation angle of the cutterhead and a prefabricated matching template between the angle of the cutterhead and the number of the hob; according to the current temperature of each hobbing cutter, the number of the hobbing cutter with the abnormal temperature is determined to achieve hobbing cutter abnormity tracking and early warning, the hobbing cutters and the temperature in the infrared image are accurately recognized through the infrared image of the preset area, the problem that the stability and reliability of the monitoring sensing device are affected by high temperature and muck splashing during rock breaking is solved, and the monitoring sensing device is high in reliability. And the cutter number of each hob in the infrared image is determined by combining the rotating angle of the cutter head, so that the precise positioning of each hob is realized, and the hob with abnormal temperature is tracked and early warned in real time.

Description

Technical Field

[0001] The invention relates to a method and device for tracking and warning abnormality of a roller cutter, and a tunnel boring machine, belonging to the technical field of tunnel construction. Background Art

[0002] During the construction process of a tunnel boring machine (TBM), the condition of the cutters on the cutterhead directly affects the machine's performance. Abnormal wear or chipping of the cutters is the most common damage. If the on-site cutter changer fails to detect and replace the cutter in a timely manner, as the damage to the cutter increases, it will cause wear or chipping of adjacent cutters, seriously affecting the construction progress.

[0003] In the prior art, each time the cutterhead tool is inspected, the tunnel boring machine must be shut down and the cabin must be opened for manual inspection, which is not only time-consuming but also involves safety hazards and other uncertainties.

[0004] To solve the above problems, the published text of the Chinese utility model patent application with authorization announcement number CN222228549U discloses a shield cutterhead temperature monitoring system, which includes several temperature monitoring sensors installed in the cutter box of the shield cutterhead, each temperature monitoring sensor is installed close to the cutter wheel, and simultaneously collects real-time temperature data of different parts of the cutterhead; the central end is installed on the inner wall of the cutterhead cavity of the shield, communicates with the temperature monitoring sensor, receives and transmits the collected temperature data; the upper computer is installed in the central control room of the shield, communicates with the industrial computer and the central end, receives the data collected by the temperature monitoring sensor forwarded by the central end, and displays the temperature data of different parts of the shield cutterhead, realizes the monitoring of the cutterhead temperature, and determines the temperature fluctuation of abnormal cutter wheels. However, when the cutter cuts rock, friction will generate a higher temperature, and there is a large amount of mud, water, slag and stone. The working environment is harsh. If the temperature sensor is installed close to the cutter, it is very easy to be damaged and has poor reliability.

[0005] In order to solve the problem of poor reliability of the monitoring system using temperature sensors mentioned above, the Chinese invention patent application with application publication number CN117029656A discloses a special-shaped sensing device, system and method for monitoring the status of a hob, including a sensing probe, the sensing probe including a shell, and a monitoring coil arranged in the shell, the monitoring coil is connected to a driving circuit, and the monitoring coil is used to make the hob ring induce an eddy current field under its action; the end of the shell has a special-shaped monitoring surface, the special-shaped monitoring surface is arranged to be concave inward to adapt to the hob ring part; a plurality of temperature measurement modules are arranged on the outer wall of the shell. By setting the recessed abnormal monitoring surface, a certain distance is maintained from the hob blade to adapt to the hob structure. Although it is not in direct contact with the hob, the abnormal monitoring surface is still close to the hob blade, and the monitoring sensor is provided with precision circuits such as a drive module. High temperature and splashing of debris during rock breaking will still affect the stability and reliability of the monitoring sensor device, thereby affecting the accuracy of the hob status monitoring results. At the same time, the monitoring sensor device is also provided with a monitoring coil, a resistor, a circuit module for driving the circuit, etc., and each hob is equipped with a monitoring sensor device, which increases the monitoring cost. Summary of the Invention

[0006] The purpose of the present invention is to provide a method and device for tracking and warning of abnormality of a roller cutter, and a roadheader, so as to solve the problem of poor reliability of the existing roller cutter status monitoring technology.

[0007] To achieve the above objectives, the present invention provides a method for tracking and warning of abnormality of a hob cutter, comprising the following steps:

[0008] 1) Obtain an infrared image of the temperature distribution of a preset area of ​​the cutterhead. Input the infrared image into a trained algorithm model to identify the reels and their current temperatures. Identify the cutter number of each reel in the infrared image based on the cutterhead rotation angle and a pre-defined template matching the cutterhead angle with the reel number.

[0009] 2) According to the current temperature of each hob, determine the hob number of the hob with abnormal hob temperature to achieve hob abnormality tracking and early warning.

[0010] Furthermore, the infrared image reflecting the temperature distribution of the preset area of ​​the cutter head is obtained by the following method:

[0011] The temperature flow data of the preset area of ​​the cutter disc is acquired by using an infrared camera; a grayscale image of the preset area is generated according to the temperature flow data; and the grayscale image of the preset area is pseudo-colored mapped into the infrared image for reflecting the temperature distribution.

[0012] Furthermore, a grayscale image is generated by the following method: normalizing the temperature flow data of the preset area to obtain a grayscale value of the preset area; and generating a grayscale image of the preset area based on the grayscale value of the preset area.

[0013] Furthermore, the cutter number of the hob with abnormal hob temperature is determined by the following method:

[0014] Within a preset first excavation mileage, the median temperature of all the cutters in the cutterhead is calculated; if the temperature difference between the temperature of the first cutter and the median temperature in the infrared image is greater than a preset first temperature threshold, the cutter number of the first cutter is determined as the cutter number of the cutter with abnormal cutter temperature.

[0015] Furthermore, the temperature of the first hob is monitored in real time, and when the monitored temperature of the first hob is within a preset temperature range of abnormally worn hobs, an early warning message carrying the cutter number of the first hob is generated.

[0016] Furthermore, the cutter number of the hob with abnormal hob temperature is determined by the following method:

[0017] Within the preset second excavation mileage, if the temperature of the second roller cutter in the infrared image is higher than the preset second temperature threshold for determining whether the roller cutter is working at high temperature, the second roller cutter number is determined as the roller cutter number with abnormal roller cutter temperature.

[0018] Furthermore, the temperature of the second hob is monitored in real time, and when the monitored temperature of the second hob is within a preset temperature range of a hob with a high risk of chipping, an early warning message carrying the second hob number is generated.

[0019] Furthermore, infrared images are collected by an infrared camera located behind the cutter head.

[0020] Furthermore, the rotation angle of the cutter disc is measured by an angle encoder provided on the cutter disc.

[0021] On the other hand, the present invention proposes a roller cutter abnormality tracking and early warning device, comprising an infrared camera for obtaining an infrared image reflecting the temperature distribution of a preset area of ​​the cutter disc and an angle encoder for measuring the rotation angle of the cutter disc, wherein the infrared camera is installed behind the cutter disc; the angle encoder is installed on the cutter disc; the device is used to execute the above-mentioned roller cutter abnormality tracking and early warning method.

[0022] On the other hand, the present invention proposes a tunnel boring machine, including a cutter abnormal tracking warning device, wherein the device is the above-mentioned cutter abnormal tracking warning device, so that the tunnel boring machine can realize cutter abnormal tracking warning of the cutter disc cutter during the tunneling process.

[0023] The beneficial effects of the present invention are as follows: an infrared image reflecting the temperature distribution of a preset area of ​​the cutter disc is obtained, the infrared image is input into a trained algorithm model, and the roller cutter and the corresponding current temperature of the roller cutter in the infrared image are identified; the cutter cutter number of each roller cutter in the infrared image is identified according to the matching template between the cutter disc rotation angle and the prefabricated cutter disc angle and the roller cutter number; the cutter cutter number of the roller cutter with abnormal roller cutter temperature is determined according to the current temperature of each roller cutter, so as to realize roller cutter abnormality tracking and early warning, and accurately identify the roller cutter and temperature in the infrared image through the infrared image of the preset area, avoiding the problem that the stability and reliability of the monitoring sensor device are affected by high temperature and splashing of debris during rock breaking, and in combination with the cutter disc rotation angle, the cutter cutter number of each roller cutter in the infrared image is determined, and accurate positioning of each roller cutter is realized, and then real-time tracking and early warning of roller cutters with abnormal temperatures are carried out, providing guidance for subsequent tool changing operations, reducing tool changing costs, and improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a method for tracking and warning of abnormality of a hob cutter proposed by the present invention;

[0025] Figure 2 It is a preset temperature rise curve envelope of a hob abnormality tracking and early warning method proposed by the present invention in an actual application scenario;

[0026] Figure 3 This is a flow chart of the identification model construction of a hob abnormality tracking and early warning method proposed by the present invention in an actual application scenario;

[0027] Figure 4 This is a system structure diagram of a hob abnormality tracking and early warning device proposed by the present invention in an actual application scenario;

[0028] Reference numerals:

[0029] T1 - the temperature zone of the hob with high risk of chipping; T2 - the temperature zone of the normal hob; T3 - the temperature zone of the abnormally worn hob. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0031] The inventive concept of the present invention is: in order to avoid the problem that the stability and reliability of the monitoring sensor device are affected by high temperature and splashing of debris during rock breaking, an infrared image of the preset area of ​​the cutter disc is obtained, and combined with the rotation angle of the cutter disc, the temperature of each roller cutter in the infrared image is obtained while locating it, and then the roller cutter with abnormal temperature is tracked and warned, so as to accurately and efficiently understand the temperature condition of each roller cutter in the cutter disc, scientifically guide the cutter change, and reduce the roller cutter wear rate and construction cost.

[0032] Method Example 1:

[0033] like Figure 1 FIG. 1 is a flow chart of a method for tracking and warning abnormalities of a hob cutter proposed by the present invention, which includes steps S11 and S12. Specifically:

[0034] Step S11, obtain an infrared image of the preset area of ​​the cutter disc to reflect the temperature distribution, input the infrared image into the trained algorithm model, identify the hob in the infrared image and the corresponding current temperature of the hob; based on the matching template between the cutter disc rotation angle and the pre-made cutter disc angle and the hob cutter number, identify the cutter number of each hob in the infrared image.

[0035] Here, the preset area refers to the area with the maximum range of image acquisition while ensuring that the infrared image is clear. In actual application scenarios, infrared images will be acquired by installing an infrared camera behind the cutterhead. The infrared camera uses Planck's law (any luminous object will radiate outward). Combined with the process of rock breaking by the cutter, the huge friction between the cutter and the rock mass causes the cutter blade to generate high temperature. As the temperature rises, the energy radiated outward by the cutter also increases, and the color changes from red to yellow and finally to white light. The infrared radiation emitted by the cutterhead is detected by the infrared sensor in the infrared camera, and the temperature distribution and heat difference on the cutterhead map are detected.

[0036] The trained algorithm model includes but is not limited to a neural network model or other models with target detection functions. Alternatively, an algorithm model such as a traditional image processing method or a deep learning method may also be used.

[0037] At the same time, the cutter disc rotation angle is measured by an angle encoder installed on the cutter disc; the identification of the cutter number of each hob in the infrared image based on the cutter disc rotation angle and the matching template between the pre-made cutter disc angle and the hob cutter number means: based on the cutter disc rotation angle, and calling the matching template between the pre-made cutter disc angle and the hob cutter number (wherein, the matching template includes the predicted angle of each column of hobs in the cutter disc, and the hob cutter numbers included in each column of hobs), determining the target hob cutter column and its cutter number corresponding to the hob in the preset area, identifying the cutter number of each hob in the infrared image, and realizing accurate and rapid acquisition of each hob in the preset area and its corresponding cutter number and real-time temperature.

[0038] Step S12, based on the current temperature of each reel, determines the reel number of the reel with abnormal temperature, and implements reel abnormality tracking and early warning. It should be noted that both steps S11 and S12 are steps of real-time acquisition, identification and tracking during the rotation of the cutterhead.

[0039] Through the above steps S11-S12, the infrared camera and angle encoder are used to identify each hob, cutter number and temperature in the preset area of ​​the cutter disc, so as to quickly screen out the hobs with abnormal temperatures, and lock the cutter numbers of the hobs with abnormal hob temperatures, perform abnormal tracking and early warning, so that the operator can check the status of the hobs in the cutter disc in real time and replace the abnormal hobs efficiently.

[0040] In a preferred embodiment of the present invention, an infrared camera installed behind the cutterhead is used to obtain an infrared image A of a preset area I of the cutterhead, wherein the infrared image A reflects the temperature distribution within the preset area I. The infrared image A is input into a trained neural network model to identify the presence of hobs 1 to 7 in the infrared image A, as well as the current temperatures corresponding to the seven hobs. An angle encoder installed on the cutterhead is used to measure the cutterhead rotation angle, and the predicted angle of each column of hobs in the cutterhead is retrieved to identify the cutter number of each hob in the infrared image A. Based on the current temperatures of hobs 1 to 7, real-time monitoring is performed to determine whether there are any abnormalities in the hob temperature. It is preferred that hobs 5 and 6 among the seven hobs be the ones with abnormal hob temperatures, wherein "5" is the cutter number of hob 5 and "6" is the cutter number of hob 6. Abnormal tracking and early warning are performed on hobs 5 and 6.

[0041] Method Example 2:

[0042] In the method for tracking and warning abnormality of a hob proposed by the present invention, the infrared image reflecting the temperature distribution of the preset area of ​​the cutter disc in step S11 is obtained by the following method:

[0043] An infrared camera is used to acquire temperature flow data from a preset area of ​​the cutterhead; a grayscale image of the preset area is generated based on the temperature flow data; and the grayscale image of the preset area is pseudo-colored to produce the infrared image reflecting the temperature distribution. Specifically, the grayscale image is generated by the following method: the temperature flow data of the preset area is normalized to obtain a grayscale value of the preset area; and a grayscale image of the preset area is generated based on the grayscale value of the preset area. Here, the temperature flow data is normalized using the following formula:

[0044]

[0045] Among them, I norm (x, y) is the grayscale value of the temperature data (x, y) after normalization, and I norm ∈[0,1]; I min is the minimum temperature value; I max is the maximum temperature value; I (x，y) is the temperature value to be normalized.

[0046] The grayscale image is pseudo-colored and mapped to an RGB image using the following formula:

[0047]

[0048] Among them, I norm (x, y) is the grayscale value of the temperature data (x, y) after normalization; f R , f G , f B Respectively represent the difference function of the red, green, and blue channels. The present invention adopts infero color mapping. The infero color mapping is defined by 5 key nodes, as shown in the following table. The difference operation is performed based on the key nodes.

[0049]

[0050] For example, the infrared camera collects the temperature flow data of the preset area I [t1, t2, t3, ..., t n ], firstly, normalize the n temperature flow data to obtain the grayscale value of the preset area [I1, I2, I3, ..., I n ]; preferably, the grayscale value of the preset area is used as the pixel value of the grayscale image to obtain the grayscale image A' of the preset area; the grayscale image A' is pseudo-colored mapped into an RGB image, that is, the infrared image A.

[0051] Method Example 3:

[0052] Abnormal tracking and early warning is to warn of phenomena such as tool chipping and uneven wear of the hob cutter during the excavation process. In a method for tracking and early warning of hob abnormality proposed by the present invention, in the above step S12, the cutter number of the hob cutter with abnormal hob temperature is determined by the following method:

[0053] Within a preset first excavation mileage, the median temperature of all the cutters in the cutterhead is calculated; if the temperature difference between the temperature of the first cutter and the median temperature in the infrared image is greater than a preset first temperature threshold, the cutter number of the first cutter is determined to be the cutter number of the cutter with abnormal cutter temperature; here, the first cutter can be determined to be an abnormally worn cutter, and the abnormally worn cutter refers to a cutter whose cutter blade is unevenly worn during the excavation process, resulting in failure to properly wear the working surface; the temperature difference between the temperature of the first cutter and the median temperature is greater than the preset first temperature threshold, indicating that the temperature of the first cutter has failed to reach the median temperature, and therefore the first cutter is unevenly worn. The first temperature threshold is set based on the temperature and median temperature of all the cutters in the cutterhead, so that the comparison between the temperature difference and the first temperature threshold can determine whether the cutter temperature is abnormal, which is not limited here.

[0054] The temperature of the first hob is monitored in real time. When the monitored temperatures of the first hob are within a preset temperature range for abnormally eccentrically worn hobs, a warning message carrying the cutter number of the first hob is generated. It should be noted that in actual application scenarios, after the first hob is identified in the cutterhead, a tracking warning is immediately performed on the host computer. In response to the monitored temperatures of the first hob being within the preset temperature range for abnormally eccentrically worn hobs, a warning message is immediately generated to alert personnel to the presence of an abnormally eccentrically worn hob.

[0055] At the same time, the cutter number of the cutter with abnormal cutter temperature is also determined by the following method:

[0056] If, within a preset second excavation mileage, the temperature of a second cutter in the infrared image exceeds a preset second temperature threshold for determining whether the cutter is operating at a high temperature, the cutter number of the second cutter is determined to be a cutter with an abnormal cutter temperature. Here, the second cutter is determined to be a cutter with a high risk of chipping, which is a cutter that is at risk of chipping due to excessive wear pressure during excavation. The fact that the temperature of the second cutter is higher than the preset second temperature threshold for determining whether the cutter is operating at a high temperature indicates that the second cutter is operating at a high temperature and is at risk of chipping. The second temperature threshold will be set based on different excavation projects or cutter operation requirements and is not limited here.

[0057] The temperature of the second hob is monitored in real time. When the monitored temperature of the second hob is within the preset temperature range for high-chipping-risk hobs, a warning message is generated, including the second hob's cutter number. Similarly, in actual application scenarios, once the second hob is identified in the cutterhead, a tracking warning is immediately issued on the host computer. In response to the monitored temperature of the second hob being within the preset temperature range for high-chipping-risk hobs, a warning message is immediately generated to alert personnel to the presence of a high-chipping-risk hob.

[0058] At the same time, the first excavation mileage is less than the second excavation mileage; the first temperature threshold is less than the second temperature threshold. The preset temperature range of the abnormal eccentric wear hob and the preset temperature range of the high chipping risk hob are both obtained by mining and analyzing a large amount of historical data. Specifically, Figure 2 The figure shows the envelope of the temperature rise curve preset in an actual application scenario of a hob abnormality tracking and early warning method. The temperature rise curve is a curve obtained by mining a large amount of historical data. The T1 area is the temperature area of ​​the hob with high chipping risk; T2 is the temperature area of ​​the normal hob; and T3 is the temperature range area of ​​the abnormal eccentric wear hob.

[0059] Meanwhile, the first roller cutter is any roller cutter in the cutter disc, and the second roller cutter is any roller cutter in the cutter disc except the first roller cutter.

[0060] Following the above embodiment of the present application, an infrared image A of the preset area I of the cutter disc is obtained, and the infrared image A is input into the trained neural network model to identify the presence of rollers 1 to 7 in the infrared image A, as well as the current temperatures corresponding to the 7 rollers. The angle encoder installed on the cutter disc is used to measure the rotation angle of the cutter disc, and the predicted angle of each column of rollers in the cutter disc is retrieved to identify the cutter number of each roller in the infrared image A. Within a number of consecutive first excavation mileages, the median temperature T' of all rollers in the cutter disc is calculated; the relationship between the temperature difference between the temperature of the 7 rollers in the infrared image A and T' and Δt1 is judged. Preferably, if the temperature difference between the temperature of roller 5 and T' is greater than Δt1, then roller 5 is an abnormally eccentrically worn roller, and "5" is determined as the roller number of the roller with abnormal roller temperature. At this time, the temperature of roller 5 is monitored in real time. When the temperature of roller 5 continues to be in the preset temperature range of abnormally eccentrically worn rollers ( Figure 2 During T3), a warning message with "5" is generated.

[0061] At the same time, within several consecutive second excavation miles, the temperature of the 7 roller cutters in the infrared image A is determined to be consistent with the maximum temperature value T of the roller cutter. max (Preferably, the preset second temperature threshold for determining whether the hob is working at a high temperature is the maximum temperature value of the hob), preferably the temperature of the hob 6 is higher than T max , then hob 6 is a high-chipping risk hob, and "6" is determined to be the hob number of the hob with abnormal hob temperature. At this time, the temperature of hob 6 is monitored in real time. When the temperature of hob 6 continues to be in the preset high-chipping risk hob temperature range ( Figure 2 During T1), a warning message with "6" is generated.

[0062] Method Example 4:

[0063] In the present invention, a method for tracking and warning abnormalities of a hob, in actual application, step S11 can be trained to be a recognition model that can identify each hob, the corresponding cutter number, and the real-time temperature. The model can be directly called to analyze the operation status of each hob in the cutter head. Specifically, Figure 3 The figure shows a flowchart of the recognition model construction of a method for tracking and warning abnormalities of roller cutters proposed by the present invention in an actual application scenario, wherein an infrared camera is used to convert the temperature flow data collected on site into an infrared image (i.e., into an RGB image), and the RGB image is input into a trained neural network model to accurately identify the position of each roller cutter in the infrared image. According to the angle encoder installed on the cutter head, the rotation angle is matched with the infrared image of the cutter head to determine the cutter number of each roller cutter in the current imaging area. The integrated infrared camera obtains the current temperature flow data, and the current temperature of each roller cutter is obtained based on the position coordinates on the infrared image.

[0064] Device Example 1:

[0065] The present invention also provides a roller cutter abnormality tracking and early warning device, comprising an infrared camera for obtaining an infrared image reflecting the temperature distribution of a preset area of ​​the cutter disc and an angle encoder for measuring the rotation angle of the cutter disc, wherein the infrared camera is installed behind the cutter disc; the angle encoder is installed on the cutter disc; and the device is used to execute the above-mentioned roller cutter abnormality tracking and early warning method.

[0066] In actual application scenarios, data is exchanged between the visualization terminal (host computer) and the hob abnormality tracking and warning device, so that the operator can observe the status of the hob in the cutter disc in real time on the host computer. Specifically, Figure 4 The figure shows a system structure diagram of a roller cutter abnormality tracking and warning device proposed in the invention in an actual application scenario. In the excavation process, the rotation angle of the cutter head is collected by an angle sensor, and the infrared image is collected by an infrared camera and uploaded to the computer terminal. The real-time visualization image is displayed on the host computer interface to realize real-time monitoring of the entire cutter head. The trained neural network model is used in the terminal to obtain a recognition model for identifying the roller cutter, cutter number, and temperature. Based on the recognition model and the real-time temperature, the warning information is output in the abnormal temperature warning model and displayed on the host computer.

[0067] Tunnel boring machine embodiment:

[0068] The present invention also provides a roadheader, comprising a cutterhead abnormality tracking warning device, such as the aforementioned cutterhead abnormality tracking warning device, which enables the roadheader to provide a warning of abnormality tracking of the cutterhead cutter during excavation. The aforementioned embodiments of the abnormality tracking warning method and device are sufficiently clear, and therefore, the embodiments of the roadheader will not be further described.

[0069] In summary, the present invention addresses the following issues: During the tunnel boring process, the temperature changes of the cutter disc hob show a certain regularity. When the hob exhibits abnormal wear or chipping, the hob temperature will also be accompanied by abnormally high or low temperatures. If the hob wears unevenly, the friction of the hob increases, and the temperature will rise rapidly compared to the past, even reaching a peak value for the entire disc. The present invention proposes: analyzing the hob temperature data detected during the tunnel boring process of the tunnel boring machine to derive the different patterns of hob temperature rise caused by different phenomena. These different patterns form sub-models, which are integrated to construct a hob abnormal temperature warning model. This method can achieve real-time visual monitoring of the hob temperature, accurately locate and issue warnings for hobs with abnormal wear or chipping, and provide guidance for on-site tool changes.

Claims

1. A method for tracking and warning of abnormality of a hob cutter, characterized in that: The steps include: 1) Obtain an infrared image of the temperature distribution of a preset cutterhead area. This image is then fed into a trained algorithm model to identify the reels and their current temperatures. The cutterhead's rotation angle and a pre-defined template matching the angle and reel number are used to identify the reel number of each reel in the infrared image. 2) Based on the current temperature of each hob, determine the hob number of the hob with abnormal hob temperature to achieve hob abnormality tracking and early warning.

2. The method for tracking and warning abnormality of a hob according to claim 1, characterized in that: The infrared image reflecting the temperature distribution of the preset area of ​​the cutter head is obtained by the following method: The temperature flow data of the preset area of ​​the cutter disc is acquired by using an infrared camera; a grayscale image of the preset area is generated according to the temperature flow data; and the grayscale image of the preset area is pseudo-colored mapped into the infrared image for reflecting the temperature distribution.

3. The method for tracking and warning of abnormality of a hob according to claim 2, characterized in that: The grayscale image is generated by the following method: normalizing the temperature flow data of the preset area to obtain the grayscale value of the preset area; and generating the grayscale image of the preset area based on the grayscale value of the preset area.

4. The method for tracking and warning of abnormality of a hob according to claim 1, characterized in that: Determine the cutter number of the cutter with abnormal cutter temperature by the following method: Within a preset first excavation mileage, the median temperature of all the cutters in the cutterhead is calculated; if the temperature difference between the temperature of the first cutter and the median temperature in the infrared image is greater than a preset first temperature threshold, the cutter number of the first cutter is determined as the cutter number of the cutter with abnormal cutter temperature.

5. The method for tracking and warning of abnormality of a hob according to claim 4, characterized in that: The temperature of the first hob is monitored in real time. When the monitored temperature of the first hob is within a preset temperature range of an abnormally worn hob, an early warning message carrying the cutter number of the first hob is generated.

6. The method for tracking and warning of abnormality of a hob according to claim 1, characterized in that: Determine the cutter number of the cutter with abnormal cutter temperature by the following method: Within the preset second excavation mileage, if the temperature of the second roller cutter in the infrared image is higher than the preset second temperature threshold for determining whether the roller cutter is working at high temperature, the second roller cutter number is determined as the roller cutter number with abnormal roller cutter temperature.

7. The method for tracking and warning of abnormality of a hob according to claim 6, characterized in that: The temperature of the second hob is monitored in real time. When the monitored temperature of the second hob is within a preset temperature range of a high-chipping risk hob, an early warning message carrying the second hob number is generated.

8. The method for tracking and warning abnormality of a hob according to any one of claims 1 to 7, characterized in that: The infrared image is collected by an infrared camera located behind the cutter head.

9. The method for tracking and warning abnormality of a hob according to any one of claims 1 to 7, characterized in that: The rotation angle of the cutter head is measured by an angle encoder installed on the cutter head.

10. A hob abnormality tracking and warning device, characterized in that: It includes an infrared camera for obtaining an infrared image reflecting the temperature distribution of a preset area of ​​the cutter disc and an angle encoder for measuring the rotation angle of the cutter disc, wherein the infrared camera is installed behind the cutter disc; the angle encoder is installed on the cutter disc; the device is used to execute the hob abnormality tracking and early warning method as described in any one of claims 1-9.

11. A tunnel boring machine, characterized in that: It includes a roller cutter abnormal tracking warning device, which is the roller cutter abnormal tracking warning device according to claim 10, so that the tunnel boring machine can implement roller cutter abnormal tracking warning for the cutter disc during the tunneling process.

Images