Automatic shield muck sorting device based on dual-mode detection

Abstract

The invention discloses an automatic shield muck sorting device based on dual-mode detection. A colorimeter and a particle analyzer face a conveying belt used for conveying shield muck; the three-way sorter comprises a feed port, a first discharge port, a second discharge port and a third discharge port which are communicated with one another; the three-way sorter is arranged below the tail end of the conveying belt, and a feeding port of the three-way sorter faces the position below the tail end of the conveying belt. When the colorimeter and the particle size analyzer detect that the shield muck on the conveyor belt is coal, the three-way sorter discharges the shield muck through the first discharge port; when the colorimeter and the particle size analyzer detect that the shield muck on the conveyor belt is sandstone, the three-way sorter discharges the shield muck through a second discharge port; and when the colorimeter and the particle size analyzer detect that the shield muck on the conveying belt is recoverable soil, the three-way sorter discharges the shield muck through a third discharge port.

Description

Technical Field

[0001] This invention relates to an automated sorting device for tunnel boring machine excavation based on dual-mode detection, specifically to a workpiece positioning and clamping device. Background Technology

[0002] The composition of tunnel boring machine (TBM) excavation soil mainly depends on the geological conditions of the construction area. Generally, it contains a variety of components. For example, TBM excavation soil produced in clay layers is mainly composed of clay particles of varying sizes, ranging from tiny nano-sized particles to larger sand-sized particles.

[0003] Currently, more and more projects are focusing on the resource utilization of tunnel boring machine (TBM) excavation. After proper processing, some TBM excavation can be used to make building materials, which presents new challenges for the sorting of TBM excavation. The main methods currently used in TBM excavation sorting are vibrating screening and manual sorting. Traditional vibrating screening cannot achieve precise separation of sandstone aggregates, resulting in inconsistent quality of the sandstone aggregates and affecting their application and performance in construction projects. Manual sorting is extremely inefficient, with a sorting capacity of less than 3 tons per hour, which is insufficient to meet the needs of large-scale projects. Moreover, sorting personnel need to work in harsh environments for extended periods, which seriously impacts their health and work efficiency. Summary of the Invention

[0004] In order to at least overcome the above-mentioned shortcomings in the prior art, the purpose of this application is to provide an automated sorting device for tunnel boring machine excavation based on dual-mode detection.

[0005] In the first aspect, embodiments of this application provide an automated sorting device for tunnel boring machine excavation based on dual-mode detection, including a conveyor belt, a colorimeter, a particle size analyzer, and a three-dimensional sorter; The colorimeter and the particle size analyzer are oriented toward the conveyor belt used for transporting tunnel excavation material; The three-way sorter includes an inlet, a first outlet, a second outlet, and a third outlet that are interconnected. The three-way sorter is located below the end of the conveyor belt, and the feed inlet of the three-way sorter faces downwards from the end of the conveyor belt. When the colorimeter and the particle size analyzer detect that the shield tunneling slag on the conveyor belt is coal, the three-way sorter discharges the shield tunneling slag through the first discharge port. When the colorimeter and the particle size analyzer detect that the shield tunneling debris on the conveyor belt is sandstone, the three-way sorter discharges the shield tunneling debris through the second discharge port. When the colorimeter and the particle size analyzer detect that the shield tunneling excavation soil on the conveyor belt is recyclable, the three-way sorter discharges the shield tunneling excavation soil through the third discharge port.

[0006] In one possible implementation, the three-way sorter further includes a first rotating shaft and a second rotating shaft; The first rotating shaft extends horizontally through the three-way sorter and is positioned between the first discharge port and the second discharge port; the first rotating shaft is perpendicular to the discharge direction of the first discharge port and the second discharge port. The second rotating shaft extends horizontally through the three-way sorter and is positioned between the second discharge port and the third discharge port; the second rotating shaft is perpendicular to the discharge direction of the second discharge port and the third discharge port.

[0007] In one possible implementation, the three-way sorter further includes a first flap and a second flap; The first flap and the second flap are disposed inside the three-way sorter; One end of the first flap is fixed to the first rotating shaft, and the first flap rotates with the first rotating shaft; One end of the second flap is fixed to the second rotating shaft, and the second flap rotates with the second rotating shaft; When the first flap rotates with the first rotating shaft to the inlet position of the first discharge port, the first flap completely covers the inlet of the first discharge port; When the first flap rotates with the first rotating shaft to the inlet position of the second discharge port, the first flap completely covers the inlet of the second discharge port; When the second flap rotates with the second shaft to the inlet position of the second discharge port, the second flap completely covers the inlet of the second discharge port; When the second flap rotates with the second shaft to the inlet position of the third discharge port, the second flap completely covers the inlet of the third discharge port.

[0008] In one possible implementation, the three-way sorter further includes a first cylinder, a second cylinder, a first connecting rod, and a second connecting rod; The cylinder bodies of the first cylinder and the second cylinder are both hinged to the outer wall of the three-way sorter; The power output end of the first cylinder is hinged to one end of the first connecting rod; the other end of the first connecting rod is hinged to one end of the first rotating shaft that extends outside the three-way sorter, and drives the first rotating shaft to rotate around its own axis. The power output end of the second cylinder is hinged to one end of the second connecting rod; the other end of the second connecting rod is hinged to one end of the second rotating shaft that extends outside the three-way sorter, and drives the second rotating shaft to rotate around its own axis.

[0009] In one possible implementation, the three-way sorter further includes a first fixed support and a second fixed support; The first fixed support is disposed on the outer wall of the three-way sorter near the first discharge port, and the cylinder body of the first cylinder is hinged to the first fixed support on the side away from the power output end. The second fixed support is disposed on the outer wall of the three-way sorter near the third discharge port, and the cylinder body of the second cylinder is hinged to the second fixed support on the side away from the power output end.

[0010] One possible implementation also includes a controller; The controller is configured to: The device receives brightness and yellow-blue intensity data of the target area of ​​the conveyor belt detected by a colorimeter, and also receives particle size data of the target area detected by a particle size analyzer. The brightness data and the particle size data are input into a preset first recognition model, and the target area is determined to be coal based on the output results. When the detection result is non-coal, the brightness data and the particle size data are input into a preset second recognition model, and the target area is determined to be sandstone based on the output result. When the detection result is not sandstone, the yellow-blue intensity and the particle size data are input into the preset third identification model, and the target area is determined to be recyclable soil based on the output result. When the test result is non-recyclable soil, the target area is identified as coal.

[0011] In one possible implementation, the first recognition model adopts the following formula: In the formula, L * The brightness data, F The proportion of particles with a diameter less than 1 mm. A 1 and A 2 These are the weighting coefficients; Q 1 represents the first identification coefficient. When the first identification coefficient is greater than the first threshold, it is determined to be coal.

[0012] In one possible implementation, the second recognition model adopts the following formula: In the formula, L * The brightness data, F The proportion of particles with a diameter less than 1 mm. B1 , B 2 and B 3 These are the weighting coefficients. S This refers to the particle size distribution width; Q 2 represents the second identification coefficient. When the second identification coefficient is greater than the second threshold, it is determined to be sandstone.

[0013] In one possible implementation, the third recognition model adopts the following formula: In the formula, F The proportion of particles with a diameter less than 1 mm. C 1 , C 2 and C 3 These are the weighting coefficients. S The particle size distribution width, b * Yellow-blue hue; Q 2 is the third identification coefficient. When the third identification coefficient is greater than the third threshold and the brightness data is greater than the brightness threshold, it is determined to be recyclable soil.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention relates to an automated shield tunneling slag sorting device based on dual-mode detection. It accurately sorts coal, sandstone, and recyclable soil using two detection methods, effectively avoiding the high misjudgment rate problem of single-sensor sorting devices. At the same time, this automated sorting process can effectively reduce manual intervention and complete the sorting work during the slag discharge process, greatly improving sorting efficiency and accuracy. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the three-way sorter of the present invention; Figure 3 This is a schematic diagram of the external structure of the three-way sorter of the present invention.

[0016] The attached diagram shows the markings and corresponding component names: 1-Conveyor belt, 2-Colorimeter, 3-Particle size analyzer, 4-Three-way sorter, 41-Inlet, 42-First outlet, 43-Second outlet, 44-Third outlet, 45-First flap, 46-Second flap, 47-First rotating shaft, 48-Second rotating shaft, 410-First fixed support, 411-Second fixed support, 412-First cylinder, 413-Second cylinder, 414-First connecting rod, 415-Second connecting rod. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0018] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] like Figure 1 As shown, the shield tunneling slag automated sorting device based on dual-mode detection in this application embodiment includes a conveyor belt 1, a colorimeter 2, a particle size analyzer 3, and a three-way sorter 4. The colorimeter 2 and the particle size analyzer 3 are oriented toward the conveyor belt 1 used for transporting tunnel excavation material; The three-way sorter 4 includes an inlet 41, a first outlet 42, a second outlet 43 and a third outlet 44 that are interconnected. The three-way sorter 4 is located below the end of the conveyor belt 1, and the feed port 41 of the three-way sorter 4 faces downward from the end of the conveyor belt 1. When the colorimeter 2 and the particle size analyzer 3 detect that the shield tunneling slag on the conveyor belt 1 is coal, the three-way sorter 4 discharges the shield tunneling slag through the first discharge port 42. When the colorimeter 2 and the particle size analyzer 3 detect that the shield tunneling slag on the conveyor belt 1 is sandstone, the three-way sorter 4 discharges the shield tunneling slag through the second discharge port 43. When the colorimeter 2 and the particle size analyzer 3 detect that the shield tunneling excavation soil on the conveyor belt 1 is recyclable soil, the three-way sorter 4 discharges the shield tunneling excavation soil through the third discharge port 44.

[0020] Furthermore, such as Figure 2 The three-way sorter 4 shown also includes a first rotating shaft 47 and a second rotating shaft 48; The first rotating shaft 47 extends horizontally through the three-way sorter 4, and the first rotating shaft 47 is disposed between the first discharge port 42 and the second discharge port 43; the first rotating shaft 47 is perpendicular to the discharge direction of the first discharge port 42 and the second discharge port 43. The second rotating shaft 48 extends horizontally through the three-way sorter 4, and is located between the second discharge port 43 and the third discharge port 44; the second rotating shaft 48 is perpendicular to the discharge direction of the second discharge port 43 and the third discharge port 44.

[0021] Furthermore, the three-way sorter 4 also includes a first flap 45 and a second flap 46; The first flap 45 and the second flap 46 are disposed inside the three-way sorter 4; One end of the first flap 45 is fixed to the first rotating shaft 47, and the first flap 45 rotates with the first rotating shaft 47; One end of the second flap 46 is fixed to the second rotating shaft 48, and the second flap 46 rotates with the second rotating shaft 48; When the first flap 45 rotates with the first rotating shaft 47 to the inlet position of the first discharge port 42, the first flap 45 completely covers the inlet of the first discharge port 42. When the first flap 45 rotates with the first rotating shaft 47 to the inlet position of the second discharge port 43, the first flap 45 completely covers the inlet of the second discharge port 43. When the second flap 46 rotates with the second rotating shaft 48 to the inlet position of the second discharge port 43, the second flap 46 completely covers the inlet of the second discharge port 43; When the second flap 46 rotates with the second rotating shaft 48 to the inlet position of the third discharge port 44, the second flap 46 completely covers the inlet of the third discharge port 44.

[0022] Furthermore, such as Figure 2As shown, the three-way sorter 4 also includes a first cylinder 412, a second cylinder 413, a first connecting rod 414, and a second connecting rod 415; The cylinder bodies of the first cylinder 412 and the second cylinder 413 are both hinged to the outer wall of the three-way sorter 4; The power output end of the first cylinder 412 is hinged to one end of the first connecting rod 414; the other end of the first connecting rod 414 is hinged to one end of the first rotating shaft 47 that extends outside the three-way sorter 4, and drives the first rotating shaft 47 to rotate around its own axis. The power output end of the second cylinder 413 is hinged to one end of the second connecting rod 415; the other end of the second connecting rod 415 is hinged to one end of the second rotating shaft 48 that extends outside the three-way sorter 4, and drives the second rotating shaft 48 to rotate around its own axis.

[0023] Furthermore, the three-way sorter 4 also includes a first fixed support 410 and a second fixed support 411; The first fixed support 410 is disposed on the outer wall of the three-way sorter 4 near the first discharge port 42, and the cylinder body of the first cylinder 412 is hinged to the first fixed support 410 on the side away from the power output end. The second fixed support 411 is disposed on the outer wall of the three-way sorter 4 near the third discharge port 44, and the cylinder body of the second cylinder 413 is hinged to the second fixed support 411 on the side away from the power output end.

[0024] In the implementation of this application embodiment, a sorting device is provided that can open only one directional channel for conveying slag at the same time. The first flap can cover the first discharge port or the second discharge port; while the second flap can cover the third discharge port or the second discharge port. Therefore, the combination of the first flap and the second flap can cover two discharge ports at the same time to ensure that the slag can be discharged from the selected discharge port.

[0025] One possible implementation also includes a controller; The controller is configured to: The device receives brightness and yellow-blue intensity data of the target area of ​​the conveyor belt detected by a colorimeter, and also receives particle size data of the target area detected by a particle size analyzer. The brightness data and the particle size data are input into a preset first recognition model, and the target area is determined to be coal based on the output results. When the detection result is non-coal, the brightness data and the particle size data are input into a preset second recognition model, and the target area is determined to be sandstone based on the output result. When the detection result is not sandstone, the yellow-blue intensity and the particle size data are input into the preset third identification model, and the target area is determined to be recyclable soil based on the output result. When the test result is non-recyclable soil, the target area is identified as coal.

[0026] In one possible implementation, the first recognition model adopts the following formula: In the formula, L * The brightness data, F The proportion of particles with a diameter less than 1 mm. A 1 and A 2 These are the weighting coefficients; Q 1 represents the first identification coefficient. When the first identification coefficient is greater than the first threshold, it is determined to be coal.

[0027] In one possible implementation, the second recognition model adopts the following formula: In the formula, L * The brightness data, F The proportion of particles with a diameter less than 1 mm. B 1 , B 2 and B 3 These are the weighting coefficients. S This refers to the particle size distribution width; Q 2 represents the second identification coefficient. When the second identification coefficient is greater than the second threshold, it is determined to be sandstone.

[0028] In one possible implementation, the third recognition model adopts the following formula: In the formula, F The proportion of particles with a diameter less than 1 mm. C 1 , C 2 and C 3 These are the weighting coefficients. S The particle size distribution width, b * Yellow-blue hue; Q 2 is the third identification coefficient. When the third identification coefficient is greater than the third threshold and the brightness data is greater than the brightness threshold, it is determined to be recyclable soil.

[0029] For example, the specific recognition model uses the following formula: In this embodiment, the detection methods described above are used to detect coal, sandstone, and recyclable soil. Coal is characterized by extremely low brightness and high fine powder content. Sandstone is characterized by high brightness, low fine powder content, and a narrow particle size distribution. Recyclable soil is characterized by a yellowish tint and a wide particle size distribution. Based on these characteristics, the parameters in the model can be fitted using a fitting method. After identifying coal, sandstone, and recyclable soil using the identification model, the first and second flaps can be controlled to transport the three types of slag and soil to their respective channels.

[0030] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0031] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0032] The units described as separate components may or may not be physically separate. As will be apparent to those skilled in the art, the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0033] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0034] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or grid device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0035] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automated shield tunneling excavation sorting device based on dual-mode detection, characterized in that, Includes a conveyor belt (1), a colorimeter (2), a particle size analyzer (3), and a three-way sorter (4); The colorimeter (2) and the particle size analyzer (3) are oriented toward the conveyor belt (1) used for transporting shield excavation soil. The three-way sorter (4) includes an inlet (41), a first outlet (42), a second outlet (43) and a third outlet (44) that are connected to each other. The three-way sorter (4) is located below the end of the conveyor belt (1), and the feed port (41) of the three-way sorter (4) faces the end of the conveyor belt (1). When the colorimeter (2) and the particle size analyzer (3) detect that the shield tunneling slag on the conveyor belt (1) is coal, the three-way sorter (4) discharges the shield tunneling slag through the first discharge port (42). When the colorimeter (2) and the particle size analyzer (3) detect that the shield excavation soil on the conveyor belt (1) is sandstone, the three-way sorter (4) discharges the shield excavation soil through the second discharge port (43); When the colorimeter (2) and the particle size analyzer (3) detect that the shield tunneling slag on the conveyor belt (1) is recyclable soil, the three-way sorter (4) discharges the shield tunneling slag through the third discharge port (44).

2. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 1, characterized in that, The three-way sorter (4) also includes a first rotating shaft (47) and a second rotating shaft (48). The first rotating shaft (47) extends horizontally through the three-way sorter (4), and the first rotating shaft (47) is located between the first discharge port (42) and the second discharge port (43); the first rotating shaft (47) is perpendicular to the discharge direction of the first discharge port (42) and the second discharge port (43); The second rotating shaft (48) extends horizontally through the three-way sorter (4), and the second rotating shaft (48) is located between the second discharge port (43) and the third discharge port (44); the second rotating shaft (48) is perpendicular to the discharge direction of the second discharge port (43) and the third discharge port (44).

3. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 2, characterized in that, The three-way sorter (4) also includes a first flip plate (45) and a second flip plate (46); The first flap (45) and the second flap (46) are disposed inside the three-way sorter (4); One end of the first flap (45) is fixed to the first rotating shaft (47), and the first flap (45) rotates with the first rotating shaft (47); One end of the second flap (46) is fixed to the second rotating shaft (48), and the second flap (46) rotates with the second rotating shaft (48); When the first flap (45) rotates with the first rotating shaft (47) to the inlet position of the first discharge port (42), the first flap (45) completely covers the inlet of the first discharge port (42); When the first flap (45) rotates with the first rotating shaft (47) to the inlet position of the second discharge port (43), the first flap (45) completely covers the inlet of the second discharge port (43); When the second flap (46) rotates with the second shaft (48) to the inlet position of the second discharge port (43), the second flap (46) completely covers the inlet of the second discharge port (43); When the second flap (46) rotates with the second shaft (48) to the inlet position of the third outlet (44), the second flap (46) completely covers the inlet of the third outlet (44).

4. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 3, characterized in that, The three-way sorter (4) also includes a first cylinder (412), a second cylinder (413), a first connecting rod (414), and a second connecting rod (415). The cylinder bodies of the first cylinder (412) and the second cylinder (413) are both hinged to the outer wall of the three-way sorter (4); The power output end of the first cylinder (412) is hinged to one end of the first connecting rod (414); the other end of the first connecting rod (414) is hinged to one end of the first rotating shaft (47) extending outside the three-way sorter (4), and drives the first rotating shaft (47) to rotate around its own axis. The power output end of the second cylinder (413) is hinged to one end of the second connecting rod (415); the other end of the second connecting rod (415) is hinged to one end of the second rotating shaft (48) extending outside the three-way sorter (4), and drives the second rotating shaft (48) to rotate around its own axis.

5. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 4, characterized in that, The three-way sorter (4) also includes a first fixed support (410) and a second fixed support (411). The first fixed support (410) is disposed on the outer wall of the three-way sorter (4) near the first discharge port (42), and the cylinder body of the first cylinder (412) is hinged to the first fixed support (410) on the side away from the power output end. The second fixed support (411) is disposed on the outer wall of the three-way sorter (4) near the third discharge port (44), and the cylinder body of the second cylinder (413) is hinged to the second fixed support (411) on the side away from the power output end.

6. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 1, characterized in that, It also includes the controller; The controller is configured to: Receive the brightness data and yellow-blue intensity data of the target area of ​​the conveyor belt (1) detected by the colorimeter (2), and receive the particle size data of the target area detected by the particle size analyzer (3); The brightness data and the particle size data are input into a preset first recognition model, and the target area is determined to be coal based on the output results. When the detection result is non-coal, the brightness data and the particle size data are input into a preset second recognition model, and the target area is determined to be sandstone based on the output result. When the detection result is not sandstone, the yellow-blue intensity and the particle size data are input into the preset third identification model, and the target area is determined to be recyclable soil based on the output result. When the test result is non-recyclable soil, the target area is identified as coal.

7. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 6, characterized in that, The first recognition model adopts the following formula: In the formula, L * The brightness data, F The proportion of particles with a diameter less than 1 mm. A 1 and A 2 These are the weighting coefficients; Q 1 represents the first identification coefficient. When the first identification coefficient is greater than the first threshold, it is determined to be coal.

8. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 6, characterized in that, The second recognition model adopts the following formula: In the formula, L * The brightness data, F The proportion of particles with a diameter less than 1 mm. B 1 , B 2 and B 3 These are the weighting coefficients. S This refers to the particle size distribution width; Q 2 represents the second identification coefficient. When the second identification coefficient is greater than the second threshold, it is determined to be sandstone.

9. The automated shield tunneling spoil sorting device based on dual-mode detection according to claim 6, characterized in that, The third recognition model adopts the following formula: In the formula, F The proportion of particles with a diameter less than 1 mm. C 1 , C 2 and C 3 These are the weighting coefficients. S The particle size distribution width, b * Yellow-blue hue; Q 2 is the third identification coefficient. When the third identification coefficient is greater than the third threshold and the brightness data is greater than the brightness threshold, it is determined to be recyclable soil.

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