Tunnel face imaging device and tunnel face imaging method

Abstract

The invention relates to a tunnel face imaging device and a tunnel face imaging method. The imaging device comprises a shell, an imaging mechanism, a first protection mechanism and a second protection mechanism, the shell is arranged in a cutter head manhole, and the shell is provided with a containing cavity; the imaging mechanism comprises an imaging module and protective glass, the imaging module is contained in the containing cavity, the protective glass is arranged on the shell and is made of a transparent material, and the imaging module is used for detecting the tunnel face; the first protection mechanism covers the side, facing the tunnel face, of the shell, the first protection mechanism is provided with an observation opening which can be selectively opened or closed, and the view field range of the imaging module is located in the protection glass and the observation opening in the first direction; the second protection mechanism comprises a baffle, the baffle is located between the protection glass and the first protection mechanism, the baffle covers the protection glass in a sealing mode when in a blocking state, and the baffle is located outside the view field of the imaging module when in an avoiding state. The imaging device can prevent falling rocks, water vapor and the like from influencing the imaging module.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring technology, and in particular to a face imaging device and a face imaging method. Background Technology

[0002] A tunnel boring machine (TBM) is a highly efficient tunnel construction equipment integrating mechanical, hydraulic, electrical, and sensor technologies. It is widely used in underground engineering projects such as railways, highways, subways, water conservancy, and municipal works. The tunnel face is the working face where the TBM is excavating during the underground engineering process; it is the front-line section of the construction. The TBM has a cutterhead located at the front of the machine. The cutterhead applies pressure to the tunnel face, breaking up the rock to advance the tunnel.

[0003] During tunnel boring machine (TBM) construction, clear imaging of the geological conditions at the tunnel face is crucial for sensing changes in the surrounding rock, assessing the stability of the excavation face, guiding adjustments to tunneling parameters, and ultimately ensuring construction safety and efficiency. Currently, temporary observation methods are commonly used. During TBM downtime, temporary imaging devices are erected to photograph the tunnel face. However, these temporary devices lack protective structures, and their lenses are easily damaged or contaminated under vibration, impact, and high humidity conditions, resulting in blurry images. Furthermore, each imaging session requires the device to be set up and dismantled, which is very time-consuming. In addition, the temporary deployment method leads to unstable positioning of the imaging device, making it prone to displacement and compromising the stability and reliability of the imaging. Summary of the Invention

[0004] Therefore, it is necessary to provide a working face imaging device and a working face imaging method to address the problems of easy damage, low efficiency and poor reliability of working face imaging devices.

[0005] A palm face imaging device, comprising:

[0006] A housing for installation inside the cutterhead manhole of a tunnel boring machine, the housing having a receiving cavity;

[0007] An imaging mechanism includes an imaging module and a protective glass. The imaging module is housed within the receiving cavity. The protective glass is disposed on the side of the housing facing the working face. The protective glass is made of transparent material, and the field of view of the imaging module along a first direction is located within the protective glass. The imaging module is used to detect the working face, and the first direction is perpendicular to the working face.

[0008] The first protective mechanism is installed on the side of the housing facing the working face. The first protective mechanism has an observation port that can be selectively opened or closed. The field of view of the imaging module along the first direction is located within the observation port.

[0009] The second protective mechanism includes a baffle located between the protective glass and the first protective mechanism. The baffle has a switchable blocking state and an avoidance state. In the blocking state, the baffle is sealed and covered by the protective glass. In the avoidance state, the baffle is located outside the field of view of the imaging module along the first direction.

[0010] In one embodiment, the first protective mechanism includes:

[0011] A cover plate is installed on the side of the shell facing the working face, and the observation port is provided on the cover plate;

[0012] A sealing plate is slidably connected to the cover plate, and the sealing plate slides to open or close the observation port;

[0013] A first drive component is configured to drive the sealing plate to slide.

[0014] In one embodiment, the first driving component includes:

[0015] First driving component;

[0016] The transmission component includes a first transmission component and a plurality of second transmission components. The first transmission component is transversely connected to the output end of the first drive component. The first drive component is configured to drive the first transmission component to rotate. The first transmission component is transversely connected to the plurality of second transmission components to drive the plurality of second transmission components to rotate. The transmission component is transversely connected to one side of the sealing plate to drive the sealing plate to slide.

[0017] In one embodiment, the first protective mechanism further includes a guide component, the guide component comprising:

[0018] A guide rod and a guide block are provided. The guide rod extends along a preset sliding direction of the sealing plate, and the guide block slides with the guide rod. One of the sealing plate and the cover plate is connected to the guide rod, and the other is connected to the guide block.

[0019] In one embodiment, the second protective mechanism further includes:

[0020] Second drive unit;

[0021] A transmission rod is connected to the output end of the second driving member, which is configured to drive the transmission rod to rotate.

[0022] The movable seat is threadedly connected to the outer circumference of the transmission rod;

[0023] A rotating shaft is rotatably configured, a movable seat is drivenly connected to the rotating shaft, and the rotating shaft is fixedly connected to the baffle. The movable seat drives the rotating shaft to rotate, so that the baffle rotates between a blocking state and an avoidance state.

[0024] In one embodiment, the second protective mechanism further includes:

[0025] The connector has one end rotatably connected to the movable seat and the other end rotatably connected to the rotating shaft. The movable seat drives the rotating shaft to rotate through the connector.

[0026] In one embodiment, the second protective mechanism further includes:

[0027] The protective box has an inner cavity, in which the second driving member, the transmission rod, and the movable seat are all located. The rotating shaft is rotatably connected to the protective box, and both ends of the rotating shaft extend out of the inner cavity of the protective box to be fixedly connected to the baffle.

[0028] In one embodiment, the housing includes:

[0029] A shell body having a communicating receiving cavity and an opening, the opening facing the working face;

[0030] A partition plate is disposed within the receiving cavity, the partition plate dividing the receiving cavity into a first cavity and a second cavity, the partition plate dividing the opening into a first opening and a second opening, the first cavity communicating with the first opening, the second cavity communicating with the second opening, the imaging module being located within the first cavity, and at least a portion of the second protective mechanism being disposed within the second cavity;

[0031] A sealing plate is used to seal the first opening, and the protective glass is disposed on the sealing plate.

[0032] In one embodiment, the imaging module includes:

[0033] A camera having a lens for imaging the working face;

[0034] The control component is communicatively connected to the camera.

[0035] A method for imaging a working face, based on the working face imaging device described above, includes:

[0036] S1. The first protective mechanism opens the observation port;

[0037] S2, The second protective mechanism switches to the avoidance state;

[0038] S3. The imaging module detects the working face;

[0039] S4. The second protective mechanism switches to the blocking state;

[0040] S5. The first protective mechanism closes the observation port.

[0041] The aforementioned face imaging device forms a multi-layered protection system through the installation of protective glass, a first protective mechanism, and a second protective mechanism. The first protective mechanism initially blocks external dust, falling rocks, etc., protecting the second protective mechanism and the imaging mechanism. The second protective mechanism further seals the protective glass, preventing external moisture from affecting the imaging module through the joint between the protective glass and the shell. The transparent protective glass not only protects against external dust and moisture during imaging but also does not obstruct the imaging module's field of view, ensuring normal imaging. The imaging device is fixed inside the cutterhead manhole and integrated with the tunnel boring machine. There is no need for setup and dismantling before or after imaging; simply switching the states of the first and second protective mechanisms is sufficient, significantly saving construction time and improving efficiency. Furthermore, fixing the imaging device within the cutterhead manhole via the shell ensures stable positioning, preventing displacement like with temporarily erected imaging devices. This guarantees imaging stability and reliability, enabling more accurate perception of surrounding rock changes and assessment of excavation face stability, providing a reliable basis for adjusting tunneling parameters, thereby ensuring construction safety and efficiency.

[0042] The aforementioned face-mounted imaging method creates a favorable detection environment for the imaging module by first opening the observation port and allowing the second protective mechanism to provide cover. This avoids the obstruction of light and images by the first and second protective mechanisms, enabling the imaging module to acquire clear and complete face-mounted images, thus improving the accuracy and reliability of the imaging. After detection, the first protective mechanism closes the observation port and the second protective mechanism switches to a blocked state, forming a dual protection system. This effectively prevents damage to the imaging module from falling rocks, dust, moisture, and other factors that may occur at the face-mounted surface, reducing the risk of damage to the imaging module due to external factors. Attached Figure Description

[0043] Figure 1 This is a schematic diagram illustrating the cooperation between the cutterhead manhole and the face imaging device provided in an embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of the structure of a palm face imaging device provided in an embodiment of the present invention.

[0045] Figure 3 This is a cross-sectional view of a palm face imaging device provided in an embodiment of the present invention.

[0046] Figure 4 This is a schematic diagram of the structure of the first protective mechanism provided in an embodiment of the present invention.

[0047] Figure 5 This is a schematic diagram of the structure of the second protective mechanism (hidden protective box) provided in an embodiment of the present invention.

[0048] Figure 6 This is a schematic diagram of the structure of the second protective mechanism provided in an embodiment of the present invention.

[0049] Figure 7 This is a flowchart of a palm face imaging method provided in an embodiment of the present invention.

[0050] The above figures include the following reference numerals:

[0051] 1. Cutterhead manhole;

[0052] 2. Working face imaging device;

[0053] 21. Shell; 211. Shell body; 2111. First cavity; 2112. Second cavity; 2113. First opening; 2114. Second opening; 212. Partition plate; 213. Sealing plate;

[0054] 22. Imaging mechanism; 221. Imaging module; 222. Protective glass;

[0055] 23. First protective mechanism; 231. Cover plate; 2311. Observation port; 232. Sealing plate; 233. First drive assembly; 2331. First drive component; 2332. Transmission component; 23321. First transmission component; 23322. Second transmission component;

[0056] 24. Second protective mechanism; 241. Baffle; 242. Second driving component; 243. Transmission rod; 244. Moving seat; 245. Rotating shaft; 246. Connecting component; 247. Protective box. Detailed Implementation

[0057] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0063] like Figures 1-3 As shown, an embodiment of the present invention provides a tunnel face imaging device 2, hereinafter referred to as the imaging device. This imaging device includes a housing 21, an imaging mechanism 22, a first protective mechanism 23, and a second protective mechanism 24. The housing 21 is installed inside the cutterhead manhole 1 of a tunnel boring machine and has a receiving cavity. The imaging mechanism 22 includes an imaging module 221 and a protective glass 222. The imaging module 221 is housed within the receiving cavity. The protective glass 222 is disposed on the side of the housing 21 facing the tunnel face. The protective glass 222 is made of transparent material, and along a first direction, the field of view of the imaging module 221 is located within the protective glass 222. The imaging module 221 is used for detecting… The tunnel face is measured in a first direction perpendicular to the tunnel face. A first protective mechanism 23 is installed on the side of the housing 21 facing the tunnel face. The first protective mechanism 23 has an observation port 2311 that can be selectively opened or closed. The field of view of the imaging module 221 along the first direction is located within the observation port 2311. A second protective mechanism 24 includes a baffle 241, which is located between the protective glass 222 and the first protective mechanism 23. The baffle 241 has a switchable blocking state and an avoidance state. In the blocking state, the baffle 241 is sealed and covered by the protective glass 222. In the avoidance state, the baffle 241 is located outside the field of view of the imaging module 221 along the first direction. Figures 1-3 The X direction in the diagram is the first direction.

[0064] The cutterhead manhole 1 is a safety opening structure on the cutterhead of a tunnel boring machine, used for personnel to enter and exit for inspection, maintenance, or obstacle removal. Multiple cutterhead manholes 1 are typically provided. Each manhole 1 provides a mounting base and storage space, allowing the imaging device to be integrated and deployed on the tunnel boring machine by placing its housing 21 within the manhole 1. The imaging module 221 is housed within the housing 21's cavity. The imaging module 221 can acquire information about the tunnel face through the transparent protective glass 222 on the side of the housing 21 facing the working face, for use in detecting the working face. The first protective mechanism 23 is installed on the side of the housing 21 facing the working face. It has an observation port 2311 that can be selectively opened or closed. The field of view of the imaging module 221 is located within the observation port 2311. When imaging is needed, the observation port 2311 is opened so that the imaging module 221 can detect and image the working face through the observation port 2311 and the protective glass 222. When imaging is not needed, the observation port 2311 is closed to prevent external falling rocks, dust and other objects from entering the cavity and damaging the imaging module 221. The baffle 241 of the second protective mechanism 24 is located between the protective glass 222 and the first protective mechanism 23. When imaging is required, the baffle 241 switches to the avoidance state. At this time, the baffle 241 is outside the field of view of the imaging module 221 along the first direction, which does not affect the imaging module 221's detection and imaging of the working face. When imaging is not required, the baffle 241 switches to the blocking state. At this time, the baffle 241 is sealed and covered by the protective glass 222, further enhancing the protection of the imaging module 221 and preventing moisture and other substances from entering the receiving cavity through the joint between the protective glass 222 and the housing 21 and affecting the imaging module 221.

[0065] This imaging device forms a multi-layered protection system by setting up a protective glass 222, a first protective mechanism 23, and a second protective mechanism 24. The first protective mechanism 23 initially blocks external dust, falling rocks, etc., and protects the second protective mechanism 24 and the imaging mechanism 22. The second protective mechanism 24 further seals the protective glass 222 to prevent external moisture and other substances from affecting the imaging module 221 through the seam between the protective glass 222 and the housing 21. The transparent protective glass 222 not only protects against external dust and moisture during the imaging process, but also does not obstruct the field of view of the imaging module 221, ensuring that the imaging module 221 can image normally. The imaging device is fixed inside the cutterhead manhole 1 and integrated with the tunnel boring machine. It eliminates the need for setup and dismantling before and after imaging; simply switching the states of the first protective mechanism 23 and the second protective mechanism 24 is sufficient, greatly saving construction time and improving efficiency. Furthermore, the method of fixing the imaging device inside the cutterhead manhole 1 via the housing 21 ensures stable positioning, preventing displacement like temporary imaging devices. This guarantees the stability and reliability of the imaging, enabling more accurate perception of surrounding rock changes and assessment of excavation face stability. It provides a reliable basis for guiding the adjustment of tunneling parameters, thereby ensuring construction safety and efficiency.

[0066] It should be noted that the housing 21 can be fixedly installed in the cutter head manhole 1 by means of a flange. This is not limited here, as long as the housing 21 can be securely fixed in the cutter head manhole 1.

[0067] Optionally, such as Figure 4As shown, the first protective mechanism 23 includes a cover plate 231, a sealing plate 232, and a first driving assembly 233. The cover plate 231 covers the side of the housing 21 facing the working face, and an observation port 2311 is provided on the cover plate 231. The sealing plate 232 is slidably connected to the cover plate 231, and the sealing plate 232 slides to open or close the observation port 2311. The first driving assembly 233 is configured to drive the sealing plate 232 to slide. A cover plate 231 is installed on the side of the housing 21 facing the working face, and an observation port 2311 is opened on the cover plate 231. The cover plate 231 can cover and protect the first protective mechanism 23 and the imaging mechanism 22, so as to protect the first protective mechanism 23 and the imaging mechanism 22. The sealing plate 232 is slidably connected to the cover plate 231, and the first component is configured to drive the sealing plate 232 to slide, realizing the automated control of the sealing plate 232's movement. There is no need to manually operate the opening and closing of the sealing plate 232. By controlling the first driving component 233, the sealing plate 232 can be quickly and accurately opened or closed to open the observation port 2311, which improves the convenience and efficiency of operation and saves manpower and time costs. During tunnel boring machine construction, the state of the sealing plate 232 can be flexibly controlled according to different construction stages and needs. When imaging detection of the tunnel face is not required, the sealing plate 232 is driven by the first drive component 233 to slide to the position of closing the observation port 2311, isolating the imaging mechanism 22 and the first protective mechanism 23 from the external environment, effectively preventing external vibration, impact, dust, falling rocks, etc. from damaging the imaging mechanism 22 and the first protective mechanism 23, and playing a good protective role. When imaging detection is required, the sealing plate 232 is driven to open the observation port 2311, so that the imaging module 221 can work normally.

[0068] It should be noted that, in the first direction, the plane of the first protective mechanism 23 facing the working face is not higher than the surface of the cutterhead, so as to ensure that the imaging device will not come into contact with the working face when the cutterhead is tunneling normally, and to ensure that the first protective mechanism 23 will not be damaged due to friction and collision with the working face.

[0069] In some embodiments, the sealing plate 232 is disposed on the side of the cover plate 231 facing the working face; in this embodiment, the sealing plate 232 is disposed on the side of the sealing plate 232 away from the working face.

[0070] Optionally, such as Figure 4As shown, the first drive assembly 233 includes a first drive member 2331 and a transmission member 2332; the transmission member 2332 includes a first transmission member 23321 and a plurality of second transmission members 23322. The output ends of the first transmission member 23321 and the first drive member 2331 are connected in a transmission manner. The first drive member 2331 is configured to drive the first transmission member 23321 to rotate. The first transmission member 23321 is connected in a transmission manner to the plurality of second transmission members 23322 to drive the plurality of second transmission members 23322 to rotate. The transmission member 2332 is connected in a transmission manner to one side of the sealing plate 232 to drive the sealing plate 232 to slide. The first driving member 2331 outputs power and is transmitted precisely to the first transmission member 23321 through a transmission connection. The first transmission member 23321 is also transmitted to several second transmission members 23322, so that the power of one first driving member 2331 can be distributed to several second transmission members 23322 at the same time, thereby enabling several second transmission members 23322 to synchronously drive the sealing plate 232 to slide, making the movement of the sealing plate 232 more stable. The second transmission member 23322 is transmitted to one side of the sealing plate 232, and can convert its own rotational motion into the linear sliding motion of the sealing plate 232.

[0071] The transmission between the first transmission component 23321 and the plurality of second transmission components 23322 can adopt common transmission methods in the prior art, such as gear transmission, chain transmission, belt transmission, etc. This embodiment does not limit this. For example, in this embodiment, the transmission between the first transmission component 23321 and the plurality of second transmission components 23322 adopts a belt transmission method.

[0072] In some optional embodiments, the output end of the first driving member 2331 is engaged with the first transmission member 23321. The engagement connection has the advantages of accurate transmission ratio and reliable operation, which can ensure that the power output by the first driving member 2331 can be stably transmitted to the first transmission member 23321.

[0073] In some alternative embodiments, the second transmission member 23322 is engaged with one side of the sealing plate 232. The engagement connection can ensure the smoothness of the transmission, reduce the vibration and impact during the sliding process of the sealing plate 232, and enable the sealing plate 232 to slide smoothly.

[0074] Specifically, the fixed end of the first driving member 2331 is located on the side of the housing 21 away from the first protective mechanism 23. The first transmission member 23321 is rotatably connected to the housing 21. The output end of the first driving member 2331 has a first meshing tooth, which meshes with the first transmission member 23321. There are two second transmission members 23322, which are located on both sides of the sealing plate 232 along its sliding direction. The second transmission members 23322 are rotatably connected to the housing 21. The second transmission member 23322 has a first end and a second end. The first end is located on the side of the housing 21 away from the first protective mechanism 23, and the second end is located on the side of the housing 21 facing the first protective mechanism 23. The sealing plate 232 has second meshing teeth on both sides along its sliding direction. The first end is connected to the first transmission member 23321, and the second end is connected to the second meshing teeth of the sealing plate 232. The first end is connected to the first transmission member 23321 by belt drive. When the output end of the first driving member 2331 rotates, it can drive the first transmission member 23321 to rotate. The first transmission member 23321 then drives the second transmission member 23322 to rotate, thereby the second transmission member 23322 drives the sealing plate 232 to slide, so as to realize the sliding opening or closing of the observation port 2311 by the sealing plate 232.

[0075] In some embodiments, the first driving element 2331 may be a stepper motor, a servo motor, a servo motor, etc. Any driving structure in the prior art can be used as the first driving element 2331 in this embodiment, and this embodiment does not limit it.

[0076] Optionally, the first protective mechanism 23 further includes a guide assembly, which includes a guide rod and a guide block. The guide rod extends along a preset sliding direction of the sealing plate 232, and the guide block slides in conjunction with the guide rod. One of the sealing plate 232 and the cover plate 231 is connected to the guide rod, and the other is connected to the guide block. The guide assembly provides precise guidance and constraint for the sliding movement of the sealing plate 232, ensuring that the sealing plate 232 can slide in the preset sliding direction and guaranteeing the accuracy and stability of the sliding trajectory of the sealing plate 232. In the working environment of the tunnel boring machine, there are various vibration and impact factors. By setting the guide assembly, the sealing plate 232 is prevented from deviating or shaking during sliding, ensuring that the sealing plate 232 can accurately open or close the observation port 2311.

[0077] In some embodiments, the sealing plate 232 is connected to a guide rod, and the cover plate 231 is connected to a guide block. In other embodiments, the sealing plate 232 is connected to a guide block, and the cover plate 231 is connected to a guide rod. The specific arrangement depends on the actual needs, and this embodiment does not limit it.

[0078] Optionally, such as Figure 5As shown, the second protective mechanism 24 also includes a second driving member 242, a transmission rod 243, a movable seat 244, and a rotating shaft 245; the transmission rod 243 is connected to the output end of the second driving member 242, and the second driving member 242 is configured to drive the transmission rod 243 to rotate; the movable seat 244 is threaded to the outer periphery of the transmission rod 243; the rotating shaft 245 is rotatably configured, the movable seat 244 is connected to the rotating shaft 245 in a transmission connection, the rotating shaft 245 is fixedly connected to the baffle 241, and the movable seat 244 drives the rotating shaft 245 to rotate, so that the baffle 241 rotates between a blocking state and an avoidance state. When the second driving component 242 is activated, its output end begins to rotate. Since the transmission rod 243 is connected to the output end of the second driving component 242, the transmission rod 243 rotates synchronously with the rotation of the second driving component 242. The movable seat 244 is threadedly connected to the outer circumference of the transmission rod 243. When the transmission rod 243 rotates, the movable seat 244 will make linear motion in the axial direction of the transmission rod 243, thereby driving the rotating shaft 245 to rotate. Because the rotating shaft 245 is fixedly connected to the baffle 241, the rotation of the rotating shaft 245 further drives the baffle 241 to rotate, so that the baffle 241 can switch between the blocking state and the avoidance state. By precisely controlling the rotation angle of the transmission rod 243 through the second driving component 242, the rotation angle of the baffle 241 can be precisely controlled, so that the baffle 241 can accurately switch between the blocking state and the avoidance state according to actual needs. Furthermore, the combined structure of the second driving component 242, the transmission rod 243, the movable seat 244, and the rotating shaft 245 is compact in design, occupies little space, and is conducive to installation and layout.

[0079] Specifically, such as Figure 5 As shown, the second protective mechanism 24 also includes a connector 246, one end of which is rotatably connected to the movable seat 244, and the other end of which is rotatably connected to the rotating shaft 245. The movable seat 244 drives the rotating shaft 245 to rotate through the connector 246. When the movable seat 244 moves linearly, it pulls back or pushes the connector 246. Because both ends of the connector 246 are rotatably connected, the connector 246 will rotate and change position around the connection point with the movable seat 244 and the rotating shaft 245, thereby converting the linear motion of the movable seat 244 into the rotation of the rotating shaft 245.

[0080] Optionally, such as Figure 6As shown, the second protective mechanism 24 also includes a protective box 247. The protective box 247 has an inner cavity, in which the second driving component 242, transmission rod 243, and movable seat 244 are all located. A rotating shaft 245 is rotatably connected to the protective box 247, and both ends of the rotating shaft 245 extend out of the inner cavity of the protective box 247 to be fixedly connected to the baffle 241. In the tunnel excavation environment, there are many pollutants such as dust and gravel. The inner cavity of the protective box 247 provides a relatively enclosed space for the second driving component 242, transmission rod 243, and movable seat 244, which can effectively block external pollutants such as dust and mud from entering, preventing these impurities from adhering to the surface of the second driving component 242, transmission rod 243, and movable seat 244 or entering the interior of the second driving component 242, transmission rod 243, and movable seat 244, thereby extending the service life of the second driving component 242, transmission rod 243, and movable seat 244. Furthermore, the protective box 247, as an integral structure, integrates components such as the second drive component 242, transmission rod 243, and movable seat 244 within its inner cavity, enhancing the structural rigidity of the second protective mechanism 24. This makes the relative positions between the second drive component 242, transmission rod 243, and movable seat 244 more stable, reducing loosening and displacement of the second drive component 242, transmission rod 243, or movable seat 244 due to vibration or external forces, and improving the working accuracy and reliability of the second protective mechanism 24.

[0081] In some embodiments, the second driving element 242 may be a stepper motor, a servo motor, a servo motor, etc. Any driving structure in the prior art can be used as the second driving element 242 in this embodiment, and this embodiment does not limit it.

[0082] Optionally, a sealing gasket is provided on the side of the baffle 241 facing the protective glass 222. The shape of the sealing gasket is adapted to the shape of the outer edge of the protective glass 222 so that the baffle 241 can be sealed and covered on the protective glass 222.

[0083] Optionally, such as Figure 3As shown, the housing 21 includes a housing body 211, a partition plate 212, and a sealing plate 213. The housing body 211 has a communicating receiving cavity and an opening, with the opening facing the working face. The partition plate 212 is disposed in the receiving cavity, dividing the receiving cavity into a first cavity 2111 and a second cavity 2112. The partition plate 212 also divides the opening into a first opening 2113 and a second opening 2114. The first cavity 2111 communicates with the first opening 2113, and the second cavity 2112 communicates with the second opening 2114. The imaging module 221 is located in the first cavity 2111, and at least a portion of the second protective mechanism 24 is disposed in the second cavity 2112. The sealing plate 213 seals the first opening 2113, and the protective glass 222 is disposed on the sealing plate 213. The shell body 211 has a connecting cavity and an opening facing the working face. The imaging module 221 is located in the first cavity 2111 separated by the partition plate 212, and the first cavity 2111 is connected to the first opening 2113. The sealing plate 213 seals the first opening 2113, and the protective glass 222 is set on the sealing plate 213. This does not affect the imaging module 221's imaging of the working face, but also protects the imaging module 221 from direct impact from gravel, dust, etc. on the working face during the imaging process, ensuring that the imaging module 221 can acquire images normally. The second cavity 2112 provides a receiving space for the second protective mechanism 24, allowing the second protective mechanism 24 to be installed in the receiving cavity of the shell 21 without affecting the imaging module 221. This allows the first protective mechanism 23 to protect the imaging mechanism 22 and the second protective mechanism 24 simultaneously.

[0084] Optionally, the imaging module 221 includes a camera and a control component. The camera has a lens for imaging the working face; the control component is communicatively connected to the camera. The camera acquires image data from the working face, and the control component interacts with the camera via the communication connection to send control commands to the camera, such as adjusting camera shooting parameters like exposure time, aperture, and focal length, to adapt to different lighting conditions and shooting requirements at the working face. Simultaneously, the camera transmits the acquired image data to the control component, which processes the received image data, performing actions such as image enhancement, noise reduction, and compression, for subsequent storage, transmission, and analysis.

[0085] like Figure 7 As shown, the present invention also provides a palm face imaging method, based on the palm face imaging device 2 described above, specifically including the following steps:

[0086] S1, First protective mechanism 23 opens observation port 2311;

[0087] S2, the second protective mechanism 24 switches to avoidance mode;

[0088] S3, Imaging module 221 detects the working face;

[0089] S4, the second protective mechanism 24 is switched to the blocking state;

[0090] S5, First protective mechanism 23, closed observation port 2311.

[0091] When imaging is required, the first protective mechanism 23 first opens the observation port 2311, establishing a path for light and image transmission for the subsequent imaging module 221 to detect the working face, allowing light and image information from the working face to smoothly enter the imaging module 221. Then, the second protective mechanism 24 switches to the avoidance state to prevent the baffle 241 from blocking the protective glass 222. After the observation port 2311 is open and the baffle 241 is in the avoidance state, the imaging module 221 detects the working face. After the detection is completed, the second protective mechanism 24 switches to the sealing state to prevent external moisture from entering the containment cavity through the joint between the protective glass 222 and the shell 21 and causing contamination to the imaging module 221. Finally, the first protective mechanism 23 closes the observation port 2311 to further strengthen the overall protection of the imaging device and prevent external dust, gravel, etc. from damaging the second protective mechanism 24 and the imaging mechanism 22.

[0092] By first opening the observation port 2311 and allowing the second protective mechanism 24 to pass, a favorable detection environment is created for the imaging module 221. This avoids the obstruction of light and images by the first and second protective mechanisms 23 and 24, enabling the imaging module 221 to acquire clear and complete images of the tunnel face, thus improving the accuracy and reliability of imaging. After the detection is completed, the first protective mechanism 23 closes the observation port 2311 and the second protective mechanism 24 switches to a blocked state, forming a dual protection system. This effectively prevents damage to the imaging module 221 from falling rocks, dust, water vapor, etc., that may occur at the tunnel face, reducing the risk of damage to the imaging module 221 due to external factors.

[0093] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0094] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A palm face imaging device, characterized in that, include: A housing (21) is provided inside the cutterhead manhole (1) of a tunnel boring machine, the housing (21) having a receiving cavity; The imaging mechanism (22) includes an imaging module (221) and a protective glass (222). The imaging module (221) is housed in the receiving cavity. The protective glass (222) is disposed on the side of the housing (21) facing the working face. The protective glass (222) is made of transparent material, and the field of view of the imaging module (221) along the first direction is located within the protective glass (222). The imaging module (221) is used to detect the working face, and the first direction is perpendicular to the working face. The first protective mechanism (23) is covered on the side of the housing (21) facing the working face. The first protective mechanism (23) has an observation port (2311) that can be selectively opened or closed. The field of view of the imaging module (221) along the first direction is located within the observation port (2311). The second protective mechanism (24) includes a baffle (241) located between the protective glass (222) and the first protective mechanism (23). The baffle (241) has a switchable blocking state and an avoidance state. In the blocking state, the baffle (241) is sealed and covered by the protective glass (222). In the avoidance state, the baffle (241) is located outside the field of view of the imaging module (221) along the first direction.

2. The face imaging device according to claim 1, characterized in that, The first protective mechanism (23) includes: A cover plate (231) is provided on the side of the shell (21) facing the working face, and the observation port (2311) is provided on the cover plate (231). A sealing plate (232) is slidably connected to the cover plate (231), and the sealing plate (232) slides to open or close the observation port (2311). The first drive component (233) is configured to drive the sealing plate (232) to slide.

3. The face imaging device according to claim 2, characterized in that, The first driving component (233) includes: First drive unit (2331); The transmission component (2332) includes a first transmission component (23321) and a plurality of second transmission components (23322). The first transmission component (23321) is connected to the output end of the first drive component (2331). The first drive component (2331) is configured to drive the first transmission component (23321) to rotate. The first transmission component (23321) is connected to the plurality of second transmission components (23322) to drive the plurality of second transmission components (23322) to rotate. The transmission component (2332) is connected to one side of the sealing plate (232) to drive the sealing plate (232) to slide.

4. The palm face imaging device according to claim 2, characterized in that, The first protective mechanism (23) further includes a guide assembly, the guide assembly comprising: The guide rod extends along the preset sliding direction of the sealing plate (232), and the guide block slides with the guide rod. One of the sealing plate (232) and the cover plate (231) is connected to the guide rod, and the other is connected to the guide block.

5. The face imaging device according to claim 1, characterized in that, The second protective mechanism (24) also includes: Second drive unit (242); A transmission rod (243) is connected to the output end of the second drive member (242), which is configured to drive the transmission rod (243) to rotate. The movable seat (244) is threadedly connected to the outer periphery of the transmission rod (243); A rotating shaft (245) is rotatably configured. A movable seat (244) is connected to the rotating shaft (245) in a transmission manner. The rotating shaft (245) is fixedly connected to the baffle (241). The movable seat (244) drives the rotating shaft (245) to rotate, so that the baffle (241) can rotate between a blocking state and an avoidance state.

6. The face imaging device according to claim 5, characterized in that, The second protective mechanism (24) also includes: The connector (246) is rotatably connected at one end to the movable seat (244) and rotatably connected at the other end to the rotating shaft (245). The movable seat (244) drives the rotating shaft (245) to rotate through the connector (246).

7. The face imaging device according to claim 5, characterized in that, The second protective mechanism (24) also includes: The protective box (247) has an inner cavity, in which the second driving member (242), the transmission rod (243), and the moving seat (244) are all located. The rotating shaft (245) is rotatably connected to the protective box (247), and both ends of the rotating shaft (245) extend out of the inner cavity of the protective box (247) to be fixedly connected to the baffle (241).

8. The face imaging device according to claim 1, characterized in that, The housing (21) includes: The shell body (211) has a communicating receiving cavity and an opening facing the working face; A partition plate (212) is disposed within the receiving cavity, the partition plate (212) dividing the receiving cavity into a first cavity (2111) and a second cavity (2112), the partition plate (212) dividing the opening into a first opening (2113) and a second opening (2114), the first cavity (2111) communicating with the first opening (2113), the second cavity (2112) communicating with the second opening (2114), the imaging module (221) being located within the first cavity (2111), and at least a portion of the second protective mechanism (24) being disposed within the second cavity (2112); A sealing plate (213) is used to seal the first opening (2113), and the protective glass (222) is disposed on the sealing plate (213).

9. The face imaging device according to claim 1, characterized in that, The imaging module (221) includes: A camera having a lens for imaging the working face; The control component is communicatively connected to the camera.

10. A method for imaging a working face, based on the working face imaging apparatus as described in any one of claims 1-9, characterized in that, include: S1. The first protective mechanism (23) opens the observation port (2311); S2, the second protective mechanism (24) switches to the avoidance state; S3, The imaging module (221) detects the working face; S4, the second protective mechanism (24) switches to the blocking state; S5. The first protective mechanism (23) closes the observation port (2311).

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