A slag discharge path turning method and device for a TBM tunnel belt conveyor

Abstract

The present application relates to a kind of TBM tunnel belt conveyor's slag path turning method and device, it relates to muck conveying technical field, its device includes drive assembly, into slag container, into slag flow guide component, into slag conveying component;Its method includes obtaining target position, and control into slag container according to target position executes moving operation;Obtain muck transmission image information, determine expected muck drop size based on muck transmission image information;Whether the muck transmission signal is output based on expected muck drop size determination;Obtain muck carrying weight, when muck carrying weight exceeds preset effective weight threshold, determine offset baffle number;When there is offset baffle number, determine current moving direction based on offset baffle number, and according to current moving direction control into slag container executes into slag container position correction operation;When there is no offset baffle number, execute baffle opening and closing angle adjustment operation.The present application has adaptive adjustment baffle, and the effect of improving muck conveying stability.

Description

Technical Field

[0001] This invention relates to the field of slag and soil transportation technology, and in particular to a method and apparatus for changing the slag discharge path of a TBM tunnel conveyor. Background Technology

[0002] Tunnel boring machine (TBM) excavation construction generates a large amount of excavated soil. The excavated soil has a complex composition, including fine-grained loose soil, blocky gravel, and other solid materials of different particle sizes. The continuous and orderly transfer of excavated soil is a key link to ensure the normal progress of tunnel excavation operations.

[0003] The existing muck transportation process involves the muck generated during tunneling being transported by an upstream belt conveyor to a muck inlet container, and then discharged to a downstream belt conveyor via the guide structure of the muck inlet container to complete the muck discharge and transfer. Before the operation, the operator fixes the placement position of the muck inlet container in advance and manually adjusts the opening and closing angle of the baffle to carry out the muck discharge and transfer operation.

[0004] Regarding the aforementioned technologies, the conveyor belt is prone to shifting position during the construction waste transportation process, and the conveyed construction waste contains solid materials such as lumpy gravel. The construction waste transportation device cannot adaptively adjust the position of the inlet container and the opening and closing angle of the baffle, resulting in poor transportation stability. Summary of the Invention

[0005] To improve the stability of muck transportation, this invention provides a method and device for changing the muck discharge path of a TBM tunnel conveyor.

[0006] In a first aspect, the present invention provides a method for changing the muck discharge path of a TBM tunnel conveyor, employing the following technical solution:

[0007] A method for changing the muck discharge path of a TBM tunnel conveyor includes:

[0008] Step S1: In response to the signal transmitted by the belt conveyor, obtain the preset target position and control the slag feeding container to perform a movement operation according to the target position;

[0009] Step S2: Obtain image information of the waste soil transportation and determine the expected size of the waste soil falling based on the image information of the waste soil transportation;

[0010] Step S3: Determine whether to output a soil transport signal based on the expected size of the falling soil;

[0011] Step S4: In response to the soil transport signal, obtain the soil load-bearing weight. When the soil load-bearing weight exceeds the preset effective weight threshold, determine the offset baffle number.

[0012] Step S50: When there is an offset baffle number, determine the current moving direction based on the offset baffle number, and control the slag feeding container to perform a slag feeding container position correction operation according to the current moving direction;

[0013] Step S51: When there is no offset baffle number, perform the baffle opening and closing angle adjustment operation.

[0014] By adopting the above technical solution, it is possible to determine whether the baffle is offset based on the weight of the slag and dynamically adjust the position of the slag inlet container and the opening angle of the baffle, so that the falling slag can enter the subsequent slag discharge path through the slag inlet container, reducing the situation of slag overflow and material jamming, and maintaining the stability of the slag discharge process.

[0015] Optionally, methods for determining whether to output a waste soil transmission signal based on the expected size of the waste soil falling include:

[0016] Step S30: When the expected size of the excavated soil falls within the preset size range of crushed stone, determine the current size of the crushed stone and accumulate the quantity of crushed stone;

[0017] Step S300: When the number of crushed stones is greater than 1, determine the estimated time of crushed stone falling based on the image information transmitted by the slag and soil.

[0018] Step S301: Obtain the preset conveying steering angle, and control the rotating mechanism to perform steering conveying operation based on the conveying steering angle and the expected crushed stone falling time;

[0019] Step S31: When the expected size of the excavated soil does not fall within the range of the size of the crushed stone, output the excavated soil transmission signal.

[0020] By adopting the above technical solution, in the case of multiple pieces of crushed stone falling at the same time, the slag inlet container can be rotated in advance to adjust the conveying direction, reducing the probability of multiple pieces of crushed stone getting stuck in the gap of the baffle and causing blockage, and maintaining a smooth conveying process.

[0021] Optionally, methods for performing the steering and conveying operation include:

[0022] Step S3010: Obtain the preset full-open angle parameters;

[0023] Step S3011: Control the rotating mechanism to perform a rotation operation based on the conveyor steering angle;

[0024] Step S3012: Perform baffle opening and closing angle adjustment operation based on the full opening angle parameter and the expected crushed stone falling time.

[0025] By adopting the above technical solution, the baffle is adjusted to the fully open state in advance while rotating to adjust the conveying direction, so as to maximize the baffle gap and enable multiple pieces of crushed stone to pass through the slag inlet container smoothly to complete the conveying, further reducing the probability of material jamming.

[0026] Optionally, it also includes a method for adjusting the opening and closing angle of the baffle when the number of gravel is no more than 1, the method including:

[0027] Step S302: Obtain the load-bearing weight of the construction waste, and determine the load-bearing sensor number and the load-bearing weight change curve of the construction waste based on the load-bearing weight;

[0028] Step S303: When the load-bearing weight change curve of the slag and soil shows a preset increasing trend or a preset constant trend, determine the load-bearing sensor number and the load-bearing position corresponding to the load-bearing sensor number.

[0029] Step S304: Determine the number of abnormal solids based on the bearing location;

[0030] Step S305: When the number of abnormal solids is 1, perform the baffle opening and closing angle adjustment operation;

[0031] Step S306: When the number of abnormal solids is greater than 1, perform a turning conveying operation according to the conveying turning angle.

[0032] By adopting the above technical solution, the opening and closing gap of the baffle can be directly adjusted to match the size of the crushed stone for the case of a single piece of crushed stone, without the need to rotate the conveying direction. While preventing crushed stone from passing through the gap of the baffle and mixing into the conventional slag discharge path, the efficiency of slag conveying is improved.

[0033] Optionally, when the number of abnormal solids is 1, the method for performing the baffle opening / closing angle adjustment operation includes:

[0034] Step S3050: Determine the size of the abnormal solid based on the bearing location;

[0035] Step S3051: Determine the maximum baffle gap based on the abnormal solid size;

[0036] Step S3052: Determine the maximum baffle opening angle based on the maximum baffle gap;

[0037] Step S3053: Perform baffle opening and closing angle adjustment operation based on the maximum baffle opening and closing angle, and determine the modified soil bearing weight change curve during the baffle opening and closing angle adjustment operation.

[0038] Step S3054: When the curve of the change in the load-bearing weight of the modified slag is not an increasing trend or a constant trend, stop the baffle opening and closing angle adjustment operation.

[0039] By adopting the above technical solution, the opening and closing angle of the baffle is dynamically adjusted according to the size of abnormal solids, which avoids the baffle gap being too large, causing crushed stone to pass through the gap, and enables the normal transportation of slag and soil, reducing the waste of slag and soil.

[0040] Optionally, when the load-bearing capacity of the excavated soil exceeds the effective weight threshold, the method for determining the offset baffle number includes:

[0041] Step S40: When the load-bearing weight of the slag exceeds the effective weight threshold, determine the load-bearing sensor number;

[0042] Step S41: Determine the location of the load-bearing sensor based on its number;

[0043] Step S42: When the load cell position is within the preset boundary sensor area, determine the offset baffle number.

[0044] By adopting the above technical solution, the offset baffle corresponding to the slag and soil eccentricity can be quickly identified based on the position of the load-bearing sensor, providing an accurate basis for subsequent adjustment of the slag and soil inlet container position and preventing slag and soil from overflowing from the boundary of the slag and soil inlet container due to eccentricity.

[0045] Optionally, methods for controlling the slag inlet container to perform slag inlet container position correction operations according to the current direction of movement include:

[0046] Step S500: Determine the current load-bearing boundary sensor number based on the offset baffle number;

[0047] Step S501: Control the slag feeding container to perform a moving operation according to the current moving direction;

[0048] Step S502: Real-time acquisition of the boundary soil bearing weight corresponding to the current bearing boundary sensor number, and determination of the boundary soil bearing weight growth rate based on the boundary soil bearing weight;

[0049] Step S503: When the rate of increase of the load-bearing capacity of the boundary soil is 0, stop the movement operation and determine the current movement distance;

[0050] Step S504: Based on the current moving distance and target position, redetermine the target position and perform a fine-tuning operation on the opening and closing angle of the baffle.

[0051] By adopting the above technical solution, the position adjustment is completed by detecting the growth rate of the load-bearing weight of the boundary slag in real time. This allows for the correction of the slag inlet container position, ensuring that the slag is always evenly distributed within the container, preventing slag from overflowing due to uneven load, and further improving the stability of the conveying process.

[0052] Optionally, when no offset baffle number exists, the method for performing the baffle opening / closing angle adjustment operation includes:

[0053] Step S6: When there is no offset baffle number, determine the abnormal soil load sensor number based on the soil load weight;

[0054] Step S60: Obtain the abnormal soil load-bearing weight corresponding to the abnormal soil load-bearing sensor number in real time, and generate an abnormal soil load-bearing weight curve;

[0055] Step S61: When the abnormal soil load-bearing weight curve shows an increasing trend or a constant trend, output the hard soil signal and obtain the full opening angle parameter to perform the baffle opening and closing angle adjustment operation.

[0056] By adopting the above technical solution, hard slag stuck in the gap of the baffle can be identified in time. By adjusting the baffle to the fully open state, the hard slag can pass through smoothly, avoiding material blockage due to insufficient opening angle of the baffle, and ensuring the stability of the conveying process.

[0057] Secondly, the present invention provides a muck discharge path steering device for a TBM tunnel conveyor, which adopts the following technical solution:

[0058] A slag discharge path steering device for a TBM tunnel belt conveyor, applied to a slag discharge path steering method for a TBM tunnel belt conveyor as described above, includes a drive assembly, a slag inlet container, a slag inlet guide assembly, an annular upper connecting block, an annular lower connecting block, a rotating mechanism, and a slag discharge inclined plate.

[0059] The drive assembly includes a drive base, a sliding bracket fixedly connected to the drive base, and a drive block slidably connected to the sliding bracket;

[0060] The drive block is fixedly connected to the slag inlet container;

[0061] The slag inlet container is provided with a slag inlet for receiving slag and soil.

[0062] The slag inlet guide assembly is connected to the slag inlet container and is used to control the size and angle of the slag inlet opening;

[0063] One end of the annular upper connecting block is fixedly connected to one end of the slag inlet container, and the end of the annular upper connecting block away from the slag inlet container is rotatably connected to the rotating mechanism;

[0064] One end of the annular lower connecting block is fixedly connected to the rotating mechanism, and the end of the annular lower connecting block away from the rotating mechanism is fixedly connected to the slag discharge inclined plate.

[0065] By adopting the above technical solution, the drive component can drive the slag inlet container to slide along the sliding support, realize the dynamic adjustment of the position of the slag inlet container, and, together with the rotating mechanism, drive the slag inlet container to rotate as a whole to adjust the conveying direction. Then, by controlling the opening size and angle of the slag inlet through the slag guide component, it can adapt to the conveying needs of slag and soil of different sizes and distribution states, reduce the situation of material jamming and uneven load overflow, and improve the conveying stability.

[0066] Optionally, the slag inlet guiding assembly includes a first adjusting drive rod, a first adjusting drive wheel, a first baffle, a second adjusting drive rod, a second adjusting drive wheel, and a second baffle;

[0067] The slag inlet container has a first drive hole and a second drive hole on one side. The first adjusting drive rod passes through the first drive hole and is rotatably connected to the slag inlet container. The end of the first adjusting drive rod away from the first drive hole is fixedly connected to the first adjusting drive wheel. The outer side wall of the first adjusting drive rod is fixedly connected to the first baffle.

[0068] The second adjusting drive rod passes through the second drive hole and is rotatably connected to the slag inlet container. The end of the second adjusting drive rod away from the second drive hole is fixedly connected to the second adjusting drive wheel. The outer side wall of the second adjusting drive rod is fixedly connected to the second baffle. The rotation angle of the first baffle and the second baffle can control the opening size and angle of the slag inlet.

[0069] The upper annular connecting block is provided with a first inlet hole, and the lower annular connecting block is provided with a second inlet hole. The first inlet hole and the second inlet hole are connected to the slag inlet.

[0070] Both the first baffle and the second baffle are provided with several guide holes for the flow of slag and soil.

[0071] By adopting the above technical solution, the first and second adjusting drive rods can drive the first and second baffles to rotate independently, respectively, controlling the opening size and slag inlet angle. In conjunction with the slag guide hole, fine-particle loose slag can be diverted in advance, reducing the probability of fine-particle slag accumulation affecting the passage of large-sized crushed stone, and further improving the smoothness of slag transportation.

[0072] In summary, the present invention has at least one of the following beneficial technical effects:

[0073] 1. By using the load-bearing sensor at the boundary of the baffle to identify the one-sided accumulation of slag caused by belt misalignment, the system automatically calculates the correction direction and moves the slag container horizontally. It also monitors the slag growth rate at the boundary in real time to complete the positioning correction, preventing slag from overflowing from the edge of the container, ensuring uniform slag discharge, and improving the stability of the conveying process.

[0074] 2. By identifying the trend of changes in the load-bearing weight of the excavated soil, the maximum opening and closing gap of the baffle is matched according to the size of the abnormal solids. This can not only intercept gravel to prevent it from mixing into the regular slag discharge path, but also expand the gap to clear the accumulated hard excavated soil, thereby improving the automation level of excavated soil transportation and the continuity of tunnel construction. Attached Figure Description

[0075] Figure 1 This is a schematic diagram of the slag discharge path turning device of a TBM tunnel conveyor according to an embodiment of this application;

[0076] Figure 2 This is an exploded schematic diagram of the slag inlet guide assembly, slag inlet container, and slag inlet conveying assembly in the embodiments of this application;

[0077] Figure 3 This is a schematic diagram of the boundary sensor area in an embodiment of this application;

[0078] Figure 4 This is a schematic flowchart of a method for changing the slag discharge path of a TBM tunnel belt conveyor in an embodiment of this application.

[0079] The parts referred to by the numbers in the above attached figures are as follows: 1. Drive assembly; 11. Drive base; 12. Sliding bracket; 121. Drive sliding groove; 13. Drive block; 2. Slag inlet container; 21. First drive hole; 22. Second drive hole; 3. Slag inlet guide assembly; 31. First adjusting drive rod; 32. First adjusting drive wheel; 33. First baffle; 34. Second adjusting drive rod; 35. Second adjusting drive wheel; 36. Second baffle; 4. Slag inlet conveying assembly; 41. Annular upper connecting block; 411. First inlet hole; 42. Annular lower connecting block; 421. Second inlet hole; 43. Rotating mechanism; 44. Slag outlet inclined plate; 5. Belt conveyor; 6. Crushed stone collection box. Detailed Implementation

[0080] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0081] This invention discloses a muck discharge path steering device for a TBM tunnel conveyor belt. (Refer to...) Figure 1 A slag discharge path steering device for a TBM tunnel belt conveyor includes a drive assembly 1, a slag inlet container 2, a slag inlet guide assembly 3, and a slag inlet conveying assembly 4.

[0082] Reference Figure 1 The drive assembly 1 includes a drive base 11, a sliding bracket 12, and a drive block 13. One end of the drive base 11 is fixedly connected to the sliding bracket 12. One end of the sliding bracket 12 has a drive sliding groove 121 for the drive block 13 to slide. The drive block 13 has a drive sliding hole. The drive block 13 is fitted onto the sliding bracket 12 through the drive sliding hole. The inner sidewall of the drive block 13 is embedded in the drive sliding groove 121 and slides along the length of the drive sliding groove 121, achieving a sliding connection with the sliding bracket 12.

[0083] The drive block 13 is driven by a stepper motor or servo motor through a ball screw, and the sliding bracket 12 has a built-in linear displacement sensor (optical scale or magnetic scale).

[0084] The side of the drive block 13 away from the sliding bracket 12 is fixedly connected to one side of the slag inlet container 2. The slag inlet container 2 has a slag inlet for receiving slag transported by the belt conveyor 5.

[0085] Reference Figure 2The slag inlet guide assembly 3 includes a first adjusting drive rod 31, a first adjusting drive wheel 32, a first baffle 33, a second adjusting drive rod 34, a second adjusting drive wheel 35, and a second baffle 36.

[0086] The outer wall of the slag inlet container 2 has a first drive hole 21 and a second drive hole 22. A first adjusting drive rod 31 passes through the first drive hole 21 and can rotate within the first drive hole 21, thus achieving a rotatable connection between the first adjusting drive rod 31 and the slag inlet container 2. The end of the first adjusting drive rod 31 away from the first drive hole 21 is fixedly connected to the first adjusting drive wheel 32. The outer wall of the first adjusting drive rod 31 is fixedly connected to the first baffle 33.

[0087] The second adjusting drive rod 34 passes through the second drive hole 22 and can rotate within it, thus achieving a rotatable connection between the second adjusting drive rod 34 and the slag inlet container 2. The end of the second adjusting drive rod 34 furthest from the second drive hole 22 is fixedly connected to the second adjusting drive wheel 35. The outer wall of the second adjusting drive rod 34 is fixedly connected to the second baffle 36. The drive motor drives the first adjusting drive wheel 32 and the second adjusting drive wheel 35 to rotate, thereby rotating the first baffle 33 and the second baffle 36 to adjust the opening size and angle of the slag inlet. The drive motor is not shown in the figure.

[0088] Reference Figure 2 The slag conveying assembly 4 includes an annular upper connecting block 41, an annular lower connecting block 42, a rotating mechanism 43, and a slag discharge inclined plate 44.

[0089] One end of the annular upper connecting block 41 is fixedly connected to one end of the slag inlet container 2. The end of the annular upper connecting block 41 away from the slag inlet container 2 is rotatably connected to the rotating mechanism 43. One end of the annular lower connecting block 42 is fixedly connected to the rotating mechanism 43. The end of the annular lower connecting block 42 away from the rotating mechanism 43 is fixedly connected to the slag outlet inclined plate 44.

[0090] Reference Figure 2 The annular upper connecting block 41 has a first inlet hole 411. The annular lower connecting block 42 has a second inlet hole 421. The slag inlet, the first inlet hole 411 and the second inlet hole 421 form a slag discharge channel, allowing the slag to be transported from the slag inlet through the first inlet hole 411 and the second inlet hole 421 to the slag discharge inclined plate 44. The rotating mechanism 43 rotates the annular lower connecting block 42, which in turn drives the slag discharge inclined plate 44 to rotate, thereby guiding the slag path.

[0091] The first baffle 33 and the second baffle 36 have several slag guide holes. The slag guide holes are used for slag to flow into the first inlet hole 411, while preventing non-slag solids from flowing into the first inlet hole 411. When non-slag solids are present, the rotating mechanism 43 is controlled to rotate the annular lower connecting block 42 to change the guide path of the slag discharge inclined plate 44, so that the guide path is directed towards the crushed stone collection box 6.

[0092] The diameter of the slag guide hole is set here as follows: aperture satisfy ,in This refers to the maximum particle size of fine-grained slag (typically 5 to 10 mm). Lower limit of the crushed stone size range; hole spacing Open area ratio The axis of the guide hole is inclined at a 5° angle to the normal of the baffle surface, and is directed toward the first inlet hole 411, so as to guide the fine soil to flow in and prevent large solid pieces from directly impacting.

[0093] Based on the same inventive concept, this invention provides a method for changing the slag discharge path of a TBM tunnel conveyor.

[0094] Reference Figure 4 A method for changing the muck discharge path of a TBM tunnel conveyor, comprising:

[0095] Step S1: In response to the signal transmitted by the belt conveyor, obtain the preset target position and control the slag feeding container 2 to perform a movement operation according to the target position.

[0096] The belt conveyor transmission signal refers to the signal triggered when belt conveyor 5 transmits slag to the slag inlet. The system collects image information of belt conveyor 5 in real time through a camera, and uses an edge recognition algorithm to detect the contour features of the slag. When the contour features of the slag are present, the belt conveyor transmission signal is output.

[0097] The target position refers to the preset reference receiving position of the slag inlet container 2 receiving the slag conveyed by the belt conveyor 5, which ensures that the slag output from the belt conveyor 5 falls accurately into the slag inlet. The reference receiving position is obtained by the end position of the slag conveyor 5 and the position where the slag falls from the belt conveyor 5 to the slag inlet.

[0098] The moving operation refers to the operation of the drive block 13 moving the slag inlet container 2 along the sliding support 12 to move the slag inlet container 2 to the target position, so that the slag can fall into the slag inlet.

[0099] Step S2: Obtain image information of the waste soil transportation and determine the expected size of the waste soil falling based on the image information of the waste soil transportation.

[0100] Due to the pervasive dust and uneven lighting inside the tunnel, the directly acquired images were of poor quality. Therefore, preprocessing was necessary: ​​Gaussian filtering and CLAHE contrast enhancement were applied to each frame sequentially to suppress noise and highlight the contours of the excavated soil. Subsequently, Canny edge detection was used to extract closed contours and obtain the contour pixel area. (pixel²).

[0101] Furthermore, because monocular camera imaging suffers from perspective distortion, and the actual size of the slag on conveyor belt 5 cannot be directly equated to pixel area, camera calibration is required beforehand: Zhang Zhengyou's checkerboard calibration method is used to obtain the pixel-to-actual-size mapping coefficient. (mm / pixel) and the angle between the camera optical axis and the normal of the belt conveyor surface 5. Considering the randomness of the posture of the slag on conveyor belt 5, it is represented as a sphere for standardized measurement. The projected area of ​​this sphere on the image plane is affected by the oblique viewing angle, and the actual projected area... The theoretical expression for the area of ​​the projected circle of a sphere is: Solving the two equations simultaneously, the diameter of the equivalent sphere can be naturally obtained: .Will As the expected size of the excavated soil drop.

[0102] The image information of the slag and soil transmission refers to the image data of the slag and soil to be transmitted on the belt conveyor 5, which is collected by the camera.

[0103] The expected size of the falling debris refers to the outer contour size of the debris to be dropped, obtained by edge detection of the captured image using a camera. This size is used to determine whether the debris to be dropped belongs to the type of crushed stone that requires a change in the discharge path.

[0104] Step S3: Determine whether to output a soil transport signal based on the expected size of the falling soil.

[0105] The slag transport signal refers to the signal that the slag being transported on the current conveyor belt 5 does not have the outline characteristics of crushed stone, which is determined by matching the expected slag falling size in subsequent steps S30 to S31.

[0106] Step S4: In response to the soil transport signal, obtain the soil load-bearing weight. When the soil load-bearing weight exceeds the preset effective weight threshold, determine the offset baffle number.

[0107] The load-bearing capacity of the slag refers to the real-time load-bearing data collected individually by the independent load-bearing sensors among the multiple load-bearing sensors installed inside the left and right baffles. This data reflects the distribution of slag within the slag inlet container 2. These sensors are distributed between adjacent slag guide holes and at the boundary of the baffles near the inner wall of the slag inlet container 2. To ensure that the slag flows from the slag guide holes into the first inlet hole 411, the default angle of the first baffle 33 and the second baffle 36 is a slight inclination, for example, at a 15° angle to the horizontal. Therefore, the slag will naturally flow towards the center, preventing it from remaining on the surface of the baffles around the first inlet hole 411.

[0108] The effective weight threshold refers to the upper limit of normal load-bearing capacity of conventional excavated soil on the baffle surface, as detected by a single load-bearing sensor. Because the baffle is inclined towards the center by default, the excavated soil will continuously slide down, so the load-bearing sensor reading will not continuously increase and will remain stable within the effective weight threshold range.

[0109] The offset baffle number refers to the number corresponding to the baffle that bears the excavated soil.

[0110] When the load-bearing capacity of the excavated soil exceeds the effective weight threshold, it indicates that there is an accumulation deviation of the excavated soil. This is because, in this embodiment, the baffle is at its default angle, referring to... Figure 3 The boundary sensor area (refer to steps S40 to S42), that is, the two sides of the inner wall of the slag inlet container 2, are horizontal planes. They are specifically used to detect when the belt conveyor 5 is deviated. When the slag falls into the boundary position of the deviated baffle near the inner wall of the slag inlet container 2, there are only two situations when the weight of the slag exceeds the effective weight threshold. The first is that the slag is piled up on an off-center basis in the boundary sensor area of ​​the baffle, and the second is that hard crushed stone and solidified slag are retained in the non-boundary area of ​​the baffle. The two types of working conditions are distinguished and handled in subsequent steps.

[0111] Due to the default tilt angle of the baffle =15°, after the sensor is embedded in the surface of the baffle, its direct output is the normal pressure of the slag on the baffle. Instead of vertical gravity, this is related to the effective weight threshold. For a unified comparison, a mechanical decomposition is required: equivalent gravity. .when Exceeding At that time, it was determined that there was an accumulation anomaly.

[0112] Step S50: When there is an offset baffle number, determine the current moving direction based on the offset baffle number, and control the slag feeding container 2 to perform the slag feeding container position correction operation according to the current moving direction.

[0113] The current moving direction refers to the direction in which the slag inlet container 2 moves towards the direction corresponding to the offset baffle number. The offset baffle number records which side of the baffle exceeds the effective load-bearing range, which means that the slag is piled up on that side. This indicates that the current position of the slag inlet container 2 is generally biased to the opposite side, and it needs to be moved in the direction corresponding to the offset baffle number to correct the position of the slag inlet container 2.

[0114] The position correction operation refers to the operation in which the drive block 13 moves along the sliding bracket 12 to drive the slag inlet container 2 to slide in the current direction of movement, so that the slag inlet container 2 returns to the correct position aligned with the slag outlet end of the belt conveyor 5.

[0115] Step S51: When there is no offset baffle number, perform the baffle opening and closing angle adjustment operation.

[0116] The baffle opening and closing angle adjustment operation refers to adjusting the rotation angle of the first adjusting drive rod 31 and the second adjusting drive rod 34 respectively, thereby adjusting the opening and closing angle of the first baffle 33 and the second baffle 36, so that the slag can be guided more smoothly to the first inlet hole 411 and the slag can be reduced to accumulate on the baffle surface.

[0117] When there is no offset baffle number, it means that the boundary position of the baffle did not receive the slag, so the slag did not accumulate on one side of the baffle. Since the gap formed by the default angle of the first baffle 33 and the second baffle 36 is not enough to allow large-diameter solidified slag to fall into the first inlet hole 411, it is necessary to perform the baffle opening and closing angle adjustment operation.

[0118] The methods for determining whether to output a waste soil transmission signal based on the expected size of the waste soil falling include:

[0119] Step S30: When the expected size of the falling debris falls within the preset size range of the crushed stone, determine the current size of the crushed stone and accumulate the quantity of crushed stone.

[0120] The current crushed stone size refers to the actual outline size of the crushed stone on the conveyor belt of belt conveyor 5, obtained by recognizing the image information of the belt conveyor 5 through the edge detection algorithm.

[0121] The gravel size range refers to a pre-defined size range that meets the requirements for individually storing gravel.

[0122] When the expected size of the excavated soil falls within the range of the size of the crushed stone, it indicates that the excavated soil to be excavated is large pieces of crushed stone that need to be collected separately, and the excavation path needs to be changed.

[0123] The number of crushed stones refers to the total number of large crushed stones that have not yet fallen into the slag inlet guide component 3 during the current conveying process of belt conveyor 5.

[0124] Step S300: When the number of crushed stones is greater than 1, determine the expected time of crushed stone falling based on the image information transmitted by the slag.

[0125] The estimated crushed stone falling time refers to the time required for the crushed stone to fall from the slag discharge end of the belt conveyor 5 to the slag inlet guide component 3, calculated based on the current position of the crushed stone on the belt conveyor 5 and the current transmission speed of the belt conveyor 5.

[0126] Considering that the crushed stone moves at an approximately uniform speed with the belt conveyor 5, the time required for it to reach the discharge end can be determined by the ratio of the remaining distance to the conveying speed of the belt conveyor 5. The real-time pixel coordinates of the crushed stone on the belt conveyor 5 are obtained by tracking the centroid of the crushed stone profile using the KLT optical flow method or inter-frame difference. Combined with calibration coefficients With the actual operating speed of belt conveyor 5 The actual horizontal distance between the crushed stone and the slag discharge end of belt conveyor 5 is: Therefore, the estimated time for the gravel to fall can be expressed as: Here The x-coordinate of the centroid of the gravel in the current frame is [the x-coordinate of the centroid]. The x-axis of the image corresponds to the slag discharge end of belt conveyor 5. The actual operating speed of belt conveyor 5 is output in real time by a rotary encoder installed on belt conveyor 5.

[0127] When the number of crushed stones is greater than 1, it indicates that there are too many crushed stones in belt conveyor 5. Without changing the slag discharge path, it will hinder the transmission of slag and soil. Therefore, it is necessary to calculate the expected crushed stone falling time in order to perform subsequent turning and conveying operations.

[0128] Step S301: Obtain the preset conveying steering angle, and control the rotating mechanism 43 to perform the steering conveying operation based on the conveying steering angle and the expected crushed stone falling time. However, the rotating mechanism 43 requires a certain response time to rotate from rest to the final position. Let the conveying steering angle be... The rated angular velocity of the rotating mechanism 43 is... The response time of the rotating mechanism 43 To avoid a situation where the rock fragments have already fallen before the rotating mechanism 43 has reached its position, sufficient margin must be allowed in the total time for image processing and the movement of the rotating mechanism 43. Therefore, the system performs a physical feasibility check before executing the steering maneuver: only when... A turnaround is only executed at that time. This refers to a pre-set safety margin, which is set to 0.2 in this embodiment. If the inequality is not met, the original slag discharge path is maintained and an audible and visual alarm is triggered, prompting the operator to reduce the belt conveyor speed or intervene manually.

[0129] The conveying turning angle refers to the preset rotation angle required to turn the slag discharge inclined plate 44 into the crushed stone collection box 6, so that the slag discharge end of the rotated slag discharge inclined plate 44 is aligned with the opening position of the crushed stone collection box 6.

[0130] The diversion and conveying operation refers to the operation in which the rotating mechanism 43 drives the annular lower connecting block 42 and the slag discharge inclined plate 44 to rotate according to the conveying diversion angle before the crushed stone falls, and widens the gap between the first baffle 33 and the second baffle 36 by the full opening angle parameter. The diversion and conveying operation causes the slag discharge inclined plate 44 to turn towards the crushed stone collection box 6 in advance, allowing the crushed stone to fall into the crushed stone collection box 6 for individual collection, avoiding blockage of the subsequent slag discharge path when there is a large amount of crushed stone.

[0131] Step S31: When the expected size of the excavated soil does not fall within the range of the size of the crushed stone, output the excavated soil transmission signal.

[0132] When the expected size of the slag falling is not within the range of the crushed stone size, it means that the slag to be falling is a conventional particle size slag that meets the requirements. There is no need to adjust the direction of the slag discharge inclined plate 44. The original slag discharge path can be maintained for normal transportation. Therefore, the slag transmission signal is directly output.

[0133] The methods for performing the steering and conveying operation include:

[0134] Step S3010: Obtain the preset full-open angle parameters.

[0135] Because the crushed stone is generally large in volume, it is necessary to obtain the full opening angle parameter to widen the gap between the first baffle 33 and the second baffle 36 so that the crushed stone falls into the first inlet hole 411.

[0136] The full opening angle parameter refers to the maximum opening angle that the preset first baffle 33 and second baffle 36 can achieve, that is, the opening angle at which the ends of the first baffle 33 and second baffle 36 away from the slag receiving conveyor belt 5 can fit against the inner wall of the slag inlet container 2.

[0137] Step S3011: Control the rotating mechanism 43 to perform a rotation operation based on the conveying steering angle.

[0138] The rotation operation refers to the operation in which the rotating mechanism 43 drives the annular lower connecting block 42 and the slag discharge inclined plate 44 to rotate according to the conveying direction angle, so that the slag discharge end of the slag discharge inclined plate 44 is aligned with the opening of the crushed stone collection box 6.

[0139] Step S3012: Perform baffle opening and closing angle adjustment operation based on the full opening angle parameter and the expected crushed stone falling time.

[0140] When there are parameters for the fully open angle and the expected crushed stone falling time, it means that the opening angle of the first baffle 33 and the second baffle 36 can be adjusted in advance according to the parameters for the fully open angle, so that the gap between the two baffles is widened to the maximum, allowing the crushed stone to enter the slag discharge channel smoothly, avoiding the crushed stone from getting stuck in the baffle area due to the gap being too small. At the same time, combined with the expected crushed stone falling time, it ensures that the angle adjustment is completed before the first crushed stone falls to the baffle, so as not to delay the normal falling and turning of the crushed stone.

[0141] This also includes a method for adjusting the opening and closing angle of the baffle when the number of gravel is no more than 1. This method includes:

[0142] Step S302: Obtain the load-bearing weight of the slag and determine the load-bearing sensor number and the load-bearing weight change curve of the slag based on the load-bearing weight.

[0143] The load-bearing sensor number refers to the number corresponding to the sensor on the surface of the baffle that bears the weight of the slag.

[0144] The load-bearing weight variation curve of construction waste refers to the continuous curve formed by the change of load-bearing data collected by a single load-bearing sensor over time, which can reflect the trend of change of the weight of construction waste at the sensor location.

[0145] Step S303: When the load-bearing weight change curve of the slag and soil shows a preset increasing trend or a preset constant trend, determine the load sensor number and the load position corresponding to the load sensor number.

[0146] An increasing trend refers to the trend of a continuous increase in the load value detected by a single load sensor.

[0147] A constant trend refers to the fact that the fluctuations in the load values ​​detected by a single load sensor consistently fall within a preset low fluctuation range, exhibiting a stable and unchanging trend. The low fluctuation range refers to a preset range where the fluctuation amplitude of the load value does not exceed 5% of the current load value.

[0148] When an increasing trend appears, it indicates that the slag is continuously accumulating at the baffle position corresponding to the sensor and cannot be guided downwards. Hard slag covers the slag guide hole and abuts against the gap between the first baffle 33 and the second baffle 36, causing subsequent slag to fall onto this hard slag and not contact the gap between the first baffle 33 and the second baffle 36 or the slag guide hole. Therefore, the weight of the slag in the sensor continuously increases. At this time, because the first baffle 33 is at a 15° angle to the horizontal by default, its surface is sloping. Slag falling onto the hard slag on the first baffle 33 will then flow down the slope into the slag guide hole on the surface of the second baffle 36. Since the rate at which slag flows from the first baffle 33 into the second baffle 36 is less than the rate at which the conveyor belt 5 transports slag, an increasing trend will occur.

[0149] When a constant trend is observed, it indicates that there is hard soil remaining at the corresponding position of the sensor and no longer moving, and no subsequent soil falls on the surface of the hard soil, causing the soil load-bearing weight data to increase.

[0150] The load-bearing sensor number refers to the number of the load-bearing sensor corresponding to the load-bearing material that is bearing hard soil.

[0151] The bearing position refers to the preset installation coordinate position on the corresponding baffle plate corresponding to the load-bearing sensor number. This coordinate system is established with the center of the slag inlet container 2 as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis. It can directly locate the specific position of hard slag on the baffle plate surface. Each sensor number is preset with its corresponding position on the baffle plate. The position of the sensor on the baffle plate can be obtained through the sensor number, and the distribution of slag on the baffle plate can be further obtained.

[0152] Step S304: Determine the number of abnormal solids based on the bearing location.

[0153] The abnormal solid quantity refers to the total amount of non-slag or large-particle hard slag detected on the baffle that cannot move towards the center on its own. Each time a load cell at a discontinuous location is detected, one abnormal solid quantity is added. The total abnormal solid quantity is then calculated. For example, if there are three load cells triggering an increasing or constant trend, namely x1, x2, and x5, where the load cells corresponding to x1 and x2 are adjacent and continuous, they are output as one abnormal solid quantity. The load cell corresponding to x5 is not adjacent to the positions of the load cells corresponding to x1 and x2, and is therefore added as a new abnormal solid quantity, resulting in a total of 2 abnormal solid quantities.

[0154] Step S305: When the number of abnormal solids is 1, perform the baffle opening and closing angle adjustment operation.

[0155] When the number of abnormal solids is 1, it indicates that there is only one piece of hard or large-particle abnormal slag on the baffle that cannot move on its own. In this case, there is no need to switch the overall slag discharge direction path; the slag can be cleared simply by finely adjusting the opening and closing gap of the baffle. Therefore, the baffle opening and closing angle adjustment operation is performed. At the same time, when the number of abnormal solids is 1, it indicates that there is only one baffle with hard slag (in this embodiment, the sensor positions between different baffles are definitely not continuous; when the number of abnormal solids is 1, only one baffle will carry abnormal solids). The slope of the baffle can be used to allow the slag on the hard slag to flow into another baffle to complete the slag transfer. Therefore, the baffle opening and closing angle adjustment operation is performed.

[0156] Step S306: When the number of abnormal solids is greater than 1, perform a turning conveying operation according to the conveying turning angle.

[0157] When the number of abnormal solids is greater than 1, it indicates that there are multiple abnormal slags on the baffle that cannot move on their own. At this time, simply adjusting the opening and closing angle of the baffle will cause the gravel and slag to be introduced into the first inlet hole 411 together, so a diversion and conveying operation needs to be performed.

[0158] When the number of abnormal solids is 1, the method for adjusting the opening and closing angle of the baffle includes:

[0159] Step S3050: Determine the size of the abnormal solid based on the bearing location.

[0160] The size of the abnormal solid refers to the surface area of ​​the baffle occupied by the abnormal solid. It can be calculated by the interval distance between the numbers of adjacent load-bearing sensors. That is, the outer rectangle size of the coordinate coverage area of ​​all continuously load-bearing sensors is the overall size of the abnormal solid.

[0161] Step S3051: Determine the maximum baffle gap based on the abnormal solid size.

[0162] The maximum baffle gap refers to the maximum allowable gap width that can just prevent abnormal solids from passing through the baffle gap. That is, the gap width needs to be smaller than the maximum size of the abnormal solids to prevent them from passing through the gap smoothly and falling into the slag discharge channel below, thus affecting the transport of slag and soil.

[0163] Considering both preventing abnormal solids from crossing the baffle gaps and mixing into the regular slag discharge path, while ensuring the normal passage of fine-grained slag, the maximum allowable baffle gap should not exceed the minimum bounding dimension of the abnormal solid. Therefore, the maximum bounding rectangle dimension (a, b) corresponding to the abnormal solid size is determined based on the abnormal solid size (a > b). The maximum baffle gap is then taken. . The pre-set throughput coefficient is determined by experiments on the particle size distribution of the slag. This formula ensures that the gap width is less than the minimum outer dimension b of the abnormal solid.

[0164] Step S3052: Determine the maximum baffle opening angle based on the maximum baffle gap.

[0165] The maximum baffle opening angle refers to the angle between the two baffles in the horizontal direction when the first baffle 33 and the second baffle 36 form the corresponding maximum baffle gap. Since the change in the baffle opening angle affects the size of the gap between the baffles, its value has a preset geometric correspondence with the baffle length and the maximum baffle gap size. The maximum baffle opening angle can be directly obtained through geometric conversion. Because there is currently gravel and the number of abnormal solids is 1, this abnormal solid must be a large piece of solidified slag or gravel. It is necessary to ensure that the gravel cannot flow into the slag discharge channel through the gap between the baffles, therefore, it is necessary to determine the maximum baffle opening angle.

[0166] Furthermore, the opening and closing angle of the baffle maximum baffle gap The geometric relationship can be determined by the length of the working section of the baffle. and the default tilt angle of the baffle Naturally derived. When the two baffles open symmetrically, the horizontal displacement of the end of one baffle is approximately... Then consider the default tilt angle of the baffle. cosine component and initial gap of closure The bottom gap can be expressed as: Since the maximum baffle clearance is known. The maximum opening angle of the baffle can be obtained by inverse solving: The working section length of the baffle refers to the length of the baffle from the end connected to the inner wall of the slag inlet container 2 to the free end of the baffle, which is a pre-calibrated known structural parameter. Initial gap closure. The gap formed by the default angle of the first baffle 33 and the second baffle 36.

[0167] Step S3053: Perform baffle opening and closing angle adjustment operation based on the maximum baffle opening and closing angle, and determine the modified soil bearing weight change curve during the baffle opening and closing angle adjustment operation.

[0168] The corrected load-bearing weight change curve of the slag refers to the new curve formed by the load-bearing weight of the slag changed over time after the baffle opening angle is adjusted and the load-bearing sensor is re-collected.

[0169] Step S3054: When the curve of the change in the load-bearing weight of the modified slag is not an increasing trend or a constant trend, stop the baffle opening and closing angle adjustment operation.

[0170] When the curve of the change in the load-bearing weight of the slag is not increasing or constant, it means that after adjusting the opening and closing angle, the abnormal solid has moved along the length of the current baffle towards the gap between the baffles, thus exposing more of the slag guide holes that were originally covered by the abnormal solid. The slag can then fall normally through the guide holes. However, because the tilt angle of the baffle increases during the baffle opening and closing angle adjustment operation, the slag that originally fell on the surface of the abnormal solid will continue to slide down, resulting in a large amount of slag falling onto another baffle that does not bear the abnormal solid.

[0171] Among them, the method for determining the offset baffle number when the load-bearing weight of the slag exceeds the effective weight threshold includes:

[0172] Step S40: When the load-bearing weight of the slag exceeds the effective weight threshold, determine the load-bearing sensor number.

[0173] The load-bearing sensor number refers to the number corresponding to the sensor whose load-bearing capacity of the slag exceeds the effective weight threshold.

[0174] Step S41: Determine the location of the load-bearing sensor based on the load-bearing sensor number.

[0175] The load-bearing sensor position refers to the preset installation coordinate position of the sensor corresponding to each load-bearing sensor number on the corresponding baffle. Similarly, a coordinate system is established with the center of the slag inlet container 2 as the origin, which can directly obtain the specific position of each sensor that exceeds the weight range on the baffle.

[0176] Step S42: When the load cell position is within the preset boundary sensor area, determine the offset baffle number.

[0177] Reference Figure 3 The boundary sensor area refers to the sensor installation area preset on the side of the baffle near the inner wall of the slag inlet container 2. If the load-bearing sensor is located in this area, it means that the slag has shifted to the boundary position of the baffle and there is a possibility of it sliding out of the slag inlet container 2 along the edge of the baffle, causing leakage. At this time, the corresponding baffle is the offset baffle with the offset baffle number.

[0178] The method for controlling the slag inlet container 2 to perform slag inlet container position correction operation according to the current movement direction includes:

[0179] Step S500: Determine the current load-bearing boundary sensor number based on the offset baffle number.

[0180] The current load-bearing boundary sensor number refers to the number of the load-bearing sensor on the offset baffle plate corresponding to the offset baffle plate number, which is located within the boundary sensor area and whose load-bearing weight of the excavated soil exceeds the effective weight threshold.

[0181] Step S501: Control the slag inlet container 2 to perform the movement operation according to the current movement direction.

[0182] When there is a current direction of movement, it indicates that the slag discharge end of the belt conveyor has shifted, causing the slag to be unevenly loaded onto the corresponding side of the baffle boundary. Therefore, it is necessary to move the entire slag inlet container 2 in the direction of the offset baffle to align it with the slag discharge end of the belt conveyor.

[0183] Step S502: During the movement operation, the load-bearing weight of the boundary soil corresponding to the current load-bearing boundary sensor number and the growth rate of the load-bearing weight of the boundary soil are obtained in real time.

[0184] The boundary load-bearing capacity refers to the total weight of the waste soil accumulated within the corresponding boundary sensor area during the movement and adjustment process, as collected by the current load-bearing boundary sensor.

[0185] The rate of increase in the load-bearing capacity of boundary spoil refers to the change in the load-bearing capacity of boundary spoil per unit time.

[0186] Step S503: When the rate of increase of the load-bearing weight of the boundary soil is 0, stop the movement operation and determine the current movement distance.

[0187] The current moving distance refers to the displacement length of the slag inlet container 2 from the initial position to the current position. This displacement length can be directly collected by the displacement sensor in the drive sliding groove 121.

[0188] When the rate of increase of the load-bearing weight of the boundary slag is 0, it means that the slag inlet container 2 has completed the position correction. The slag that was originally offset to the boundary area has returned to the middle area of ​​the two baffles and no longer accumulates to the boundary area. Therefore, the movement operation is stopped.

[0189] Step S504: Based on the current moving distance and target position, redetermine the target position and perform a fine-tuning operation on the opening and closing angle of the baffle.

[0190] The baffle opening angle fine-tuning operation refers to temporarily adjusting the opening angle of the first baffle 33 and the second baffle 36 to allow the slag on the boundary sensor area to slide down along the length of the baffle, ensuring that the slag falls into the slag discharge channel. Because at the default angle, the boundary sensor area of ​​the baffle is used to detect whether the position of the conveyor belt 5 is offset, and the boundary sensor area is a horizontal plane, it cannot allow the slag to fall normally into the slag discharge channel; therefore, the baffle opening angle fine-tuning operation is required.

[0191] When the current movement distance exists, it means that one target position correction operation of the slag inlet container 2 has been completed. At this time, the corrected position needs to be used as the target position for output.

[0192] When no offset baffle number exists, the method for adjusting the baffle opening angle includes:

[0193] Step S6: When there is no offset baffle number, determine the abnormal soil load sensor number based on the soil load weight.

[0194] The abnormal soil load-bearing sensor number refers to the sensor number corresponding to the soil load-bearing weight collected by the load-bearing sensor that exceeds the effective weight threshold.

[0195] If there is no offset baffle number, it means that the slag is piled up in the non-boundary area of ​​the baffle, and there is hard slag covering the slag guide hole.

[0196] Step S60: Obtain the abnormal soil load-bearing weight corresponding to the abnormal soil load-bearing sensor number in real time, and generate an abnormal soil load-bearing weight curve.

[0197] The abnormal soil load-bearing weight curve refers to the continuous curve formed by the change of abnormal soil weight data collected by a single abnormal soil load-bearing sensor over time. This curve can intuitively show the change of abnormal soil accumulation weight over time at the corresponding sensor location, thereby determining the accumulation state of the abnormal soil at this location, whether it is continuously accumulating, remaining stable, or has already been diverted and fallen.

[0198] Step S61: When the abnormal soil load-bearing weight curve shows an increasing trend or a constant trend, output the hard soil signal and obtain the full opening angle parameter to perform the baffle opening and closing angle adjustment operation.

[0199] The hard slag signal refers to the presence of hard, large-particle slag on the baffle surface that cannot flow downwards on its own.

[0200] When the abnormal load-bearing weight curve shows an increasing or constant trend, it indicates that hard soil has accumulated on the surface of the baffle, causing subsequent soil to be unable to fall through the soil guide hole at this location and can only continue to accumulate on top of the hard soil. At this time, the opening and closing angle of the baffle is directly adjusted according to the full opening angle parameter to widen the gap between the first baffle 33 and the second baffle 36, allowing the hard soil to move towards the gap under the action of the baffle inclination and fall into the slag discharge channel through the gap.

[0201] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0202] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for changing the muck discharge path of a TBM tunnel conveyor, characterized in that, include: Step S1: In response to the signal transmitted by the belt conveyor, obtain the preset target position and control the slag feeding container (2) to perform a movement operation according to the target position; Step S2: Obtain image information of the waste soil transportation and determine the expected size of the waste soil falling based on the image information of the waste soil transportation; Step S3: Determine whether to output a soil transport signal based on the expected size of the falling soil; Step S4: In response to the soil transport signal, obtain the soil load-bearing weight. When the soil load-bearing weight exceeds the preset effective weight threshold, determine the offset baffle number. Step S50: When there is an offset baffle number, determine the current moving direction based on the offset baffle number, and control the slag feeding container (2) to perform the slag feeding container position correction operation according to the current moving direction; Step S51: When there is no offset baffle number, perform the baffle opening and closing angle adjustment operation.

2. The method for changing the muck discharge path of a TBM tunnel conveyor according to claim 1, characterized in that, Methods for determining whether to output a waste soil transmission signal based on the expected size of the waste soil falling include: Step S30: When the expected size of the excavated soil falls within the preset size range of crushed stone, determine the current size of the crushed stone and accumulate the quantity of crushed stone; Step S300: When the number of crushed stones is greater than 1, determine the estimated time of crushed stone falling based on the image information transmitted by the slag and soil. Step S301: Obtain the preset conveying steering angle, and control the rotating mechanism (43) to perform the steering conveying operation based on the conveying steering angle and the expected crushed stone falling time; Step S31: When the expected size of the excavated soil does not fall within the range of the size of the crushed stone, output the excavated soil transmission signal.

3. The method for changing the muck discharge path of a TBM tunnel conveyor according to claim 2, characterized in that, Methods for performing steering and conveying operations include: Step S3010: Obtain the preset full-open angle parameters; Step S3011: Control the rotating mechanism (43) to perform a rotation operation based on the conveyor steering angle; Step S3012: Perform baffle opening and closing angle adjustment operation based on the full opening angle parameter and the expected crushed stone falling time.

4. The method for changing the muck discharge path of a TBM tunnel conveyor according to claim 2, characterized in that, It also includes a method for adjusting the opening and closing angle of the baffle when the number of gravel is no more than 1. This method includes: Step S302: Obtain the load-bearing weight of the construction waste, and determine the load-bearing sensor number and the load-bearing weight change curve of the construction waste based on the load-bearing weight; Step S303: When the load-bearing weight change curve of the slag and soil shows a preset increasing trend or a preset constant trend, determine the load-bearing sensor number and the load-bearing position corresponding to the load-bearing sensor number. Step S304: Determine the number of abnormal solids based on the bearing location; Step S305: When the number of abnormal solids is 1, perform the baffle opening and closing angle adjustment operation; Step S306: When the number of abnormal solids is greater than 1, perform a turning conveying operation according to the conveying turning angle.

5. A method for changing the muck discharge path of a TBM tunnel conveyor according to claim 4, characterized in that, When the number of abnormal solids is 1, the methods for adjusting the baffle opening angle include: Step S3050: Determine the size of the abnormal solid based on the bearing location; Step S3051: Determine the maximum baffle gap based on the abnormal solid size; Step S3052: Determine the maximum baffle opening angle based on the maximum baffle gap; Step S3053: Perform baffle opening and closing angle adjustment operation based on the maximum baffle opening and closing angle, and determine the modified soil bearing weight change curve during the baffle opening and closing angle adjustment operation. Step S3054: When the curve of the change in the load-bearing weight of the modified slag is not an increasing trend or a constant trend, stop the baffle opening and closing angle adjustment operation.

6. The method for changing the muck discharge path of a TBM tunnel conveyor according to claim 1, characterized in that, When the load-bearing capacity of the excavated soil exceeds the effective weight threshold, the methods for determining the offset baffle number include: Step S40: When the load-bearing weight of the slag exceeds the effective weight threshold, determine the load-bearing sensor number; Step S41: Determine the location of the load-bearing sensor based on its number; Step S42: When the load cell position is within the preset boundary sensor area, determine the offset baffle number.

7. A method for changing the muck discharge path of a TBM tunnel conveyor according to claim 6, characterized in that, The methods for controlling the slag inlet container (2) to perform slag inlet container position correction operations according to the current direction of movement include: Step S500: Determine the current load-bearing boundary sensor number based on the offset baffle number; Step S501: Control the slag inlet container (2) to perform the movement operation according to the current movement direction; Step S502: Real-time acquisition of the boundary soil bearing weight corresponding to the current bearing boundary sensor number, and determination of the boundary soil bearing weight growth rate based on the boundary soil bearing weight; Step S503: When the rate of increase of the load-bearing capacity of the boundary soil is 0, stop the movement operation and determine the current movement distance; Step S504: Based on the current moving distance and target position, redetermine the target position and perform a fine-tuning operation on the opening and closing angle of the baffle.

8. A method for changing the muck discharge path of a TBM tunnel conveyor according to claim 1, characterized in that, When no offset baffle number exists, the methods for performing the baffle opening / closing angle adjustment operation include: Step S6: When there is no offset baffle number, determine the abnormal soil load sensor number based on the soil load weight; Step S60: Obtain the abnormal soil load-bearing weight corresponding to the abnormal soil load-bearing sensor number in real time, and generate an abnormal soil load-bearing weight curve; Step S61: When the abnormal soil load-bearing weight curve shows an increasing trend or a constant trend, output the hard soil signal and obtain the full opening angle parameter to perform the baffle opening and closing angle adjustment operation.

9. A muck discharge path steering device for a TBM tunnel conveyor belt, applied to the muck discharge path steering method for a TBM tunnel conveyor belt as described in any one of claims 1 to 8, characterized in that: Includes drive assembly (1), slag inlet container (2), slag inlet guide assembly (3), and slag inlet conveying assembly (4); The drive assembly (1) includes a drive base (11), a sliding bracket (12) fixedly connected to the drive base (11), and a drive block (13) slidably connected to the sliding bracket (12). The drive block (13) is fixedly connected to the slag inlet container (2); The slag inlet container (2) is provided with a slag inlet for receiving slag and soil. The slag inlet guide assembly (3) is connected to the slag inlet container (2) and is used to control the size and angle of the slag inlet opening; The slag conveying assembly (4) includes an annular upper connecting block (41), an annular lower connecting block (42), a rotating mechanism (43), and a slag discharge inclined plate (44). One end of the annular upper connecting block (41) is fixedly connected to one end of the slag inlet container (2), and the end of the annular upper connecting block (41) away from the slag inlet container (2) is rotatably connected to the rotating mechanism (43); One end of the annular lower connecting block (42) is fixedly connected to the rotating mechanism (43), and the end of the annular lower connecting block (42) away from the rotating mechanism (43) is fixedly connected to the slag discharge inclined plate (44).

10. A muck discharge path steering device for a TBM tunnel conveyor according to claim 9, characterized in that: The slag inlet guide assembly (3) includes a first adjusting drive rod (31), a first adjusting drive wheel (32), a first baffle (33), a second adjusting drive rod (34), a second adjusting drive wheel (35), and a second baffle (36). The slag inlet container (2) has a first drive hole (21) and a second drive hole (22) on one side. The first adjusting drive rod (31) passes through the first drive hole (21) and is rotatably connected to the slag inlet container (2). The end of the first adjusting drive rod (31) away from the first drive hole (21) is fixedly connected to the first adjusting drive wheel (32). The outer side wall of the first adjusting drive rod (31) is fixedly connected to the first baffle (33). The second adjusting drive rod (34) passes through the second drive hole (22) and is rotatably connected to the slag inlet container (2). The end of the second adjusting drive rod (34) away from the second drive hole (22) is fixedly connected to the second adjusting drive wheel (35). The outer side wall of the second adjusting drive rod (34) is fixedly connected to the second baffle (36). The rotation angle of the first baffle (33) and the second baffle (36) can control the opening size and angle of the slag inlet. The upper annular connecting block (41) is provided with a first inlet hole (411), and the lower annular connecting block (42) is provided with a second inlet hole (421). The first inlet hole (411) and the second inlet hole (421) are connected to the slag inlet. The first baffle (33) and the second baffle (36) are each provided with a number of slag guide holes for the slag to flow in.

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