Wear control system and wear management method

Abstract

To increase operability and reliability of abrasion management relating to digging tools mounted on a cutter head of a tunnel excavator.SOLUTION: An abrasion management system for managing abrasion states of digging tools mounted on a tunnel excavator comprises a sediment monitoring device of monitoring digging sediment generated with natural ground digging by the tunnel excavator, and a dye discharge mechanism of discharging dye toward the digging sediment depending on abrasion amount of the digging tools. The sediment monitoring device comprises imaging means of continuously imaging the digging sediment generated and obtaining image data of the digging sediment, and dye detection means of obtaining a feature quantity of brightness value for each piece of the image data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a wear management system for managing the wear state of a cutting tool provided on a cutter head of a tunnel boring machine and a method for managing the wear of the cutting tool.

Background Art

[0002] Conventionally, in tunnel construction, tunnel boring machines such as shield tunneling machines and TBMs are often used. At the tip of the tunnel boring machine, a cutter head equipped with cutter bits embedded with cemented carbide is provided, and the cutter head is rotated while the cutter bits cut and excavate the ground. However, since the cutter bits wear out, wear management is required along with construction management.

[0003] Under such circumstances, for example, Patent Document 1 discloses a disk cutter for an excavation device capable of notifying an operator of the wear limit. Specifically, a coloring agent is embedded in a predetermined location of a base metal in which cemented carbide tips are implanted on the outer periphery of the top. As a result, when the base metal wears down to the embedded location, the coloring agent scatters and colors the excavation slip, so that the operator can be notified of the wear limit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to the method of Patent Document 1, an operator can safely detect that the cemented carbide tip has exceeded the wear limit without approaching the cutter head by checking the color of the excavation slip taken into the tunnel boring machine.

[0006] However, visual color recognition by workers varies from person to person, making judgment criteria prone to ambiguity. Furthermore, depending on the color of the excavated soil, there is a possibility of overlooking the coloring agents mixed in, raising concerns about the reliability of wear detection. Moreover, it is difficult for workers to constantly monitor the excavated soil that is continuously generated throughout the construction period, creating challenges in the operationality of wear management.

[0007] The present invention has been made in view of the above problems, and its main objective is to improve the operability and reliability of wear control for excavating tools provided on the cutter head of a tunnel boring machine. [Means for solving the problem]

[0008] To achieve this objective, the wear management system of the present invention is a wear management system for managing the wear state of an excavating tool installed on a tunnel boring machine, comprising: a soil monitoring device for monitoring excavated soil generated in conjunction with excavation of the ground by the tunnel boring machine; and a dye emission mechanism for releasing dye toward the excavated soil according to the amount of wear of the excavating tool, wherein the soil monitoring device comprises: an imaging means for continuously imaging the generated excavated soil and acquiring image data of the excavated soil; and a dye detection means for acquiring a characteristic amount of brightness value for each acquired image data. The dye detection means includes a dye detection unit that determines the presence or absence of the dye mixed in the excavated soil captured by the image data, based on a predetermined determination threshold related to a feature quantity of brightness value and a feature quantity of brightness value obtained from the image data, wherein the feature quantity of brightness value is the average brightness value obtained by extracting the pixel value of the component corresponding to the color adopted for the dye from each pixel of the image data, performing a binarization process, and then calculating the proportion of white images in the total number of pixels from the acquired binarized image. It is characterized by the following:

[0009] The wear management system of the present invention uses a light-emitting material as the dye, and the dye detection means performs binarization processing of the image data to acquire a binarized image. death, From the acquired binarized image The aforementioned It is characterized by having an image processing unit that calculates feature quantities of brightness values.

[0010] The wear management system of the present invention is The aforementioned The device is characterized by comprising: an alarm output unit that outputs an alarm when the dye detection unit determines that a dye is present; and a dye detection unit that outputs an alarm.

[0011] The wear management system of the present invention is characterized in that the dye emission mechanism comprises a plurality of dye emission units, and the plurality of dye emission units are located inside the drilling tool and are offset in depth from the tip of the drilling tool.

[0012] The wear management method for excavating tools of the present invention is a wear management method for excavating tools using the wear management system of the present invention, comprising the steps of: continuously imaging the excavated soil generated in conjunction with the excavation of the ground by the tunnel boring machine using the imaging means, and acquiring image data capturing the excavated soil; and acquiring a feature quantity of brightness value for each of the image data. A step of determining whether or not the pigment is present in the excavated soil captured for each image data, based on the characteristic quantity of the brightness value and the predetermined determination threshold, It is characterized by having the following features.

[0014] According to the wear management system and excavation tool wear management method of the present invention, excavated soil generated during excavation of the ground by a tunnel boring machine can be continuously monitored using a soil monitoring device. Furthermore, time-series data related to the luminance value feature can be acquired, and fluctuations in this data can be detected to indicate that dye has been released from the dye emission mechanism. As a result, workers do not need to constantly pay attention to the excavated soil; they only need to visually check the excavated soil when there is a change in the time-series data related to the luminance value feature. In addition, when detecting the presence or absence of dye through visual inspection, the time-series data related to the luminance value feature can be used as support information for detection. This makes it possible to improve the reliability and operability of wear management, which manages the wear state of excavation tools by detecting the presence or absence of dye mixed in the excavated soil.

[0015] Furthermore, by performing a binarization process on the image data to obtain a binarized image, and by calculating the luminance value feature vector of the obtained binarized image, even when the amount of pigment mixed in the excavated soil captured by the image data is small, it is possible to emphasize the pixels containing this pigment and reflect this in the luminance value feature vector.

[0016] Furthermore, by providing a dye determination unit that determines the presence or absence of a dye mixed in the excavated earth and sand captured by the image data, it is possible to determine the presence or absence of the dye with stable accuracy as compared with the case where an operator visually checks the excavated earth and sand. In addition, by providing an alarm output unit that issues an alarm when the dye determination unit determines that there is a dye, after receiving the alarm notification, the operator only needs to visually check the excavated earth and sand as a final confirmation operation, and the operability of wear management can be further improved. In addition, it is possible to quickly transmit the wear condition of the excavation tool to the operator of the tunnel boring machine, the workers in the construction office, etc., and to improve the efficiency of wear management.

[0017] In addition, if a plurality of dye release parts are provided with the depth positions shifted from the tip of the excavation tool, it is also possible to grasp the wear state of the excavation tool step by step.

[0018] Furthermore, when a luminescent material that emits green light or red light is used for the dye, and binary processing is performed using the G component or the R component among the RGB components of the pixel values extracted from each pixel of the image data, the influence of the imaging environment such as the color tone of the excavated earth and sand and the lighting in the tunnel T can be minimized, and the presence or absence of the dye can be detected with high accuracy.

Advantages of the Invention

[0019] According to the present invention, since it is possible to detect with a soil monitoring device that a dye has been released toward the excavated earth and sand from a dye release mechanism that releases a dye according to the wear amount of the excavation tool, high reliability and operability can be ensured for the wear management of the excavation tool.

Brief Description of the Drawings

[0020] [Figure 1] It is a diagram showing a wear management system in an embodiment of the present invention. [Figure 2] It is a diagram showing a cutter head of a tunnel boring machine and a dye release mechanism (when a dye supply part is provided on a cutter bit) in an embodiment of the present invention. [Figure 3] It is a diagram showing a tunnel shaft and a launching shaft in an embodiment of the present invention. [Figure 4] It is a figure which shows the dye emission mechanism (when a dye supply part is provided in a cutter spoke) in the embodiment of this invention. [Figure 5] It is a figure which shows the structure of the dye detection means which comprises the wear management system in the embodiment of this invention. [Figure 6] It is a figure which shows the flow of wear management concerning the excavation tool in the embodiment of this invention. [Figure 7] It is a graph which plotted the average luminance value (R component among RGB components) acquired from the image data which continuously captured the excavated earth and sand in the embodiment of this invention in time series. [Figure 8] It is a graph which plotted the average luminance value (G component among RGB components) acquired from the image data which continuously captured the excavated earth and sand in the embodiment of this invention in time series. [Figure 9] It is a figure which shows another example of the dye emission mechanism (when dye emission parts are provided in two places in the cutter bit) in the embodiment of this invention. [Figure 10] It is a figure which shows another example of the dye emission mechanism (when two types of cutter bits with different positions of the dye emission part are adopted) in the embodiment of this invention.

MODE FOR CARRYING OUT THE INVENTION

[0021] The details of the wear management system of this invention and the wear management method of the excavation tool will be described below while referring to FIGS. 1 to 10.

[0022] Prior to explaining the details of the wear management system, the outline of a tunnel boring machine and a belt conveyor for carrying out the excavated earth and sand generated by the tunneling of the tunnel boring machine will be explained. The tunnel boring machine may be any of a shield tunneling machine, a TBM, etc. In this embodiment, a shield tunneling machine equipped with a spoke-type cutter head will be cited as an example and the outline will be explained.

[0023] ≪≪Shield Tunneling Machine 10≫≫ As shown in Figure 1, the shield tunneling machine 10 comprises a cutter drive unit 11, a cutter head 12 with the cutter drive unit 11 on its rear side and facing the tunnel face A on its front side, and a shield body 13 located on the rear side of the cutter head 12. A cutter bit (excavation tool) 14 is attached to the cutter head 12, and the shield body 13 comprises a chamber 15 for storing excavated soil S and a screw conveyor 16 for discharging the excavated soil S from the chamber 15.

[0024] As shown in Figure 2(a) when viewed from the face A side, the cutter head 12 is formed in a circular shape and has a plurality of cutter spokes 121 extending radially from a central axis. Multiple cutter bits 14, which are metal drilling tools, are attached to the cutter spokes 121 on the side facing the face A. As shown in Figure 2(b), the cutter bits 141 have a plurality of tips 142 fixed to the tip 141B side of the base material 141, and the base end 141A is attached to the cutter spokes 121 by welding or in a detachable manner.

[0025] The tip 142 of the cutter bit 14 has the function of excavating the tunnel face A, and its hardness is higher than that of the base material 141. The cutter bit 14 having such a configuration has a cross-section in the direction of the tunnel axis that is wedge-shaped, becoming thinner towards the tunnel face A, as shown in Figure 1. As a result, when the cutter head 12 is pressed against the tunnel face A, it rotates around the central axis via the cutter drive unit 11, excavating the ground.

[0026] Chamber 15 is a space into which excavated soil S continuously generated by the excavation of the ground by the shield tunneling machine 10 is taken in. It is partitioned by a cutter head 12, a cylindrical outer hood 131 located on the front side (face A side) of the shield body 13, and a partition wall 132. A screw conveyor 16 is connected to the partition wall 132, and the excavated soil S taken into Chamber 15 by this screw conveyor 16 is discharged into the tunnel T.

[0027] ≪≪Belt Conveyor 20≫≫ As shown in Figures 1 and 3, the belt conveyor 20 is a device that transports excavated soil S discharged into the tunnel T by the screw conveyor 16 toward the launch shaft H, with its tail section 21 positioned near the discharge port of the screw conveyor 16. The head section 22 of the belt conveyor 20 is positioned near the launch shaft H. As a result, the excavated soil S dropped from the screw conveyor 16 onto the belt conveyor 20 is transported to the vicinity of the launch shaft H, loaded onto the slag cart 30, and then stored, for example, in a soil pit P located on the ground, via the launch shaft H.

[0028] <<Wear Management System 40>> The wear management system 40 is a system that manages the wear state of the cutter bit 14 while tunnel construction is progressing with the shield tunneling machine 10 described above, and as shown in Figure 1, it includes a pigment emission mechanism 50 and a soil monitoring device 60.

[0029] ≪Dye release mechanism 50≫ As shown in Figure 1, the dye-releasing mechanism 50 has a dye-releasing section 51 located inside the cutter bit 14. When the cutter bit 14 wears down and this dye-releasing section 51 is exposed, the dye C is released and mixed into the excavated soil S. Any configuration is acceptable as long as it has this function.

[0030] For example, Figure 2(b) illustrates a dye emission mechanism 50 comprising a dye emission unit 51 provided on the cutter bit 14, a piston-type dye supply unit 52 also provided on the cutter bit 14, and a flow path 53 connecting the dye supply unit 52 and the dye emission unit 51. The piston-type dye supply unit 52 is suitable when the outer diameter of the excavation by the shield tunneling machine 1 is small and only a small amount of dye-containing fluid F(C) needs to be loaded.

[0031] Furthermore, Figures 4(a) and (b) illustrate a dye emission mechanism 50 comprising a dye emission unit 51 provided on the cutter bit 14, an accumulator-type dye supply unit 54 provided on the cutter spoke 121, and a supply pipe 55 connecting the dye supply unit 54 and the dye emission unit 51. The accumulator-type dye supply unit 54 is suitable when the outer diameter of the excavation by the shield tunneling machine 1 is large and a large amount of dye-containing fluid F(C) needs to be loaded.

[0032] These dye emission mechanisms 50 will be outlined later, but in all cases, the dye emission section 51 is located inside the base material 141 that constitutes the cutter bit 14, as shown in Figure 2(b), at a depth position that is recessed from the tip 141B by a length (wear detection amount L1) corresponding to the amount of wear to be detected. The dye-containing fluid F(C) is supplied to the dye supply sections 52 and 54. The dye-containing fluid F(C) may be a liquid colored with dye C, like paint, or a gas containing powdered dye C, and any of these fluids can be used. Details of the dye emission mechanisms 50 exemplified in Figures 2(b) and 4(a) and (b) are referred to Japanese Patent Application No. 2021-017404.

[0033] ≪Dye C≫ The dye C contained in the dye-containing fluid F(C) can be any dye that is easily identifiable when mixed with excavated soil S, but a light-emitting material that absorbs the energy of external light such as ultraviolet and visible light and emits light of different energies is preferred. The wear control system 40 can accommodate light-emitting materials of various colors, not just red, green, and blue.

[0034] <<<Sediment Monitoring Device 60>>> As shown in Figure 1, the sediment monitoring device 60 comprises an imaging means 61 and a dye detection means 62. The imaging means 61 continuously images the excavated sediment S generated by the excavation of the ground by the shield tunneling machine 10 and acquires image data capturing the excavated sediment S. The dye detection means 62 acquires the characteristic luminance values ​​of each image data acquired by the imaging means 61 in a time series. Based on the acquired characteristic luminance values, it determines whether or not dye C is mixed in the excavated sediment S captured in the image data. Furthermore, if it is determined that "dye is present", it issues an alarm. Note that any statistical quantity may be used for the characteristic luminance values, but in this embodiment, the average is used as an example.

[0035] <<<Imaging means 61>>> As shown in Figure 1, the imaging means 61 consists of a camera 611, lighting equipment 612, and a support frame 613. The camera 611 is a so-called digital camera (RGB camera) that acquires wavelength information in three bands, but any ordinary camera can be used. The camera 611 is installed with the imaging range set to an arbitrary position on the belt conveyor 20 (conveyor belt). The lighting equipment 612 uses a UV light because the dye C is a light-emitting material, and is installed to illuminate the imaging range of the camera 611.

[0036] The imaging range of the camera 611 can be any position that can capture the excavated soil S on the belt conveyor 20, but it is preferable to set it near the tail section 21 of the belt conveyor 20 and downstream of the discharge port of the screw conveyor 16. This allows imaging of the excavated soil S that has just been generated by the excavation of the ground by the shield tunneling machine 10. Therefore, when the wear of the cutter bit 14 exceeds the wear detection amount L1, the dye C that is mixed into the excavated soil S can be detected at an early stage. This makes it possible to avoid phenomena such as damage to the cutter head 12 or the shield body 13 caused by the progression of wear of the cutter bit 14.

[0037] The support frame 613 is installed so as to straddle the belt conveyor 20 and is a frame that supports the camera 611 and lighting equipment 612. Its shape is not limited in any way, and if there is equipment in the tunnel T that can support them, the support frame 613 may be omitted.

[0038] <<Pigment detection means 62>> The dye detection means 62 can be any device that includes an input unit 621, an arithmetic processing unit 622, and an output unit 623, as shown in Figure 5, and can be a personal computer, notebook PC, tablet terminal, etc.

[0039] The input unit 621 is connected to the camera 611 wirelessly or via a wired connection and receives information such as image data captured by the camera 611. Although not shown in the diagram, it may also be configured to connect to input devices such as a keyboard, mouse, or scanner and receive information input to these devices.

[0040] The output unit 623 includes a data output unit 6231 and an alarm output unit 6232. The data output unit 6231 outputs information such as image data acquired via the input unit 621 and processing data processed by the arithmetic processing unit 622 to the display device 624. The alarm output unit 6232 outputs alarm information to the display device 624 when the pigment detection unit 6222 of the arithmetic processing unit 622 (described later) determines that the excavated soil S captured by the image data contains "pigment".

[0041] The display device 624 may be a display, printer, or monitor screen of the shield tunneling machine 1, all of which are connected to the output unit 623 wirelessly or via a wired connection. In addition, the alarm information output from the alarm output unit 6232 may be output not only to the display device 624, but also to an output device capable of providing audio notification, such as a speaker.

[0042] Furthermore, the terminal devices 625, such as mobile terminals carried by workers or management computers installed in construction offices, and the dye detection means 62 may be made capable of mutual data transmission via a communication network. In this case, information can be input from the terminal device 625 to the dye detection means 62 via the input unit 621, or information can be output from the dye detection means 62 to the terminal device 625 via the output unit 623. The communication network may be constructed using the internet, a dedicated communication line, or any other method.

[0043] The arithmetic processing unit 622 includes a CPU (Central Processing Unit), a storage unit such as ROM (Read Only Memory) and RAM (Random Access Memory), and controls the operation of the dye detection means 62. Such an arithmetic processing unit 622 includes at least an image processing unit 6221 and a dye determination unit 6222.

[0044] The image processing unit 6221 performs a binarization process on the image data captured by the camera 611 to obtain a binarized image. By performing this binarization process, even when the amount of pigment C mixed in the excavated soil S captured in the image data is small, pixels containing this pigment C can be emphasized on the binarized image. The binarization process extracts the pixel value of the component corresponding to pigment C from each pixel of the image data and performs the binarization process.

[0045] In other words, when using a green-emitting material for dye C, the G component of the RGB component of the pixel value is extracted from each pixel, and this is binarized to obtain a binarized image. At this time, setting a threshold is necessary for the binarization process. The method for setting this threshold can be appropriately selected from various methods used in the field of image processing (for example, mode method, P-tile method, discriminant analysis method, etc.).

[0046] Furthermore, the image processing unit 6221 performs a binarization process to enhance pixels containing dye C and calculates the average brightness value of the binarized image. The average brightness value of the binarized image represents the proportion of white images in the total number of pixels, and white images are pixels that may have captured dye C. This average brightness value is obtained using this procedure and calculated for each of the multiple image data obtained by continuously imaging the excavated soil S passing through the imaging range of the camera 611. As a result, time-series data of the average brightness value can be obtained, as shown in Figures 7 and 8. Further details will be explained in the excavation tool wear management method described later.

[0047] The pigment detection unit 6222 determines the presence or absence of pigment C mixed in the excavated soil S captured by the image data, based on the average brightness value calculated by the image processing unit 6221 and a preset determination threshold for the average brightness value. Specifically, it compares the average brightness value with the preset determination threshold, and if the average brightness value exceeds the determination threshold, it determines that "pigment is present" in the excavated soil S captured by the image data. The method for determining the determination threshold will be explained together with the method for managing wear of the excavating tool.

[0048] ≪≪Method for managing wear and tear on excavating tools≫≫ The procedure for detecting the wear state of the cutter bit 4 using the above-described wear management system 100 will be explained below with reference to the configuration diagram of the dye detection means 62 shown in Figure 5 and the wear management flow shown in Figure 6.

[0049] <<<Pigment application: STEP 1>>> First, the amount of dye-containing fluid F(C) to be loaded is determined by considering the outer diameter of the excavation by the shield tunneling machine 1. Furthermore, the structure of the dye release mechanism 50 installed in the shield tunneling machine 10 is appropriately selected according to the amount of dye-containing fluid F(C) to be loaded. As mentioned above, when a small amount is required, a dye release mechanism 50 with a piston-type dye supply unit 52 installed on the cutter bit 14, as shown in Figure 2(b), is adopted to load the required amount of dye-containing fluid F(C). On the other hand, when a large amount is required, a dye release mechanism 50 with an accumulator-type dye supply unit 54 installed on the cutter spoke 121, as shown in Figures 4(a) and (b), is adopted to load the required amount of dye.

[0050] ≪≪When the load is small≫≫ As shown in Figure 2(b), the dye emission mechanism 50 comprises a dye emission section 51, a dye supply section 52, and a flow path 53 connecting them. The flow path 53 has a smaller diameter on the side connected to the dye emission section 51 and a larger diameter on the side connected to the dye supply section 52. The flow path 53 also has two communication sections 531 that communicate with the outside air, and plugs 532 and 533 that can close the communication sections 531 are detachably provided on the base material 141.

[0051] The dye supply unit 52 comprises two hollow sections 521 arranged in parallel within the base material 141 so as to be perpendicular to the flow path 53, and a piston 522 positioned within the hollow sections 521. Each hollow section 521 is divided into a storage section 521A and a pressurizing section 521B for the dye-containing fluid F(C), with the piston 522 acting as the boundary, and the storage section 521A is in communication with the flow path 53.

[0052] The pressurizing section 521B is a space in which the coil spring 523 is housed, and an opening is formed therein for inserting the coil spring 523. This opening can be opened and closed by a screw 524, and after inserting the coil spring 523 into the pressurizing section 521B through the opening, the screw 524 is attached to the base material 141 to close the opening. As a result, one end of the coil spring 523 comes into contact with the screw 524, and the other end comes into contact with the piston 522.

[0053] As a result, the coil spring 523 uses its own restoring force to bias the piston 522, thereby pressurizing the dye-containing fluid F(C) stored in the storage section 521A. In Figure 2(b), the coil spring 523 at the top of the drawing is shown in an extended state, while the coil spring 523 at the bottom of the drawing is shown in a contracted state.

[0054] The procedure for loading the dye-containing fluid F(C) into the storage section 521A provided in the dye supply section 52 having the above configuration is as follows: First, the plugs 532 and 533 that block the communication section 531 between the flow path 53 and the outside air are removed from the base material 141. Next, the screw 524 and coil spring 523 are removed from the pressurizing section 521B. Then, with the piston 522 inserted into the hollow section 521, the storage section 521A and the flow path 53 are filled with the dye-containing fluid F(C).

[0055] Subsequently, plugs 532 and 533 are attached to the base material 141, sealing the flow path 53 and the communication section 531. After this, a coil spring 523 is inserted into the pressurizing section 521B, and a screw 524 is attached to the base material 141. As a result, the coil spring 523 is held in a contracted state between the screw 524 and the piston 522, and the dye-containing fluid F(C) stored in the storage section 521A is mounted under pressurization by the coil spring 523.

[0056] ≪≪When carrying a large amount of cargo≫≫ As shown in Figure 4(a), the dye release mechanism 50 comprises a dye release section 51, a dye supply section 54, and a supply pipe 55 connecting them. The dye supply section 54 has a housing 541 having a connection section 541A to the supply pipe 55, and a pressurized section 542 having an expandable bag-shaped member. Compressed gas G is filled inside the pressurized section 542. Outside the pressurized section 542, there is a storage section 543 defined on the inner circumferential surface of the housing 541.

[0057] Therefore, the required amount of dye-containing fluid F(C) is injected into the storage section 543. The injected dye-containing fluid F(C) is then stored under pressure by the pressurizing section 542. Consequently, as wear progresses on the cutter bit 14 and the dye release section 51 is exposed, the pressurizing section 542 expands in accordance with the pressure, and the dye-containing fluid F(C) is discharged to the outside of the housing 541. After this, the dye-containing fluid F(C) is supplied to the cutter bit 14 via the supply pipe 55 and discharged from the dye release section 51.

[0058] <<<Excavation of the natural ground begins: STEP 2>>> Simultaneously with, or before or after, the loading of the dye-containing fluid F(C), as shown in Figure 1, the camera 611 is positioned in a predetermined location, and its imaging range is set to pass over the excavated soil S being transported by the belt conveyor 20. Additionally, the lighting equipment 612 is installed in a predetermined location to illuminate the imaging range of the camera 611. After this, the shield tunneling machine 10 is started to excavate the ground.

[0059] <<Setting the judgment threshold: STEP 3>> When the shield tunneling machine 10 is started, as shown in Figure 1, the excavated soil S is taken into the tunnel T via the chamber 15 and screw conveyor 16. This excavated soil S is collected during the initial excavation stage when the cutter bit 14 is not worn down, and the determination threshold used when determining the presence or absence of pigment C in the pigment determination unit 6222 described above is set using the collected excavated soil S.

[0060] First, a sample is prepared by mixing the collected excavated soil S with a dye-containing fluid F(C) mounted on the dye emission mechanism 50, or the dye C contained therein. Next, the excavated soil S alone and the sample are imaged separately to acquire image data. The average brightness value is calculated from each acquired image data using the dye detection means 62. The average brightness value obtained from the image data of the sample is compared with the average brightness value obtained from the image data of the excavated soil S alone, and the optimal average brightness value for determining the presence or absence of dye C is set as the determination threshold.

[0061] When determining the judgment threshold, it is advisable to consider imaging conditions (such as ambient brightness) to determine the optimal judgment threshold. The determined judgment threshold is input to the dye detection means 62 via the input unit 621 and stored in the calculation processing unit 622.

[0062] <<<Obtaining the average brightness value and creating time-series data: STEP 4>>> In parallel with, or around the same time as, the setting of the judgment threshold in STEP 3, the excavated soil S generated by the excavation of the ground by the shield tunneling machine 10 and passing through the imaging range of the camera 611 is continuously imaged to acquire image data capturing the excavated soil S. In addition, each time image data is acquired, it is transmitted to the dye detection means 62.

[0063] When image data is input to the dye detection means 62 via the input unit 621, the arithmetic processing unit 622 receives a command from the image processing unit 6221 and extracts the RGB components of the pixel value from each pixel of the image data. Next, from the extracted RGB components, the G component (green component) or R component (red component) is extracted according to the dye C contained in the dye-containing fluid F(C), and binarization processing is performed. After this, the average brightness value of the binarized image created by the binarization processing is calculated.

[0064] The process involves continuously imaging the excavated soil S passing through the imaging range with the camera 611 described above, and then repeatedly calculating the average brightness value for each image data acquired by the dye detection means 62. The average brightness values ​​are accumulated to create time-series data. The time-series data may be stored in the memory area of ​​the arithmetic processing unit 622, or it may be output to the display device 624 each time the average brightness value is calculated.

[0065] Any method of outputting to the display device 624 is acceptable, but for example, Figure 7 shows an example in which the average luminance value is plotted sequentially on a graph with the average luminance value on the vertical axis and time on the horizontal axis.

[0066] <<Example of time-series data of average brightness values>> Figure 7(a) is a graph showing time-series data of excavated soil S passing through the imaging range of camera 611 when no dye C is mixed in. On the other hand, Figure 7(b) is a graph showing time-series data of excavated soil S passing through the imaging range of camera 611 when dye C is mixed in. In other words, as shown in Figure 4(b), this is the state after the wear of the cutter bit 14 has progressed, the dye emission section 51 has been exposed, and the dye-containing fluid F(C) has been released. Note that a red-emitting light-emitting material is used for dye C.

[0067] As can be seen in the graph in Figure 7(a), the time-series data of the average brightness value shows no significant changes in its trend, indicating that a stable baseline oscillation occurs around an average brightness value of 2.0. On the other hand, as can be seen in the graph in Figure 7(b), there are instances where the average brightness value shows a large response.

[0068] This indicates that the excavated soil S, captured in the image data at the point when the average brightness value was particularly high, contains the pigment C. Visual inspection of the excavated soil S confirmed the presence of pigment C. Furthermore, the baseline also shows fine vibrations compared to Figure 7(a), which can also be assumed to capture variations due to the presence or absence of the pigment.

[0069] ≪Determining the presence or absence of pigment: STEP 5≫ When the image processing unit 6221 calculates the average brightness value of the image data, the arithmetic processing unit 622 receives a command from the dye determination unit 6222 and determines the presence or absence of dye C based on the average brightness value.

[0070] Specifically, the average brightness value calculated for each image data is compared with the judgment threshold determined in STEP 2. If the average brightness value is higher than the judgment threshold, it is determined that "pigment is present." For example, in Figure 7(b), the judgment threshold is set to an average brightness value of 2.0. As a result, excavated soil S captured in image data for which an average brightness value exceeding 2.0 is calculated is determined to contain "pigment."

[0071] <<Assessing wear level: STEP 6>> If the pigment detection unit 6222 determines that "pigment is present," the calculation processing unit 622 sends a warning message to the display device 624 via the alarm output unit 6232.

[0072] After receiving a warning message on the display device 624, the worker visually inspects the excavated soil S on the belt conveyor and the excavated soil S loaded onto the waste steel cart 30 to check for the presence of pigment C. If, after checking for pigment C, it is determined that the wear amount of the cutter bit 14 has reached the wear detection amount L1, the excavation work of the shield tunneling machine 10 should be temporarily suspended and appropriate measures should be taken, such as replacing the cutter bit 14.

[0073] According to the present invention, after receiving an alarm notification, workers only need to visually inspect the excavated soil S as a final confirmation. Therefore, the effort of constantly paying attention to the excavated soil S can be eliminated, and the operational efficiency of wear management can be improved. In addition, the wear status of the cutter bit 14 can be quickly communicated to the shield tunneling machine operator 10 and workers at the construction office, making wear management more efficient.

[0074] Furthermore, by having the pigment detection unit 6222 determine the presence or absence of pigment C, the presence or absence of pigment C can be determined with more stable accuracy compared to when a worker visually inspects the excavated soil. In addition, even before receiving an alarm notification, the worker can use the time-series data of the average brightness value as supporting information to detect, for example, signs that a large amount of pigment C is about to be released, that is, signs that the wear amount of the cutter bit 14 is about to reach the wear detection amount L1.

[0075] The wear management system and wear management method for excavators of the present invention are not limited to the embodiments described above, and it goes without saying that various modifications are possible without departing from the spirit of the present invention.

[0076] ≪≪When a green light-emitting material is used for dye C≫≫ For example, in this embodiment, a light-emitting material that emits red light is used for dye C, but a light-emitting material that emits green light may also be used. Figure 8 shows the time-series data of the average brightness value when a light-emitting material that emits green light is used as dye C.

[0077] Figure 8(a) shows an example where the excavated soil S passing through the imaging range of camera 611 does not contain dye C. On the other hand, Figure 8(b) shows an example where the excavated soil S passing through the imaging range of camera 611 does contain dye C. In Figure 8(b), the judgment threshold is set to an average brightness value of 2.5.

[0078] The graph in Figure 8(a) shows that a stable baseline vibration occurs around an average brightness value of 1.0. On the other hand, the graph in Figure 8(b) shows that, similar to Figure 7 which uses a red-emitting light-emitting material, there are points in the brightness value range where a large reaction occurs. Visual inspection of the excavated soil S confirmed the presence of a green-emitting light-emitting material. Furthermore, the baseline also shows finer vibrations compared to Figure 8(a), which can be assumed to capture variations due to the presence or absence of the dye.

[0079] In this way, by employing a light-emitting material that emits green or red light as the dye C, and performing binarization processing using the G component or R component of the RGB components of the pixel value extracted from each pixel of the image data, it is possible to detect the presence or absence of dye C with high accuracy while minimizing the influence of the imaging environment, such as the color of the excavated soil S and the lighting inside the tunnel T.

[0080] ≪≪A method for managing the wear condition of cutter bits in stages≫≫ Furthermore, in this embodiment, we have given an example of a case where the dye C is released to detect wear when the amount of wear of the cutter bit 14 reaches the wear detection amount L1. However, we are not limited to this, and a configuration in which the wear state of the cutter bit 14 is detected and managed in stages may also be used.

[0081] For example, as shown in Figure 9(a), the dye release mechanism 50 is provided with two sets of combinations of a dye release unit 51, a dye supply unit 54, and a supply pipe 55 connecting them.

[0082] One of the dye-emitting units 51 is located inside the cutter bit 14 at a depth where it is recessed by a wear detection amount L1 from the tip 141B, and the other dye-emitting unit 51 is located at a depth where it is recessed by a wear detection amount L2 from the tip 141B. The dye supply units 54 connected to each of these units are equipped with dye-containing fluids F(C1) and F(C2), respectively, which contain dyes C1 and C2 of different colors.

[0083] As a result, the soil monitoring device 60 can detect the pigments C1 and C2 released each time the cutter bit 14 wears down to a wear detection amount L1 and a wear detection amount L2, allowing for step-by-step management of the wear progression.

[0084] Furthermore, as shown in Figures 10(a) and (b), two types of cutter bits 14 are prepared: one in which the dye-emitting section 51 is located at a depth position retracted by a wear detection amount L1 from the tip 141B, and another in which the dye-emitting section 51 is located at a depth position retracted by a wear detection amount L1 from the tip 141B. Then, as shown in Figure 10(b), these may be provided on the cutter head 12.

[0085] In Figures 9 and 10, an example is given where the wear state of the cutter bit 14 is managed in two stages, wear detection amount L1 and wear detection amount L2, but the number is not limited to two stages. Also, although the same material may be used for the dye C emitted from multiple dye emission units 51, it is preferable to use different dyes C, considering that the operator visually checks the excavated soil S after receiving a warning message on the display device 624. [Explanation of symbols]

[0086] 10. Shield tunneling machine (tunnel boring machine) 11 Cutter drive unit 12 cutter heads 121 Cut Spokes 13 Shield body 131 Food section 132 Bulkhead 14 Cutter bits (drilling tools) 141 Base material 141A Proximal end 141B Tip 142 chips 15 chambers 16 Screw conveyor 20 Belt conveyor 21 Tail section 22 Head section 30 slag steel car 40 Wear Management System 50 Dye release mechanism 51 Dye-releasing section 52. Dye supply unit (piston type) 521 Hollow part 521A Storage section 521B Pressurized section 522 Piston 523 Coil spring 524 Screws 53 channels 531 Communication part 532 plug 533 Plug 54. Dye supply unit (accumulator type) 541 cabinets 541A Connection 542 Pressurized section 543 Storage Section 55 Supply pipe 60 Sediment monitoring device 61 Imaging means 611 Camera 612 Lighting equipment 613 Support frame 62. Dye detection means 621 Input section 622 Arithmetic Processing Unit 6221 Image Processing Unit 6222 Pigment detection unit 623 Output section 6231 Data Output Section 6232 Alarm output unit 624 Display device 625 Terminal devices H Launch Shaft T Tunnel P Sand and Sediment Pit G Compressed gas A. The slit F(C) Pigment-containing fluid F(C1) Pigment-containing fluid F(C2) Pigment-containing fluid C dye C1 dye C2 dye

Claims

1. A wear management system for managing the wear condition of excavation tools installed on a tunnel boring machine, A soil monitoring device for monitoring excavated soil generated during excavation of the ground by the aforementioned tunnel boring machine, The system includes a dye-releasing mechanism that releases dye toward the excavated soil in accordance with the amount of wear of the excavating tool, The aforementioned sediment monitoring device is An imaging means that continuously images the excavated soil and acquires image data of the excavated soil and Includes a dye detection means for acquiring a luminance value feature for each acquired image data, The aforementioned dye detection means is The system includes a pigment determination unit that determines the presence or absence of the pigment mixed in the excavated soil captured by the image data, based on a predetermined determination threshold related to a feature quantity of brightness value and a feature quantity of brightness value obtained from the image data. The characteristic quantities of the luminance value are, A wear management system characterized by extracting the pixel values ​​of the component corresponding to the color adopted for the dye from each pixel of the aforementioned image data, performing a binarization process, and then calculating the average brightness value obtained by calculating the proportion of white images in the total number of pixels from the acquired binarized image.

2. In the wear control system according to claim 1, The aforementioned dye uses a light-emitting material, A wear management system characterized in that the dye detection means includes an image processing unit that performs a binarization process on the image data to obtain a binarized image and calculates a feature quantity of the brightness value from the obtained binarized image.

3. In the wear management system according to claim 1 or 2, When the aforementioned pigment detection unit determines that a pigment is present, an alarm output unit outputs an alarm, A wear management system characterized by having the following features.

4. A wear control system according to any one of claims 1 to 3, The aforementioned dye release mechanism comprises a plurality of dye release units, A wear control system characterized in that multiple pigment-releasing sections are provided inside the excavator, with their depth positions offset from the tip of the excavator.

5. A method for managing wear of an excavating tool using a wear management system according to any one of claims 1 to 4, The process involves continuously imaging the excavated soil generated during excavation of the ground by the tunnel boring machine using the imaging means, and acquiring image data capturing the excavated soil. For each of the aforementioned image data, the process involves obtaining a feature quantity of the brightness value, A step of determining whether or not the pigment is present in the excavated soil captured for each image data, based on the characteristic quantity of the brightness value and the predetermined determination threshold, A method for managing wear of an excavating tool, characterized by comprising the following features.

Images