The application discloses a TBM rock
slag form identification method and
system, comprising: acquiring a rock
slag depth image irradiated by
structured light of different frequencies, decoding the
structured light in the rock
slag depth image to obtain the
absolute phase of each pixel point, and performing
phase matching on the pixel points; calculating a
parallax value according to the matched pixel pairs, obtaining the depth corresponding to the pixel points according to the
parallax value corresponding to the pixel points, obtaining the three-dimensional coordinates of each pixel point, and constructing a three-dimensional
point cloud map; acquiring a rock slag
color image without
structured light irradiation, aligning the pixel points of the rock slag
color image and the three-dimensional
point cloud map, and obtaining a color
point cloud; and identifying the position, size and type of the target rock slag by using a trained neural
network on the color point cloud. The method meets the
engineering requirement of quickly sensing the size of rock slag in the TBM tunneling process, and improves the identification accuracy and efficiency.