870 results about "Tunnel boring machine" patented technology

The invention relates to the technical field of data processing, discloses a digital twin adaptive decision platform for TBM tunneling and a control method, and aims to solve the problems of single sensing dimension, mutual separation of physical and data models, disjunction of early warning and control links and low man-machine interaction efficiency in the prior art. According to the scheme, the method mainly comprises the steps that multi-source real-time data is collected through a hardware sensing layer, after the multi-source real-time data is processed through a data management and fusion layer, a digital twin model layer constructs a physical-data fusion model and completes risk assessment, finally risk visualization is achieved through an augmented reality interaction layer, and an intelligent control decision-making layer generates a control instruction and outputs the control instruction to a TBM main control system. According to the integrated intelligent decision-making platform and the control method, multi-source perception deep fusion, physical and data model online coupling, risk assessment and equipment control second-level closed loop can be realized, and visual interaction can be realized through augmented reality.

The invention discloses a tunnel boring machine (TBM) tunneling method for a large-diameter inclined shaft under a deep coal mine well, belongs to the technical field of mine construction engineering and tunnel tunneling, and aims to solve the problems of poor axis control precision and deviation correction response lag caused by the fact that an existing method depends on manpower and cannot integrate geology and inclination angle information for self-adaptive thrust distribution. The surrounding rock strength grade is judged according to the torque and the speed by collecting the cutterhead torque, the rotating speed, the total propulsive force and the pitch angle in real time; calculating a gravity component force and an unstable moment by combining the pitch angle, and calculating a required deviation correction moment according to the real-time angle deviation; a pre-stored data table is inquired based on the pitch angle, the surrounding rock grade and the deviation rectifying torque, and the target pressure distribution proportion of the upper and lower partition oil cylinders is dynamically generated; and finally, the total propulsive force set value is decomposed according to the proportion, the pressure of an oil cylinder is adjusted through independent closed-loop control, and self-adaptive accurate control over the pitch attitude is achieved. The method is mainly used for improving the axis control precision and stability of the large-diameter inclined shaft TBM construction of the deep coal mine.

The invention discloses a tunnel surrounding rock deformation prediction method, system and equipment. The tunnel surrounding rock deformation prediction method comprises the steps that actual multi-source data in the tunneling process of a tunnel boring machine (TBM) are obtained, and the multi-source data at least comprise surrounding rock deformation monitoring data, tunneling data of the tunnel boring machine and vibration signal data; the multi-source data is input into a pre-trained prediction model, a prediction result of the tunnel surrounding rock deformation condition in the TBM tunneling process is obtained, and the prediction model is pre-trained with the pre-obtained multi-source data as a training sample and the tunnel surrounding rock deformation condition as a label. According to the embodiment of the invention, the method can achieve the advanced prediction of the deformation of the surrounding rock through the real-time data in the construction process of the tunnel boring machine, provides a scientific basis for the construction parameter optimization and risk early warning of the tunnel boring machine, reduces the workload of manual monitoring, and improves the construction automation level.

The present disclosure provides a tunnel boring machine excavation parameter prediction method based on offline reinforcement learning and a device. The method comprises: acquiring historical operating data generated by a tunnel boring machine within a specified time interval under normal operating conditions, and preprocessing the data; constructing a tunnel boring machine excavation parameter prediction model on the basis of an offline reinforcement learning model, and training the tunnel boring machine excavation parameter prediction model by means of historical point data in the preprocessed historical operating data; and inputting point data generated by the tunnel boring machine during real-time operation into the trained tunnel boring machine excavation parameter prediction model, and outputting a predicted value of a tunnel boring machine excavation parameter to guide the excavation of the tunnel boring machine. By means of the present invention, a corresponding excavation parameter can be predicted on the basis of point data generated by a tunnel boring machine during operation, providing guidance for a tunnel boring machine operator.

The invention discloses a tunnel boring machine performance prediction and monitoring system and method based on digital twinning and machine learning. The system comprises a data acquisition module, a data preprocessing module, a model construction module, a performance analysis module and a visual analysis module. The data acquisition module is used for acquiring initial data of a tunnel boring machine on a construction site; the data preprocessing module is used for preprocessing the initial data to obtain preprocessed data; the model construction module constructs a prediction model and a digital twinborn model of the tunnel boring machine based on the preprocessed data; the performance analysis module predicts the tunneling speed and the propelling speed of the tunnel boring machine by using the prediction model to obtain a prediction result, and integrates the prediction result with the digital twinborn model; and the visual analysis module is used for constructing a virtual environment and checking the construction progress and the performance prediction result of the tunnel boring machine in real time in a digital twinborn model in the virtual environment.

The present invention provides a method for designing an abrasive water jet-disc cutter combined rock-breaking cutter head, a system therefor, a cutter head and a tunnel boring machine (TBM), wherein the key technology of designing the abrasive water jet-disc cutter combined rock-breaking cutter head of the TBM are provided from the aspects of determining a combined rock-breaking combination mode, configuration of cutter operation parameters and optimization of the combined cutter head; the performance of the abrasive water jet-disc cutter combined rock-breaking cutter head manufactured according to the optimized layout parameters is improved; and a new idea is provided for the development and application of a full-section rock tunneling machine in the field of underground engineering.

The invention discloses an open-type TBM over-slowly-inclined soft rock stratum zoning and sectioning collaborative supporting construction method. The method comprises the steps that S1, shield tail immediate supporting is conducted; s2, reinforcing and supporting the rear part of the supporting shoe; and S3, bottom arch anchor support closing regulation and control. According to the open-type TBM equipment structure characteristics and the slowly-inclined soft rock stratum deformation rule, a supporting area is divided into three operation sections including a near-shield-tail instant supporting area, a supporting shoe rear reinforcing supporting area and a bottom arch anchor supporting closed regulation and control area, differential supporting is implemented in a staged mode, space-time progressive construction of pre-stressed anchor cables and anchor rods is combined, and the supporting effect is greatly improved. Matching of supporting rigidity and stratum deformation is ensured through dynamic adjustment of prestress, a dynamic collaborative supporting system of instant supporting, reinforcement and closed-loop regulation and control is formed, and double improvement of supporting efficiency and safety is achieved.

The invention discloses a shield tunneling machine intelligent tunneling regulation and control system and method based on muck digital imaging and a knowledge graph, and the system comprises a muck image collection module, an image processing unit, a knowledge graph reasoning module, a parameter reference suggestion generation module, a visual interaction module, and a feedback and iterative optimization module. The method comprises the following steps: acquiring an image of residue soil on a residue discharge belt of a shield tunneling machine in real time, dynamically identifying a stratum type and a change trend in combination with a knowledge graph, generating a reference regulation and control suggestion of tunneling parameters of the shield tunneling machine, and displaying the reference regulation and control suggestion on a screen. According to the method, a shield tunneling machine driver can scientifically and systematically adjust construction operation, the real-time performance and accuracy of stratum recognition are improved, cutter head abrasion and shield attitude offset caused by uneven hardness or boulder strata are reduced, and construction safety and tunneling efficiency are improved; the system carries out iterative optimization on the knowledge graph and the image recognition model according to construction feedback, the adaptability and reliability of the system under different working conditions are enhanced, and the construction economy and the engineering application value are improved.

The invention discloses a rock slag multi-dimensional intelligent identification and real-time early warning method for tunnel boring machine construction. The method comprises the steps that continuous rock slag images are acquired and preprocessed; inputting the preprocessed rock slag image into the trained multi-task network, and outputting a multi-task result; wherein the task network adopts a unified encoder and multi-head decoder architecture, the multi-head decoder comprises a segmentation head, a detection head, a regression head and an anomaly scoring head, the segmentation head outputs a pixel mask, the detection head outputs a rock slag frame and category, the regression head outputs a particle size distribution parameter, and the anomaly scoring head outputs a frame level anomaly score; synchronously carrying out sliding window statistics based on output results of the regression head and the abnormal score head; and performing multi-level early warning judgment based on a sliding window statistical result. According to the method, multiple functions of rock slag instance segmentation, target detection, particle size distribution regression, flow estimation, anomaly scoring and the like can be realized, and multi-stage early warning and parameter suggestion are realized through time sequence statistics.

The invention belongs to the field of tunnel boring machine internal equipment, and discloses a multi-degree-of-freedom large-magnification-ratio visual carrying motion protection platform suitable for a long and narrow space in a TBM (Tunnel Boring Machine), which comprises a guide rail, a loading platform, a horizontal telescopic mechanism, a rotating mechanism, a vertical telescopic mechanism, a visual protection system and a front-back swinging mechanism. According to the multi-degree-of-freedom large-magnification-ratio vision carrying motion protection platform, the flexibility and coverage range of TBM internal vision monitoring are improved, and the requirements of different monitoring positions can be met; through multi-degree-of-freedom motion and a large magnification ratio, comprehensive monitoring of a complex environment in the TBM is realized; the visual protection system effectively protects visual equipment, and durability and stability of the equipment are improved; the structure design is compact, deployment and operation in a long and narrow space in the TBM are suitable, and the space utilization rate is increased; and through automatic and intelligent design, the requirement of manual operation is reduced, the operation risk is reduced, and the working efficiency is improved.

The invention provides a karst cave group detection method and device in shield construction, and the method achieves the comprehensive detection of karst caves through a transient electromagnetic and sound wave array composite wave field detection mode, and improves the detection accuracy and detection efficiency of the karst cave group. And feature extraction is performed on the composite wave field detection data through a cross-physical coupling model, a karst cave probability model is established, and quantitative evaluation of a karst cave detection result is realized. When the karst cave possibly exists in the construction direction of the shield tunneling machine, the distribution prediction direction of the karst cave is further determined, and the shield tunneling machine is prevented from entering the karst cave area blindly in the tunneling process. Through the multi-source sensing array carried on the shield tunneling machine, equipment parameters during operation of the shield tunneling machine are collected in real time, potential construction anomalies can be found easily, and the accuracy and timeliness of karst cave detection are improved. Combined analysis is carried out on the composite wave field detection data and the operation parameters of the shield tunneling machine through the risk assessment model, a karst cave risk prediction value is determined, and the accuracy of karst cave risk assessment is improved.

The utility model provides a heading machine. The heading machine comprises a machine body; the first rotating part is arranged at the front end of the machine body; the cutting assembly is connected with the first rotating part and can swing up and down under the action of the first rotating part; the first detection assembly is connected with the first rotating part and is used for detecting the lifting amplitude of the cutting assembly; the control assembly is connected with the first detection assembly and used for determining the final lifting amplitude of the cutting assembly according to the detection result of the first detection assembly; wherein the first detection assembly comprises a first gear which is connected with the first rotating part and can synchronously rotate along with the first rotating part; the second gear is meshed with the first gear; the first angle sensor is connected with the second gear and used for converting the rotation angle of the second gear into an electric signal and sending the electric signal to the control assembly. The heading machine can stably measure the lifting amplitude of the cutting assembly of the heading machine with high precision.

The invention discloses a tunnel surrounding rock quality prediction method and system. The tunnel surrounding rock quality prediction method comprises the steps that actual multi-source data in the tunneling process of a tunnel boring machine are obtained, and the multi-source data at least comprise rock slag image data of surrounding rock, tunneling data of the tunnel boring machine and vibration signal data; extracting rock slag image data features, tunneling data features and vibration signal data features; the three features are fused, and a final prediction result of the surrounding rock quality is obtained according to the fused features; obtaining a first prediction result of the surrounding rock quality according to the rock slag image data features, obtaining a second prediction result of the surrounding rock quality according to the tunneling data features, obtaining a third prediction result of the surrounding rock quality according to the vibration signal data features, and deciding a final prediction result of the surrounding rock quality according to the first to third prediction results. The embodiment of the invention has the advantage of comprehensive and accurate surrounding rock quality evaluation.

The invention relates to the technical field of tunnel construction equipment, and discloses an annular scanning complete polarization ground penetrating radar system carried on a TBM (Tunnel Boring Machine), and the system comprises a control unit which is disposed in a TBM control room and is used for transmitting a control signal and receiving and storing measurement data; the fully-polarized ground penetrating radar antenna array is mounted in a gap between cutter spokes and is used for transmitting and receiving electromagnetic waves; each group comprises two transmitting antennas and two receiving antennas; the two transmitting antennas transmit horizontally polarized electromagnetic waves and vertically polarized electromagnetic waves respectively, the two receiving antennas receive horizontally polarized echoes and vertically polarized echoes respectively, and a complete 2 * 2 scattering matrix of a front annular area is obtained by rotating the fully polarized antenna array through the cutterhead to complete a measurement period. The multi-polarization radar antenna is adopted, the scattering characteristic information of the target body can be comprehensively obtained by transmitting and receiving electromagnetic wave signals in multiple polarization states, and more comprehensive information can be provided for target recognition under complex geological conditions.

The invention provides a vertical receiving target for measuring the attitude of a full-face tunneling machine. The vertical receiving target comprises an optical system, a circuit system, a prism system and a gyroscope, the prism system is used for receiving an initial optical signal and transmitting the initial optical signal to the optical system; the optical system is used for processing the received initial optical signal to obtain a target optical signal and transmitting the target optical signal to the circuit system; the gyroscope is used for outputting an angle detection result of the vertical receiving target to the circuit system; and the circuit system is used for determining an attitude detection result of the vertical receiving target according to the received target optical signal and the angle detection result, and determining an attitude offset result of the full face tunnel boring machine according to the attitude detection result. Therefore, the vertical receiving target designed by the invention can be used for accurately measuring the working posture of the full-section digging machine for the ultra-deep vertical shaft, so that the construction quality is ensured.

The invention discloses a shield tunneling machine hob damage monitoring method and system, a medium and a product, and relates to the technical field of shield construction monitoring. The hob damage monitoring system firstly obtains a vibration signal and an acoustic emission signal of a hob, and divides the signals into time sequence synchronization segments to guarantee data correspondence. Then extracting a vibration feature vector and calculating an Euclidean distance so as to reflect a vibration change trend; and acoustic emission characteristic parameters and change rates are determined, and acoustic emission signal characteristics are reflected. After the interference data fragments are removed, abnormal signals are marked, and whether the hob is damaged or not is judged according to the abnormal marking duration and the number density. All the steps cooperate with one another to form a complete process, vibration signals caused by instantaneous impact, acoustic emission signal abrupt change and signal characteristics generated by real damage of the hob can be effectively distinguished, the damage condition of the hob can be accurately recognized, early warning can be given out in time, the monitoring accuracy is improved, the false alarm rate is reduced, and construction safety and continuity are guaranteed.

The invention belongs to the technical field of coal mine heading machine onboard temporary supporting equipment, and particularly relates to a heading machine onboard temporary supporting device. The cutting part comprises a cutting part rack, a parallelogram turnover mechanism arranged in the middle of the cutting part rack, a turnover oil cylinder for driving the parallelogram turnover mechanism, a bearing platform, a telescopic mechanical arm assembly and a protective plate assembly, the bearing platform is connected to the cutting part rack through a parallelogram turnover mechanism and is driven by a turnover oil cylinder to horizontally lift and translate, one end of the mechanical arm assembly is connected to the bearing platform, and an angle adjusting mechanism is arranged between the mechanical arm assembly and the bearing platform; the guard plate assembly is installed at the other end of the mechanical arm assembly, and a leveling mechanism is arranged between the guard plate assembly and the mechanical arm assembly. According to the invention, the original onboard temporary support overturning structure of the heading machine is broken through, and the parallelogram four-connecting-rod translation mechanism is innovatively designed, so that the translation mechanism can be normally used in a low roadway, and the effect of increasing the practical performance is achieved.

The invention provides a pea gravel self-adaptive injection method, an injection system, rear corollary equipment and a tunnel boring machine, and belongs to the technical field of tunnel boring. The injection state of the injection port pipeline is judged by detecting the vibration condition of the injection port pipeline at the tail end of the injection pipeline, and the blanking adjusting valve of the feeding device is controlled to adjust the opening degree of the blanking port in a self-adaptive mode according to the injection state, so that the blanking speed is matched with the current injection state in a self-adaptive mode. Meanwhile, the rotating speed of a motor of the pea gravel pump is adjusted in a self-adaptive mode according to the opening degree of a discharging opening, self-adaptive matching of the discharging speed and the pea gravel spraying amount is achieved, the system can achieve self-adaptive control over the discharging speed, the rotating speed of the motor and the air inflow according to a control program of a PLC, fault signals and accessory replacement reminding are provided, manual operation is not needed, and the working efficiency is improved. The problems that at the present stage, the blanking speed, the motor rotating speed and the air inflow are adjusted completely depending on manual experience, the whole system is unstable, pipe blockage and pipe explosion frequently occur on site, and quick-wear parts are abraded rapidly are solved.

The invention provides a shield construction site automatic layout method based on artificial intelligence. The method specifically comprises the following steps: S1, carrying out basic data acquisition and standardization processing on a construction site; s2, constructing a fine-grained field layout rule knowledge base; s3, inputting the basic data of the construction site after standardization processing, and based on the logic guidance and constraint of the fine-grained site layout rule knowledge base, intelligently generating functional region division, facility arrangement and traffic flow organization schemes of the shield construction site by utilizing an artificial intelligence large model to fuse data understanding and logic deduction; and S4, completely converting the site layout reasoning result in the step S3 from data to a graph, generating a construction site layout scheme, and visually displaying the construction site layout scheme. According to the method, standardized data input and knowledge-driven reasoning are constructed, and an artificial intelligence large model is combined, so that automation and standardization of functional area division, facility arrangement and traffic flow organization of the shield construction site are realized, and the design efficiency and consistency are improved.

The invention discloses a TBM tunnel bottom virtual slag cleaning method and device, the device comprises a slag cleaning device, the slag cleaning device comprises a three-slope shovel head, a main bin body and a jacking system, the main bin body is of an arched cavity structure with an opening in the upper portion; a jacking system is installed on a shell on the rear side of the main bin body. The jacking system comprises a plurality of long-range hydraulic oil cylinders, the long-range hydraulic oil cylinders extend synchronously, the rear ends of the long-range hydraulic oil cylinders are used for abutting against the front side wall of the installed prefabricated inverted arch block to serve as supports, and in the extending process, counter-acting force pushes the slag removing device to move forwards. The rear end of the three-slope type shovel head is axially connected with the front end of the main bin body; in the forward moving process, the three-slope type shovel head is used for pushing and shoveling up virtual slag, and a space where the prefabricated inverted arch block is to be installed is formed by the three-slope type shovel head and the installed prefabricated inverted arch block behind the cleaning device. The slag is shoveled through pushing and is conveyed to the hopper to be lifted out, so that the virtual slag at the bottom of the TBM tunnel is quickly cleaned, and a large amount of manpower is saved.

The invention discloses an automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system. The method comprises the following steps: calculating current attitude information of the front end surface of a shield body of the tunnel boring machine in a global rectangular coordinate system; position coordinates and direction vectors of the front end face of the shield body at the next tunneling position, namely the target position, on the tunnel design axis are determined; calculating pose information of the front end face of the shield body at the next tunneling position under the global rectangular coordinate system; calculating the position deviation and Euler angle deviation of the target pose and the current pose in the first rectangular coordinate system; calculating the target length of each propulsion oil cylinder in the six-degree-of-freedom propulsion system; and the intelligent control system of the tunnel boring machine automatically executes the target stroke increment of each propelling oil cylinder in a closed-loop manner. The invention relates to the field of shield tunnel construction, and can solve the problems of high manual deviation correction operation difficulty and insufficient control precision of a propelling system in the prior art.

The invention discloses a real-time monitoring system and method for secondary operation of a roadheader. The second-operation real-time monitoring system of the roadheader comprises a limiting gear lever assembly, a composite trigger assembly, a central control module and a hydraulic execution assembly, the limiting gear lever assembly is arranged at the tail of a belt conveyor, and the limiting gear lever assembly comprises a telescopic rod, a built-in pressure sensor and a built-in tilt angle sensor; the composite trigger assembly is arranged on the front side of a rail car of a second conveyor of the roadheader, the central control module is connected with the limiting stop lever assembly and the composite trigger assembly, and the hydraulic execution assembly comprises a hydraulic push rod linked with the telescopic rod and an electromagnetic valve set connected with a power system of the roadheader. According to the real-time monitoring system for the secondary operation of the roadheader, through electromechanical cooperative control and a multi-stage safety triggering mechanism, accurate monitoring and active protection of the displacement of the rail car are achieved, the safety problem that the rail car in an underground coal mine derails is effectively solved, and meanwhile the equipment maintenance cost and the production interruption risk are reduced.

The invention relates to TBM water conveyance tunnel lining steel pipe installation and transportation equipment and a transportation and installation method, the TBM water conveyance tunnel lining steel pipe installation and transportation equipment comprises a rail transportation system, a transfer system, a wheel type transportation system, an installation butt joint device and temporary supporting profile steel, the rail transportation system is arranged on a drilling and blasting tunnel section, and the transfer system is arranged at the junction of the drilling and blasting tunnel section and a segment tunnel section; the wheel type transportation system is arranged on a pipeline, and the installation butt joint device is arranged at the end of a lined section. The rail transportation system and the transfer system share the same group of rails at the intersection; the installation and construction of the lining steel pipe of the TBM water delivery tunnel with the engineering quantity smaller than 1 kilometer can be facilitated, the construction efficiency is improved, and the cost is reduced.

The invention discloses an attitude calculation method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system. The attitude calculation method comprises the following steps: establishing four right-hand Cartesian rectangular coordinate systems; calculating a pose transformation matrix from the first rectangular coordinate system to the global rectangular coordinate system; calculating pose information of the front end face and the rear end face of the shield body in the global rectangular coordinate system, wherein the pose information comprises a pose transformation matrix from the second rectangular coordinate system to the first rectangular coordinate system and a pose transformation matrix from the third rectangular coordinate system to the second rectangular coordinate system; and calculating the attitude deviation of the front end face and the rear end face of the shield body. The invention relates to the field of shield tunnel construction, and can solve the problem of poor feasibility and reliability of monitoring the attitude of a tunnel boring machine by manually adopting a total station in the prior art.

The invention relates to the technical field of tunneling equipment, and discloses a TBM cutterhead hob detection auxiliary device which comprises a base and a rotating disc rotating on the base, a positioning groove matched with the outer edge of a hob ring is formed in the outer arc face of the rotating disc, and a fastening assembly used for clamping the edge of a hob is arranged in the positioning groove. A rotating shaft is arranged in the rotating disc, a clamping tongue is fixedly connected to the surface of the rotating shaft, an adjusting groove matched with the clamping tongue is formed in the rotating disc, a concave block is arranged through the adjusting groove, a groove matched with the clamping tongue is formed in the surface of the concave block, and the concave block is connected with the rotating disc through a spring C; the driving assembly is used for driving the rotating shaft to drive the rotating disc to rotate. The device has the effect of stably, continuously and accurately detecting the hob jamming problem, and the defects in the prior art are overcome.

The invention discloses a TBM (tunnel boring machine) intelligent tunneling method and system, electronic equipment and a storage medium, which can perform multi-scale feature fusion on input data and improve context dependence capture capability, realize fusion of spatial features and time sequence features and enhance prediction performance of a model. Moreover, through deep fusion of the deep learning model and the MPC module, short-term optimization and global strategy learning are realized, the stability and robustness of the model are improved under the conditions of dynamic parameter change and external interference, the GRU can integrate historical observation information, the defects of single-step prediction are made up, and the prediction efficiency is improved. The automatic control model can well adapt to the characteristics of high coupling property, strong nonlinearity, strong time-varying property under different working conditions, large load change and the like of all systems of the TBM, is favorable for improving the response speed and reducing the steady-state error, and can realize flexible, robust and high-precision TBM tunneling intelligent regulation and control.

A drilling and anchoring system and a driving and anchoring machine are suitable for the technical field of mine anchor rod supporting equipment, and particularly relates to a drilling and anchoring system and a driving and anchoring machine suitable for a coal mine roadway, the drilling and anchoring system and the driving and anchoring machine comprise a base, a second sliding rail installed on the base, a supporting sliding table installed on the second sliding rail, and a first sliding rail installed on the supporting sliding table, an upper sliding table is installed on the first sliding rail, a swing arm is connected with the supporting sliding table, and drilling and anchoring devices are installed on the swing arm and the upper sliding table. Two sets of anchor rod drilling machines are arranged on a heading machine, so that the heading machine has the function of supporting an exposed roof of a roadway and the same row of anchor rods on two sides at the same time by four anchor rod drilling machines, and the four anchor rod drilling machines also have the function of supporting multiple rows of anchor rods of the roadway at the same time, so that different construction requirements of roadways with different geologies can be met; the utility model further provides a foldable working platform, an operator can walk on the platform, the operation activity space is large, and the operator can conveniently replace the drill rod, install the anchor rod and other working procedures.

The invention discloses a roadway heading machine positioning method, device and system based on vision-inertia multi-stage depth fusion, the device comprises an industrial camera, a strapdown inertial navigation system, an artificial target and a computing system, the industrial camera is used for acquiring an artificial target image, the strapdown inertial navigation system is used for acquiring inertia information, the artificial target is arranged in a roadway behind a heading machine, and the computing system is used for computing the inertial information. The system is used for providing rich information for full-state vision measurement; a trained positioning model is integrated in the calculation system, and in the tunneling working process of the roadway tunneling machine, the calculation system estimates the machine body pose on line based on the positioning model; according to the positioning model, the current six-degree-of-freedom machine body pose of the tunnel boring machine is estimated on line by using the previous frame visual inertial positioning comprehensive feature and the inter-frame short-time inertial positioning feature as joint prior information and combining the current moment visual sequence fusion feature. According to the invention, efficient and reliable on-line positioning of the tunnel boring machine under extreme working conditions is realized.

The invention relates to the technical field of surrounding rock integrity grading, and discloses a tunnel boring machine surrounding rock integrity grading method based on image classification, which comprises the following steps: acquiring a surrounding rock image of a tunnel boring machine construction tunnel; preprocessing the acquired surrounding rock image of the tunnel boring machine construction tunnel; constructing a surrounding rock integrity classification data set according to the preprocessed surrounding rock image; constructing a hierarchical classification model based on a ResNet34 feature extraction network, and carrying out training optimization by adopting a multi-hierarchical classifier structure; and carrying out tunnel boring machine surrounding rock integrity grading by utilizing the trained and optimized hierarchical classification model. According to the method, features are extracted based on ResNet34, high-definition digital images are combined, the completeness of the surrounding rock in the TBM tunneling process can be detected in real time, and then intelligent grading of the breaking condition of the surrounding rock is achieved.

The invention relates to a rock breaking hob mechanism, a using method of the rock breaking hob mechanism and a tunnel boring machine. The rock breaking hob mechanism comprises a cutterhead, a first hob, a second hob and a nozzle. The cutterhead is configured to be rotatable; the first hob is arranged on the cutterhead; the second hob is arranged on the cutterhead, the first hob protrudes out of the second hob in the axis direction of the cutterhead, and the distance between the first hob and the axis is not equal to the distance between the second hob and the axis in the radial direction of the cutterhead; the nozzle is arranged on the cutter head, the distance between the nozzle and the axis is equal to the distance between the first hob and the axis in the radial direction, and the nozzle is configured to jet fluid. According to the rock breaking hob mechanism provided by the invention, the first hob and the nozzles are cooperatively matched, so that the use amount of the nozzles is reduced, the energy consumption of high-pressure water jet is reduced, and the defect that the cutting seam depth of the high-pressure water jet is limited under a high moving speed working condition is effectively improved.