CN116481590A - Intelligent detection robot for shield carried muck and detection method thereof - Google Patents
Intelligent detection robot for shield carried muck and detection method thereof Download PDFInfo
- Publication number
- CN116481590A CN116481590A CN202310268996.3A CN202310268996A CN116481590A CN 116481590 A CN116481590 A CN 116481590A CN 202310268996 A CN202310268996 A CN 202310268996A CN 116481590 A CN116481590 A CN 116481590A
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- China
- Prior art keywords
- rotating motor
- sliding rail
- muck
- slag
- harmful gas
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 239000002893 slag Substances 0.000 claims abstract description 44
- 239000002689 soil Substances 0.000 claims abstract description 30
- 238000013527 convolutional neural network Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000010008 shearing Methods 0.000 claims description 3
- 239000000606 toothpaste Substances 0.000 claims description 3
- 229940034610 toothpaste Drugs 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 4
- 238000003745 diagnosis Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000005641 tunneling Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910000278 bentonite Inorganic materials 0.000 description 1
- 239000000440 bentonite Substances 0.000 description 1
- SVPXDRXYRYOSEX-UHFFFAOYSA-N bentoquatam Chemical compound O.O=[Si]=O.O=[Al]O[Al]=O SVPXDRXYRYOSEX-UHFFFAOYSA-N 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
Abstract
The invention provides a shield-mounted slag soil intelligent detection robot and a detection method thereof. The method can realize real-time multi-index detection of the muck discharged by the screw conveyor, intelligent diagnosis of muck properties, reduction of interference and hysteresis of manual operation and support of shield intelligent construction.
Description
Technical Field
The invention relates to the field of tunnel boring machines, in particular to an intelligent detection robot for shield carrying dregs and a detection method thereof.
Background
In the construction of the earth pressure balance shield, the dregs cut by the cutting system enter the earth bin, and the earth pressure and the water pressure on the face are balanced by utilizing the earth pressure formed by the dregs, so that the dregs can meet the construction requirement only by having certain flow plasticity. The technology is mainly characterized in that water, foam, bentonite and other modifying agents are injected into the excavated slag soil to enable the soil body to have good fluidity, so that the requirements of shield tunneling can be met. If the characteristics of the muck are poor, the shield tunneling speed is greatly slowed down, the cutter abrasion is aggravated, and even accidents such as gushing of a screw machine, stratum collapse and the like are caused.
The traditional muck detection scheme relies on a shield operation driver or ground manager to observe artificially, whether the flow plasticity of muck is qualified or not is judged qualitatively through videos acquired by a camera system arranged in a shield machine, the detection method seriously depends on personal experience of engineers, a unified compliance standard is lacking, quantitative detection cannot be achieved, a detection result is coarse and the error is large, and requirements of safety and precise control of shield tunneling are difficult to meet.
Disclosure of Invention
The invention aims to provide an intelligent detection robot for shield carrying dregs, which is used for solving the problems.
The technical scheme of the invention is as follows:
a shield carries on dregs intellectual detection system robot, including rotating electrical machines one, electronic articulated slide rail, detection box, multi freedom manipulator, rotating electrical machines two, harmful gas detector, temperature sensor, thin-walled cylinder, torque sensor, industrial camera, control cabinet; the rotating motor I is used for turning over an electric hinged sliding rail in a horizontal plane, the electric hinged sliding rail is used for conveying a detection box to come and go below a slag hole and a mechanical arm, the detection box is used for containing slag, the multi-degree-of-freedom mechanical arm is used for bringing a rotating motor II, a harmful gas detector, a temperature sensor, a torque sensor and an industrial camera to a specified position, the rotating motor II is used for rotating a thin-wall cylinder, the harmful gas detector is used for detecting the harmful gas content in the slag, the temperature sensor is used for detecting the slag temperature, the thin-wall cylinder is used for rotating and shearing with the slag, the torque sensor is used for measuring the torque value required by the rotation of the thin-wall cylinder, the industrial camera is used for shooting the slag image, a Convolutional Neural Network (CNN) slag image is used for classifying rock and soil types and fluidity conditions, and the control cabinet is used for controlling various systems and processing slag data.
Preferably, the first rotating motor is connected with the electric hinged sliding rail, the detection box is connected with the electric hinged sliding rail, the second rotating motor, the harmful gas detector, the temperature sensor, the torque sensor and the industrial camera are all fixed on the multi-degree-of-freedom manipulator, the second rotating motor is connected with the torque sensor through a coupling, the torque sensor is connected with the thin-wall cylinder through a coupling, and the first rotating motor, the electric hinged sliding rail, the multi-degree-of-freedom manipulator, the second rotating motor, the harmful gas detector, the temperature sensor, the torque sensor and the data transmission line of the industrial camera are all connected into the control cabinet.
Preferably, in step 1, the industrial camera is kept in an on state all the time, the industrial camera automatically shoots high-precision photos and uses a Convolutional Neural Network (CNN) muck recognition algorithm to classify muck flow plasticity, and the classification mainly comprises three grades of excellent grade, good grade and poor grade; wherein, the grade preference indicates that the discharged dregs are continuous, smooth and shaped like a tooth paste; the grade quality indicates slight intermittent discharge of slag that does not gather and is discontinuous; the level difference indicates that the discharged residue is loose and not formed;
step 2, when the shield carries the intelligent detection robot of the muck to recognize the muck, controlling the electric hinged sliding rail to convey the detection box to the lower part of the muck outlet and keeping for a certain time, and controlling the electric hinged sliding rail to convey the detection box back to the original position for detection again after muck is filled;
step 3, after the soil-filled detection box is returned to the original position, the multi-degree-of-freedom manipulator inserts the thin-walled cylinder into the slag soil to be detected, the rotating motor II is opened, the peak value and the stable value of the torque required by the rotating motor II to drive the cylinder to rotate are obtained through the torque sensor, and the calculation formula is as follows
Wherein, the yield strength of the dregs is tau, and v is the rotation speed of the rotating motor II;
meanwhile, the harmful gas detector and the temperature sensor are synchronously started to work, wherein the harmful gas detector is used for detecting the content of harmful gas in the slag soil, and the temperature sensor is used for detecting the slag temperature;
and 4, starting the rotating motor I after the detection is finished, turning the electric hinged sliding rail 180 degrees in the vertical plane so as to pour the dregs onto the conveyor belt, and then starting the rotating motor I again so as to reversely turn the electric hinged sliding rail 180 degrees in the vertical plane and return to the original position.
The invention has the beneficial effects that:
compared with the prior art, the intelligent detection robot for the shield carried muck provided by the invention can be used for carrying out real-time multi-index detection on muck discharged by the screw conveyor, carrying out intelligent diagnosis on muck properties, reducing interference and hysteresis of manual operation and providing support for intelligent construction of the shield.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent detection robot for shield carried muck, which is provided by the embodiment of the invention;
fig. 2 is a flowchart of a method for using the shield-mounted muck intelligent detection robot provided by the embodiment of the invention.
Reference numerals
The device comprises a rotating motor I-1, an electric hinged sliding rail II-2, a detection box II-3, a multi-degree-of-freedom manipulator II-5, a harmful gas detector II-6, a temperature sensor II-7, a thin-wall cylinder II-8, a torque sensor II-9, an industrial camera II-10 and a control cabinet II-11.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples so that those skilled in the art may better understand the present invention and practice it, and the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the shield carrying dregs intelligent detection robot comprises a first rotating motor 1, an electric hinged sliding rail 2, a detection box 3, a multi-degree-of-freedom manipulator 4, a second rotating motor 5, a harmful gas detector 6, a temperature sensor 7, a thin-wall cylinder 8, a torque sensor 9, an industrial camera 10 and a control cabinet 11; the rotating motor I1 is used for turning the electric hinged sliding rail 2 in a horizontal plane, the electric hinged sliding rail 2 is used for conveying the detection box 3 to and fro below a slag hole and a mechanical arm, the detection box 3 is used for containing slag soil, the multi-degree-of-freedom mechanical arm 4 is used for bringing the rotating motor II 5, the harmful gas detector 6, the temperature sensor 7, the torque sensor 9 and the industrial camera 10 to a designated position, the rotating motor II 5 is used for rotating the thin-wall cylinder 8, the harmful gas detector 6 is used for detecting the harmful gas content in the slag soil, the temperature sensor 7 is used for detecting slag temperature, the thin-wall cylinder 8 is used for carrying out rotary shearing with the slag soil, the torque sensor 9 is used for measuring torque values required by the rotation of the thin-wall cylinder 8, the industrial camera 10 is used for shooting the slag soil images, the slag soil images are classified into rock soil categories and fluidity conditions by using a convolutional neural network CNN slag soil recognition algorithm, and the control cabinet 11 is used for controlling each system and processing slag soil data.
The first rotating motor 1 is connected with the electric hinged sliding rail 2, the detection box 3 is connected with the electric hinged sliding rail 2, the second rotating motor 5, the harmful gas detector 6, the temperature sensor 7, the torque sensor 9 and the industrial camera 10 are all fixed on the multi-degree-of-freedom manipulator 4, the second rotating motor 5 is connected with the torque sensor 9 through a coupler, the torque sensor 9 is connected with the thin-wall cylinder 8 through a coupler, and the first rotating motor 1, the electric hinged sliding rail 2, the multi-degree-of-freedom manipulator 4, the second rotating motor 5, the harmful gas detector 6, the temperature sensor 7, the torque sensor 9 and a data transmission line of the industrial camera 10 are all connected into the control cabinet 11.
As shown in fig. 2, a detection method of the shield-mounted slag soil intelligent detection robot comprises the following steps:
step 1, an industrial camera 10 is kept in an on state all the time, high-precision photos are automatically shot by the industrial camera 10, and classification is carried out on slag flow plasticity by using a convolutional neural network CNN slag recognition algorithm, wherein the classification mainly comprises three grades of good grade, good grade and poor grade; wherein, the grade preference indicates that the discharged dregs are continuous, smooth and shaped like a tooth paste; the grade quality indicates slight intermittent discharge of slag that does not gather and is discontinuous; the level difference indicates that the discharged residue is loose and not formed;
step 2, when the shield carries the intelligent detection robot of the muck to recognize the muck, controlling the electric hinged sliding rail 2 to convey the detection box 3 to the lower part of the muck outlet and keeping for a certain time, and controlling the electric hinged sliding rail 2 to convey the detection box 3 back to the original position for detection again after muck is filled;
step 3, after the soil-filled detection box 3 is returned to the original position, the multi-degree-of-freedom manipulator 4 inserts the thin-walled cylinder 8 into the dregs to be detected, the rotating motor II 5 is opened, the peak value and the stable value of the torque required by the rotating motor II 5 to drive the cylinder 8 to rotate are obtained through the torque sensor 9, and the calculation formula is as follows
Wherein, the yield strength of the dregs is tau, and v is the rotating speed of the rotating motor II 5;
meanwhile, the harmful gas detector 6 and the temperature sensor 7 are synchronously started to work, wherein the harmful gas detector 6 is used for detecting the content of harmful gas in the slag soil, and the temperature sensor 7 is used for detecting the slag temperature;
and 4, starting the first rotating motor 1 after the detection is finished, turning the electric hinged sliding rail 2 180 degrees in the vertical plane so as to pour the dregs onto the conveyor belt, and then starting the first rotating motor 1 again so as to reversely turn the electric hinged sliding rail 2 180 degrees in the vertical plane and return to the original position.
Those of ordinary skill in the art will appreciate that: the drawings are schematic representations of one embodiment only and the flow in the drawings is not necessarily required to practice the invention.
Claims (3)
1. The intelligent detection robot for the shield carried muck is characterized by comprising a first rotating motor (1), an electric hinged sliding rail (2), a detection box (3), a multi-degree-of-freedom manipulator (4), a second rotating motor (5), a harmful gas detector (6), a temperature sensor (7), a thin-wall cylinder (8), a torque sensor (9), an industrial camera (10) and a control cabinet (11); the rotary motor I (1) is used for turning the electric hinged sliding rail (2) in a horizontal plane, the electric hinged sliding rail (2) is used for conveying the detection box (3) to and fro below a slag hole and a mechanical arm, the detection box (3) is used for containing slag soil, the multi-degree-of-freedom mechanical arm (4) is used for taking the rotary motor II (5), the harmful gas detector (6), the temperature sensor (7), the torque sensor (9) and the industrial camera (10) to a designated position, the rotary motor II (5) is used for rotating the thin-wall cylinder (8), the harmful gas detector (6) is used for detecting the harmful gas content in the slag soil, the temperature sensor (7) is used for detecting the slag temperature, the thin-wall cylinder (8) is used for rotating and shearing with the slag soil, the torque sensor (9) is used for measuring torque values required by the rotation of the thin-wall cylinder (8), the industrial camera (10) is used for shooting slag soil images, and the Convolutional Neural Network (CNN) slag soil identification algorithm is used for classifying the slag soil categories and fluidity conditions, and the control cabinet (11) is used for controlling each system and processing slag soil data.
2. The shield-mounted slag soil intelligent detection robot according to claim 1 is characterized in that a rotating motor I (1) is connected with an electric hinged sliding rail (2), a detection box (3) is connected with the electric hinged sliding rail (2), a rotating motor II (5), a harmful gas detector (6), a temperature sensor (7), a torque sensor (9) and an industrial camera (10) are all fixed on a multi-degree-of-freedom manipulator (4), the rotating motor II (5) is connected with the torque sensor (9) through a coupler, the torque sensor (9) is connected with a thin-walled cylinder (8) through the coupler, and data transmission lines of the rotating motor I (1), the electric hinged sliding rail (2), the multi-degree-of-freedom manipulator (4), the rotating motor II (5), the harmful gas detector (6), the temperature sensor (7), the torque sensor (9) and the industrial camera (10) are all connected into a control cabinet (11).
3. The detection method of the shield carrying slag soil intelligent detection robot is characterized by comprising the following steps of:
step 1, an industrial camera (10) is kept in an on state all the time, the industrial camera (10) automatically shoots high-precision pictures and uses a Convolutional Neural Network (CNN) muck recognition algorithm to classify muck flow plasticity, and the classification mainly comprises three grades of excellent grade, good grade and poor grade; wherein, the grade preference indicates that the discharged dregs are continuous, smooth and shaped like a tooth paste; the grade quality indicates slight intermittent discharge of slag that does not gather and is discontinuous; the level difference indicates that the discharged residue is loose and not formed;
step 2, when the shield carries the intelligent detection robot of the muck to recognize the muck, controlling the electric hinged sliding rail (2) to convey the detection box (3) to the lower part of the muck outlet and keeping for a certain time, and controlling the electric hinged sliding rail (2) to convey the detection box (3) back to the original position for detection again after the muck is filled;
step 3, after the soil-filled detection box (3) is returned to the original position, the multi-degree-of-freedom manipulator (4) inserts the thin-walled cylinder (8) into the slag soil to be detected, the rotating motor II (5) is opened, the peak value and the stable value of the torque required by the rotating motor II (5) to drive the cylinder (8) to rotate are obtained through the torque sensor (9), and the calculation formula is as follows
Wherein, the yield strength of the dregs is tau, and v is the rotating speed of the rotating motor II (5);
meanwhile, the harmful gas detector (6) and the temperature sensor (7) are synchronously started to work, wherein the harmful gas detector (6) is used for detecting the content of harmful gas in the slag soil, and the temperature sensor (7) is used for detecting the slag temperature;
and 4, starting the first rotating motor (1) after the detection is finished, turning the electric hinged sliding rail (2) 180 degrees in the vertical plane so as to pour the dregs onto the conveyor belt, and then starting the first rotating motor (1) again so as to reversely turn the electric hinged sliding rail (2) 180 degrees in the vertical plane to return to the original position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310268996.3A CN116481590A (en) | 2023-03-15 | 2023-03-15 | Intelligent detection robot for shield carried muck and detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310268996.3A CN116481590A (en) | 2023-03-15 | 2023-03-15 | Intelligent detection robot for shield carried muck and detection method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN116481590A true CN116481590A (en) | 2023-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310268996.3A Pending CN116481590A (en) | 2023-03-15 | 2023-03-15 | Intelligent detection robot for shield carried muck and detection method thereof |
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| CN110954452A (en) * | 2019-12-10 | 2020-04-03 | 山东交通学院 | TBM (tunnel boring machine) carrying type test device and method for automatically obtaining particle size and strength characteristics of rock slag |
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| US20220067912A1 (en) * | 2020-08-27 | 2022-03-03 | Shihezi University | Rapid detection system for water and impurity of machine-harvested seed cotton in purchase link |
| CN115436279A (en) * | 2022-09-21 | 2022-12-06 | 宁波工程学院 | Soil adhesion testing device and testing method |
| CN115754254A (en) * | 2022-11-11 | 2023-03-07 | 上海城建市政工程（集团）有限公司 | Automatic control test method and device for improving muck |
-
2023
- 2023-03-15 CN CN202310268996.3A patent/CN116481590A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108731956A (en) * | 2017-04-25 | 2018-11-02 | 同济大学 | A kind of earth pressure balanced shield, EPBS sediment improvement simulation test device and test method |
| CN108318350A (en) * | 2017-10-20 | 2018-07-24 | 同济大学 | A kind of shield soil storehouse fluid slag soil nature shape intelligence assessment method and device |
| CN110552705A (en) * | 2019-05-27 | 2019-12-10 | 中铁十八局集团第四工程有限公司 | Automatic improvement method for residual soil during tunneling of earth pressure balance shield tunnel |
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