CN117490569A - Real-time monitoring method and system for abrasion of hob cutter of shield machine - Google Patents
Real-time monitoring method and system for abrasion of hob cutter of shield machine Download PDFInfo
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- CN117490569A CN117490569A CN202311835719.2A CN202311835719A CN117490569A CN 117490569 A CN117490569 A CN 117490569A CN 202311835719 A CN202311835719 A CN 202311835719A CN 117490569 A CN117490569 A CN 117490569A
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- 238000005299 abrasion Methods 0.000 title claims abstract description 181
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 230000005641 tunneling Effects 0.000 claims description 53
- 238000012360 testing method Methods 0.000 claims description 43
- 238000005286 illumination Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a real-time monitoring method and a real-time monitoring system for abrasion of a hob cutter of a shield machine, and relates to the technical field of quality monitoring of hob cutters of shield machines. The method comprises the following steps: acquiring light intensity information and thickness images received by a plurality of receivers; determining the abrasion condition score of the shield machine hob cutter in the width direction according to the rotation angle and the light intensity information; determining the abrasion condition score of the shield machine hob cutter in the thickness direction according to the rotation angle and the thickness image; obtaining the abrasion condition score of the hob cutter of the shield machine according to the width direction abrasion condition score and the thickness direction abrasion condition score; and if the wear condition score is higher than a preset score threshold, generating replacement prompt information. According to the method, the comprehensiveness of the abrasion data can be improved, more sufficient data basis is provided for judging the abrasion condition of the hob cutter of the shield machine, the automatic analysis can be carried out based on the light intensity information and the thickness image, the experience of personnel is not relied on, and the accuracy and objectivity of the judgment of the abrasion condition are improved.
Description
Technical Field
The invention relates to the technical field of shield machine hob cutter quality monitoring, in particular to a real-time shield machine hob cutter abrasion monitoring method and system.
Background
In the related art, the abrasion amount of the hob cutter of the shield machine can be determined by means of laser measurement or geometric measurement, but in the measurement process, only the abrasion amount in the width direction of the blade is generally measured, and the abrasion amount in the thickness direction is generally difficult to measure. Moreover, based on the measured abrasion loss data, the abrasion of the hob cutter of the shield machine needs to be determined through manual analysis, the automatic processing is difficult to be carried out through the actually measured data, the manual analysis is dependent on personnel experience, the subjectivity is high, and misjudgment is easy to occur.
The information disclosed in the background section of this application is only for enhancement of understanding of the general background of this application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a real-time monitoring method and a real-time monitoring system for the abrasion of a hob cutter of a shield machine, which can solve the technical problems that when the abrasion condition of the hob cutter of the shield machine is judged manually, the erroneous judgment on the abrasion condition is easy to occur due to the difference of manual experience, the hob cutter which is seriously abraded is easy to cause the damage of the shield machine in the continuous use process due to the erroneous judgment, and the hob cutter with lighter abrasion degree is replaced too early due to the erroneous judgment, so that the economic loss is caused.
According to a first aspect of the invention, a method for monitoring the abrasion of a hob cutter of a shield machine in real time is provided, which comprises the following steps:
a laser array is arranged on one side of a shield machine hob cutter, and a receiver array is arranged on the other side of the shield machine hob cutter, wherein the laser array comprises a row of lasers, the arrangement direction of the row of lasers is parallel to the radial direction of the shield machine hob cutter, the distance between the first laser and the last laser in the laser array is equal to the width of a blade of the shield machine hob cutter, the distance between the first laser and a rotating shaft of the shield machine hob cutter is equal to the radius of the shield machine hob cutter, each laser is used for emitting laser with preset frequency, the receiver array comprises a row of receivers, the row of receivers comprises a plurality of receivers, the receivers are respectively used for receiving the laser with the preset frequency emitted by each laser, and a bracket of the laser array and a bracket of the receiver array are respectively arranged on a bracket of the shield machine hob cutter and are positioned in a shield machine shell;
a camera and illumination equipment are arranged at the position opposite to the shield machine hob cutter, and a bracket of the camera and the illumination equipment is arranged on a support of the shield machine hob cutter and is positioned in a shield machine shell;
Enabling the shield tunneling machine hob cutter to start rotating, and starting a laser array, a receiver array, a camera and illumination equipment;
each time a preset angle is rotated, acquiring light intensity information of laser received by a plurality of receivers in the receiver array and corresponding to the rotation angle, and acquiring a thickness image of a shield tunneling machine hob cutter corresponding to the rotation angle, which is shot by the camera;
after the shield tunneling machine hob cutter rotates for one circle, determining the width direction abrasion condition score of the shield tunneling machine hob cutter according to the plurality of rotation angles and the light intensity information of the plurality of receivers corresponding to the rotation angles;
determining the thickness direction abrasion condition score of the shield machine hob cutter according to the plurality of rotation angles and the thickness images corresponding to the rotation angles;
obtaining the abrasion condition score of the shield machine hob cutter according to the width direction abrasion condition score and the thickness direction abrasion condition score;
and generating replacement prompt information under the condition that the wear condition score is higher than a preset score threshold value.
According to a second aspect of the present invention, there is provided a real-time monitoring system for wear of a hob cutter of a shield machine, comprising:
The first setting module is used for setting a laser array on one side of a shield machine hob cutter and setting a receiver array on the other side of the shield machine hob cutter, wherein the laser array comprises a row of lasers, the arrangement direction of the row of lasers is parallel to the radial direction of the shield machine hob cutter, the distance between the first laser and the last laser in the laser array is equal to the width of a blade of the shield machine hob cutter, the distance between the first laser and a rotating shaft of the shield machine hob cutter is equal to the radius of the shield machine hob cutter, each laser is used for emitting laser with preset frequency, the receiver array comprises a row of receivers, the row of receivers comprises a plurality of receivers, the receivers are respectively used for receiving the laser with the preset frequency emitted by each laser, and a bracket of the laser array and a bracket of the receiver array are respectively arranged on a bracket of the shield machine hob cutter and are positioned in a machine shell;
the second setting module is used for setting a camera and illumination equipment at a position opposite to the shield machine hob cutter, and a bracket of the camera and the illumination equipment is arranged on a support of the shield machine hob cutter and is positioned in the shield machine shell;
The starting module is used for enabling the shield tunneling machine hob cutter to start rotating and starting the laser array, the receiver array, the camera and the lighting equipment;
the acquisition module is used for acquiring the light intensity information of the lasers corresponding to the rotation angles received by a plurality of receivers in the receiver array every time the preset angle is rotated, and acquiring the thickness image of the shield machine hob cutter corresponding to the rotation angles, which is shot by the camera;
the width direction abrasion state scoring module is used for determining the width direction abrasion state scoring of the shield machine hob cutter according to a plurality of rotation angles and the light intensity information of a plurality of receivers corresponding to the rotation angles after the shield machine hob cutter rotates for one circle;
the thickness direction abrasion condition scoring module is used for determining thickness direction abrasion condition scoring of the shield tunneling machine hob cutter according to the plurality of rotation angles and the thickness images corresponding to the rotation angles;
the shield machine hob cutter wear condition scoring module is used for obtaining the shield machine hob cutter wear condition score according to the width direction wear condition score and the thickness direction wear condition score;
And the prompting module is used for generating replacement prompting information under the condition that the abrasion condition score is higher than a preset scoring threshold value.
According to the invention, the abrasion data of the shield machine hob cutter in the width direction can be obtained in a laser measurement mode, the abrasion data of the shield machine hob cutter in the thickness direction can be obtained in an image measurement mode, the comprehensiveness of the abrasion data is improved, and more sufficient data basis is provided for judging the abrasion condition of the shield machine hob cutter. And the method can automatically analyze based on measured data such as light intensity information, thickness images and the like to obtain the wear condition score of the hob cutter of the shield machine, does not depend on personnel experience, and improves the accuracy and objectivity of the wear condition judgment. When the width abrasion severity score is determined, the width abrasion severity of the shield tunneling machine hob cutter can be determined based on the number of receivers for detecting the light intensity information of the laser, the accuracy of the width abrasion severity score is improved, the abrasion degree of the position with the most serious abrasion is used as the width abrasion severity score to represent the requirement degree of the shield tunneling machine hob cutter to be replaced, and the objectivity of the width abrasion severity score is improved. When determining the width wear uniformity degree score, whether the wear of the shield tunneling machine hob cutter in the width direction is uniform or not can be determined through the gap between the theoretical total number and the actual total number of the receivers capable of receiving laser, so that the width wear uniformity degree score is determined, and when judging whether the wear is uniform or not, the accuracy and objectivity of the width wear uniformity degree score are improved without depending on personnel experience. When the thickness abrasion severity degree score is determined, the position of the edge of the shield machine hob cutter can be determined by testing the gradient of the pixel value of the pixel point on the straight line based on the characteristic of high contrast between the inside and outside of the edge of the shield machine hob cutter, so that the thickness of the shield machine hob cutter after abrasion is determined, and the accuracy of thickness solving is improved. And the thickness abrasion severity degree score can be solved according to the abrasion degree of the most abraded position so as to represent the required degree of the cutter of the shield tunneling machine hob to be replaced, and the objectivity of the thickness abrasion severity degree score is improved. When the thickness wear uniformity degree score is determined, the relative difference between the maximum value and the minimum value of the worn thickness of the blade of the hob cutter of the shield machine can be used as the thickness wear uniformity degree score to evaluate the thickness wear uniformity, the personnel experience is not relied on, and the accuracy and objectivity of the thickness wear uniformity degree score are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed. Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the invention or the solutions of the prior art, the drawings which are necessary for the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other embodiments may be obtained from these drawings without inventive effort to a person skilled in the art,
FIG. 1 is a flow diagram schematically illustrating a method for real-time monitoring of shield machine hob cutter wear according to an embodiment of the present invention;
FIG. 2 schematically illustrates a schematic diagram of a laser array according to an embodiment of the invention;
FIG. 3 schematically illustrates a view of a camera according to an embodiment of the invention;
FIG. 4 schematically illustrates a block diagram of a real-time shield machine hob cutter wear monitoring system according to an embodiment of the present invention;
description of the drawings: 1. an array of lasers; 2. a laser; 3. a support for the laser array; 4. a support; 5. a blade of a hob cutter of the shield machine; 6. the field of view of the camera.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 schematically shows a flow chart of a method for monitoring wear of a hob cutter of a shield machine in real time, which comprises the following steps:
step S101, a laser array 1 is arranged on one side of a shield machine hob cutter, and a receiver array is arranged on the other side of the shield machine hob cutter, wherein the laser array 1 comprises a row of lasers 2, the arrangement direction of the row of lasers 2 is parallel to the radial direction of the shield machine hob cutter, the distance between the first laser 2 and the last laser 2 in the laser array 1 is equal to the width of a blade of the shield machine hob cutter, the distance between the first laser 2 and a rotating shaft of the shield machine hob cutter is equal to the radius of the shield machine hob cutter, each laser 2 is used for emitting laser with preset frequency, the receiver array comprises a row of receivers, the row of receivers comprises a plurality of receivers, the receivers are respectively used for receiving the laser with the preset frequency emitted by each laser 2, and a bracket 3 of the laser array and a bracket of the receiver array are respectively arranged on a bracket 4 of the shield machine hob cutter and are positioned inside a shield machine shell;
Step S102, arranging a camera and illumination equipment at a position opposite to a hob cutter of the shield machine, wherein a bracket of the camera and the illumination equipment is arranged on a support 4 of the hob cutter of the shield machine and is positioned in a shell of the shield machine;
step S103, enabling the shield tunneling machine hob cutter to start to rotate, and starting the laser array 1, the receiver array, the camera and the lighting equipment;
step S104, acquiring light intensity information of lasers corresponding to the rotation angles received by a plurality of receivers in the receiver array every time the preset angle is rotated, and acquiring thickness images of a shield machine hob cutter corresponding to the rotation angles, which are shot by the camera;
step S105, after the shield tunneling machine hob cutter rotates for one circle, determining the width direction abrasion condition score of the shield tunneling machine hob cutter according to a plurality of rotation angles and the light intensity information of a plurality of receivers corresponding to the rotation angles;
step S106, determining the thickness direction abrasion condition score of the shield tunneling machine hob cutter according to the plurality of rotation angles and the thickness images corresponding to the rotation angles;
step S107, obtaining the abrasion condition score of the shield machine hob cutter according to the width direction abrasion condition score and the thickness direction abrasion condition score;
Step S108, when the wear condition score is higher than a preset score threshold, replacement prompt information is generated.
According to the real-time monitoring method for the abrasion of the shield machine hob cutter, the abrasion data of the shield machine hob cutter in the width direction can be obtained in a laser measurement mode, the abrasion data of the shield machine hob cutter in the thickness direction can be obtained in an image measurement mode, the comprehensiveness of the abrasion data is improved, and more sufficient data basis is provided for judging the abrasion condition of the shield machine hob cutter. And the method can automatically analyze based on measured data such as light intensity information, thickness images and the like to obtain the wear condition score of the hob cutter of the shield machine, does not depend on personnel experience, and improves the accuracy and objectivity of the wear condition judgment.
According to one embodiment of the invention, the material of the shield machine rolling to the cutter is hard, the shield machine is suitable for the excavating work of the shield machine, but the cutter is worn out after long-term use, the cutter is possibly uniformly worn out, for example, the cutter is normally worn out in the excavating process, the cutter is also unevenly worn out, for example, the cutter is broken out, the like, the width direction wear data of the cutter of the shield machine can be measured through the laser array 1 and the receiver array, and the thickness direction wear data of the cutter of the shield machine can be obtained through the camera, so that the two directions wear data are analyzed to determine the overall wear condition of the cutter of the shield machine.
According to one embodiment of the invention, in step S101, a laser array 1 may be disposed on one side of the shield machine hob cutter and a receiver array may be disposed on the other side of the shield machine hob cutter.
Fig. 2 schematically illustrates a laser array according to an embodiment of the invention, in which fig. 2 a holder 3 of the laser array and a holder of the receiver array may be arranged on a holder 4 of the shield machine hob cutter and inside the shield machine housing, avoiding interference with the operation of the shield machine hob cutter. The region between the circular arc with the larger radius and the circular arc with the smaller radius is the blade 5 of the shield machine hob cutter, and the whole region within the circular arc with the larger radius is the shield machine hob cutter. The laser array 1 comprises a row of lasers 2, the arrangement direction of the row of lasers 2 is parallel to the radial direction of the shield tunneling machine hob cutter, the distance between the first laser 2 and the last laser 2 in the laser array 1 is equal to the width of the cutter blade of the shield tunneling machine hob cutter, the distance between the first laser 2 and the rotating shaft of the shield tunneling machine hob cutter is equal to the radial direction of the shield tunneling machine hob cutter, and each laser 2 is used for emitting laser with preset frequency. And a receiver array is arranged on the other side of the hob cutter of the shield machine, and each receiver in the receiver array corresponds to the lasers 2 in the laser array 1 one by one and is used for receiving the laser with the preset frequency emitted by each laser 2. If the cutter blade 5 of the hob cutter of the shield machine is worn, the width of the cutter blade is reduced, laser emitted by the laser 2 is not blocked, so that the laser is received by the receivers, and the more the laser 2 which is not blocked is worn seriously in the width direction, the more the number of receivers which receive the laser is.
According to one embodiment of the invention, in step S102, a camera and an illumination device are provided at a position opposite to the cutter of the hob of the shield machine. For example, the support of the camera and the lighting device can be arranged on the support 4 of the shield machine hob cutter, so that the camera and the lighting device are opposite to the shield machine hob cutter, and the camera and the lighting device are positioned in the shield machine shell, so that interference to the work of the shield machine hob cutter is avoided.
Fig. 3 schematically shows a view of a camera according to an embodiment of the invention. In fig. 3, the camera is opposite to the blade 5 of the shield machine hob cutter, the blade 5 of the shield machine hob cutter has a certain thickness, during the tunneling process of the shield machine, the blade 5 of the shield machine hob cutter may wear, so that the thickness of the blade 5 of the shield machine hob cutter becomes thinner, and during the rotation process of the shield machine hob cutter, each angle of the front surface of the blade 5 of the shield machine hob cutter may sequentially enter the field of view 6 of the camera and be shot by the camera, so that whether the blade 5 of the shield machine hob cutter becomes thinner or not can be determined, and thus the wear condition of the thickness direction of the blade 5 of the shield machine hob cutter can be determined. The illumination equipment can also be opposite to the blade 5 of the hob cutter of the shield machine, so that the brightness of the blade area is higher, the brightness of other areas is lower, the blade area and other areas form obvious contrast, and the blade area is conveniently detected from an image, so that the thickness of the blade is determined based on the size of the blade area.
According to one embodiment of the invention, in step S103, the detection of the wear condition of the shield machine hob cutter may be started, i.e. the laser array 1, the receiver array, the camera and the illumination equipment are turned on and the shield machine hob cutter is started to rotate.
According to an embodiment of the present invention, in step S104, each time a preset angle is rotated, light intensity information of laser light corresponding to the rotation angle received by a plurality of receivers in the receiver array is obtained, and a thickness image of a hob cutter of the shield machine corresponding to the rotation angle, which is captured by the camera, is obtained. The preset angle can be set to be a smaller angle, for example, 5 degrees, 10 degrees and the like, so that light intensity information and thickness images corresponding to more rotation angles are obtained, and the abrasion condition of the hob cutter of the shield machine is determined. The light intensity information can be used for determining the abrasion condition of the shield tunneling machine hob cutter in the width direction, and the thickness image can be used for determining the abrasion condition of the shield tunneling machine hob cutter in the thickness direction.
According to one embodiment of the present invention, in step S105, after the shield tunneling machine hob cutter rotates one revolution, light intensity information of a plurality of rotation angles may be obtained, and a wear condition score in the width direction of the shield tunneling machine hob cutter may be determined based on the light intensity information.
According to one embodiment of the present invention, step S105 includes: determining the width abrasion severity score of the shield tunneling machine hob cutter according to the plurality of rotation angles and the light intensity information of the plurality of receivers corresponding to the rotation angles; fitting the light intensity information of the plurality of receivers corresponding to each rotation angle with the rotation angle to determine a wear relation function; determining the width abrasion uniformity degree score of the shield machine hob cutter according to the abrasion relation function, the rotation angle and the light intensity information; and obtaining the width direction abrasion condition score of the shield machine hob cutter according to the width abrasion severity score and the width abrasion uniformity score.
According to an embodiment of the present invention, as described above, if the blade wears, the width of the blade is reduced without blocking the laser light emitted from the laser 2, so that the laser light is received by the receivers, the more the wear in the width direction is severe, the more the number of the unobstructed laser light 2 is, the more the number of the receivers that receive the laser light is, and therefore, the determination can be made based on the number of the receivers that detect the light intensity information of the laser lightThe width abrasion severity of the hob cutter of the shield machine. According to a plurality of rotation angles and the light intensity information of a plurality of receivers corresponding to each rotation angle, determining the width abrasion severity degree score of the shield tunneling machine hob cutter comprises the following steps: determining the width abrasion severity grade of the hob cutter of the shield machine according to the formula (I) ，
(one)
Wherein,for the light intensity information received by the jth receiver corresponding to the ith rotation angle,/th>For presetting the light intensity threshold, if is a conditional function,/->For the number of lasers 2 in the laser array 1 j.ltoreq.j ≡>And j and->Positive integer>For the ith rotation angle, max is a maximum function.
According to one embodiment of the present invention, in equation (one),and when the light intensity information received by the jth receiver corresponding to the ith rotation angle is larger than or equal to a preset light intensity threshold, the condition function value is 1, otherwise, the condition function value is 0. If the light intensity information is greater than or equal to the preset light intensity threshold value, the j receiver receives the light intensity informationThe laser light of the laser 2 may also indicate that the j-th laser 2 is not blocked, i.e. the blade at that position is worn out, +.>It can be expressed that the total number of non-occluded lasers 2 at the ith angle of rotation,/->The ratio of the total number of the laser 2 in the laser array 1 that is not blocked at the i-th rotation angle may be expressed, or the ratio of the worn width to the total width of the blade at the i-th rotation angle may be expressed, so that the wear severity in the width direction of the i-th rotation angle may be expressed. Further, the maximum value of the abrasion severity degree of each rotation angle in the width direction can be used as the width abrasion severity degree grade, and the abrasion degree of the position with the most serious abrasion in the width direction of the shield machine hob cutter can be represented, so that the abrasion degree of the position with the most serious abrasion can be used for representing the requirement degree of the shield machine hob cutter to be replaced.
In this way, the width abrasion severity degree of the hob cutter of the shield machine can be determined based on the number of the receivers for detecting the light intensity information of the laser, the accuracy of the abrasion severity degree scoring in the width direction is improved, the abrasion degree of the position with the most serious abrasion is used as the width abrasion severity degree scoring to represent the required degree of the hob cutter of the shield machine to be replaced, and the objectivity of the width abrasion severity degree scoring is improved.
According to the embodiment of the invention, the abrasion uniformity degree of the hob cutter of the shield machine in the width direction can be further determined, so that whether the situation of the broken cutter and the like occurs or not is determined. The number of the receivers with the light intensity information larger than or equal to the preset light intensity threshold corresponding to each rotation angle can be fitted with the rotation angles to obtain a wear relation function, and the width wear uniformity degree scoring of the hob cutter of the shield machine is determined according to the wear relation function, the rotation angles and the light intensity information. The method comprises the following steps: determining the shield machine according to a formula (II)Grading of width abrasion uniformity of hob cutter，
(II)
Wherein,for the light intensity information received by the jth receiver corresponding to the ith rotation angle,/th >For presetting the light intensity threshold, if is a conditional function,/->For the number of lasers 2 in the laser array 1, m is the number of angles of rotation, i.ltoreq.m, j.ltoreq. +.>And i, j, m and +.>Positive integer>For the ith rotation angle, +.>The wear relation function is obtained by fitting the number of receivers with the rotation angles and the number of receivers with the light intensity information corresponding to each rotation angle being larger than or equal to a preset light intensity threshold value>Is a derivative of the wear relationship function, +.>Is the maximum of the absolute value of the derivative of the wear relationship function.
According to the inventionThe wear relationship function is a function of the number of receivers capable of receiving the laser light and the rotation angle, and thus the derivative of the wear relationship function is a function of the change rate of the number of receivers of the laser light and the rotation angle, and thus, in the formula (two),the product of the maximum rate of change of the number of receivers and the total number of rotation angles is the theoretical total number of receivers capable of receiving laser light at each rotation angle when the number of receivers is changed according to the maximum rate of change of the number of receivers. />The actual total number of receivers that can receive laser light at each rotation angle is indicated. If the shield tunneling machine hob cutter is uniformly worn in the width direction, namely, the change rate of the number of the receivers is constant, and the difference of the maximum change rate relative to the change rates of other angles is not large, the theoretical total number and the actual total number are close. If the shield machine hob cutter is unevenly worn in the width direction, for example, the situation of cutter breakage and the like occurs, the variation difference of the maximum variation rate to other angles is obvious, and the difference between the theoretical total quantity and the actual total quantity is larger. And the ratio of the absolute value of the difference between the absolute value and the actual total number is used as the width abrasion uniformity degree score of the shield machine hob cutter, and the larger the ratio is, the higher the uneven degree of abrasion of the shield machine hob cutter in the width direction is, and the higher the demand degree of changing the shield machine hob cutter is.
By the method, whether the abrasion of the shield machine hob cutter in the width direction is uniform or not can be determined through the gap between the theoretical total number and the actual total number of the receivers capable of receiving the laser, so that the width abrasion uniformity degree scoring is determined, and when whether the abrasion is uniform or not is judged, the accuracy and objectivity of the width abrasion uniformity degree scoring are improved without depending on personnel experience.
According to one embodiment of the invention, after the width abrasion severity score and the width abrasion uniformity score are obtained, the width abrasion severity score and the width abrasion uniformity score can be multiplied to obtain the width abrasion condition score of the hob cutter of the shield machine. The abrasion condition of the cutter blade 5 of the shield machine hob cutter in the width direction can be evaluated as a whole by scoring the abrasion condition in the width direction.
According to an embodiment of the present invention, in step S106, the wear condition of the blade 5 of the shield machine hob cutter in the thickness direction may be detected and evaluated based on the thickness image. Step S106 may include: acquiring an image center of the thickness image; setting a test straight line in the horizontal direction through the center of the image; setting a first direction vector in a left direction and a second direction vector in a right direction on the test straight line; determining thickness abrasion severity scores of the shield tunneling machine hob cutters according to pixel values of pixel points on the test straight line, the first direction vector and the second direction vector; determining thickness abrasion uniformity degree scores of the shield machine hob cutter according to the rotation angles, the pixel values of the pixel points on the test straight line, the first direction vector and the second direction vector; and obtaining the thickness direction abrasion condition score of the shield machine hob cutter according to the thickness abrasion severity score and the thickness abrasion uniformity score.
According to one embodiment of the invention, before the thickness direction of the shield machine hob cutter is worn, the thickness direction center line of the shield machine hob cutter coincides with the center line of the field of view 6 of the camera, so that the image center of the thickness image is located on the thickness direction center line of the shield machine hob cutter. After being worn, if the wear on two sides in the thickness direction is uneven, the distances from the image center to two edges of the shield machine hob cutter in the thickness direction may not be equal, so the distances from the image center to the two edges of the shield machine hob cutter in the thickness direction can be solved respectively, and the worn thickness of the shield machine hob cutter can be obtained after adding the two distances.
According to one embodiment of the invention, a horizontal test straight line is arranged at the center of the image, and the test straight line has intersection points with two edges of the shield machine hob cutter in the thickness direction, so that the positions of the two intersection points can be solved, the distances between the two intersection points and the center of the image can be solved, and the worn thickness can be obtained by adding the distances between the two intersection points and the center of the image. And further determining the wear condition based on the thickness after wear and the thickness before wear.
According to one embodiment of the invention, determining the thickness wear severity score of the shield tunneling machine hob cutter according to the pixel value of the pixel point on the test line, the first direction vector and the second direction vector comprises: obtaining a first distance between the edge of the shield machine hob cutter on the left side of the image center and the image center in the thickness image corresponding to the ith rotation angle according to a formula (III)，
(III)
Wherein,is the coordinates of the center of the image, +.>In the thickness image corresponding to the ith rotation angle, the kth pixel point on the test straight line on the left side of the center of the image is +.>In the thickness image corresponding to the ith rotation angle, the pixel value of the kth pixel point on the test straight line on the left side of the center of the image,for a first direction vector in the thickness image corresponding to the i-th rotation angle,in the thickness image corresponding to the ith rotation angle, the pixel value of the kth pixel point on the test straight line at the left side of the center of the image is oriented along the first directionGradient of quantity,/->For a preset threshold value, ++>In the thickness image corresponding to the ith rotation angle, the total number of pixel points on the test straight line at the left side of the center of the image is +. >In the thickness image corresponding to the ith rotation angle, k is equal to or less than +.k which is the modulus of the vector between the kth pixel point on the test straight line on the left side of the image center and the image center>And k and->Are all positive integers;
obtaining a second distance between the edge of the shield machine hob cutter on the right side of the image center and the image center in the thickness image corresponding to the ith rotation angle according to a formula (IV)，
(IV)
Wherein,for the s-th pixel point on the test straight line on the right side of the center of the image in the thickness image corresponding to the i-th rotation angle,/the pixel point is>In the thickness image corresponding to the ith rotation angle, the pixel value of the s-th pixel point on the test straight line on the right side of the center of the image, +.>For and ith rotationSecond direction vector in the thickness image corresponding to angle, < >>In the thickness image corresponding to the ith rotation angle, the gradient of the pixel value of the s-th pixel point on the test straight line on the right side of the center of the image along the second direction vector is +.>In the thickness image corresponding to the ith rotation angle, the total number of pixel points on the test straight line on the right side of the center of the image is +.>In the thickness image corresponding to the ith rotation angle, s is equal to or less than or equal to ∈of the vector between the s-th pixel point on the test line on the right side of the image center and the image center in the thickness image >And s and->Are all positive integers;
determining thickness abrasion severity scoring of shield machine hob cutter according to formula (five)，
(V)
Wherein,for the preset distance, m is the number of rotation angles, i is less than or equal to m, i and m are positive integers, and min is a minimum function.
According to one embodiment of the invention, as described above, the illumination device is directed against the blade 5 of the shield machine hob cutter, so that the brightness of the blade area is higher and the brightness of other areas is lower, thereby enabling the blade area (i.e. within the edge of the shield machine hob cutter) and other areasThe fields (i.e., beyond the edges of the shield machine hob cutters) are in sharp contrast. In the formula (III), according to the direction of the first direction vector, the gradient of the pixel value of the pixel point on the test straight line does not change greatly in the blade area and does not change greatly outside the blade area, but due to the above-mentioned obvious contrast, the gradient of the pixel value of the pixel point on the test straight line only changes greatly at the boundary between the inside and outside of the blade area (i.e., the edge on the left side in the thickness direction of the shield machine hob cutter), therefore, the condition function can be setUnder the condition that the gradient is greatly changed (namely, the modulus of the gradient is larger than or equal to a preset threshold value), the condition function value is the modulus of the vector between the kth pixel point and the image center on the test straight line at the left side of the image center, at the moment, the kth pixel point is the intersection point of the test straight line and the left edge of the shield machine hob cutter in the thickness direction, the modulus of the vector between the intersection point and the image center is the first distance between the image center and the left edge of the shield machine hob cutter in the thickness direction, and for other pixel points on the test straight line at the left side of the image center, the value of the condition function is 0, and the condition function values corresponding to the pixel points on the test straight line at the left side of all the image centers are summed to obtain the first distance. Similarly, a second distance between the edge of the shield machine hob cutter to the right of the image center and the image center may be obtained based on equation (four).
According to one embodiment of the present invention, in equation (five),for the thickness of the hob cutter of the shield machine after being worn, the smaller the thickness is, the more serious the wear is, the minimum value of the thickness after being worn corresponding to a plurality of rotation angles can be obtained, the wear degree of the position with the most serious wear in the thickness direction can be determined by the ratio of the minimum value of the thickness to the preset distance (for example, the thickness before being worn), and the wear degree of the position with the most serious wear can be used for representing the requirementThe requirement degree of the hob cutter of the shield machine is changed. The thickness abrasion severity score of the hob cutter of the shield machine can be obtained by subtracting the abrasion degree of the position with the most serious abrasion in the thickness direction from 1, so that the more serious the abrasion degree of the position with the most serious abrasion is, the higher the thickness abrasion severity score is.
By the method, the position of the edge of the shield machine hob cutter can be determined by testing the gradient of the pixel value of the pixel point on the straight line based on the characteristic of high contrast between the inside and outside of the edge of the shield machine hob cutter, so that the thickness of the shield machine hob cutter after abrasion is determined, and the accuracy of thickness solving is improved. And the thickness abrasion severity degree score can be solved according to the abrasion degree of the most abraded position so as to represent the required degree of the cutter of the shield tunneling machine hob to be replaced, and the objectivity of the thickness abrasion severity degree score is improved.
According to one embodiment of the invention, determining thickness wear uniformity degree scores of a shield tunneling machine hob cutter according to a plurality of rotation angles, pixel values of pixel points on a test straight line, the first direction vector and the second direction vector comprises: determining thickness abrasion uniformity degree scoring of shield machine hob cutter according to formula (six)，
(six)
Where max is the maximum function.
According to one embodiment of the present invention, in the formula (six), the molecular part is the difference between the maximum value and the minimum value of the thickness of the blade 5 of the shield machine hob cutter after abrasion, the ratio of the difference to the thickness before abrasion is the relative difference between the maximum value and the minimum value of the thickness after abrasion, the relative difference can be used as the thickness abrasion uniformity degree score of the shield machine hob cutter to evaluate the abrasion uniformity degree in the thickness direction, the higher the thickness abrasion uniformity degree score is, the greater the relative difference between the maximum value and the minimum value of the thickness is, the lower the thickness abrasion uniformity degree is, and conversely, the lower the thickness abrasion uniformity degree score is, the smaller the relative difference between the maximum value and the minimum value of the thickness is, and the higher the thickness abrasion uniformity degree is.
By the method, the relative difference between the maximum value and the minimum value of the worn thickness of the blade of the hob cutter of the shield machine can be used as the thickness wear uniformity degree score for evaluating the wear uniformity in the thickness direction, the personnel experience is not relied on, and the accuracy and objectivity of the thickness wear uniformity degree score are improved.
According to one embodiment of the invention, after the thickness abrasion severity score and the thickness abrasion uniformity score are obtained, the thickness abrasion severity score and the thickness abrasion uniformity score can be multiplied to obtain the thickness direction abrasion condition score of the shield tunneling machine hob cutter. The wear condition of the cutter blade 5 of the shield machine hob cutter in the thickness direction can be evaluated as a whole by scoring the wear condition in the thickness direction.
According to one embodiment of the present invention, in step S107, a wear condition score of the shield tunneling machine hob cutter may be obtained based on the width direction wear condition score and the thickness direction wear condition score, for evaluating the overall wear condition of the shield tunneling machine hob cutter. Step S107 includes: multiplying the width-direction abrasion condition score and the thickness-direction abrasion condition score to obtain the abrasion condition score of the shield tunneling machine hob cutter.
According to an embodiment of the present invention, in step S108, if the wear status score is higher than the preset score threshold, it indicates that the overall wear status of the hob cutter of the shield machine is serious and needs to be replaced, so that replacement prompt information may be generated to prompt a worker to replace the hob cutter of the shield machine.
According to the real-time monitoring method for the abrasion of the shield machine hob cutter, the abrasion data of the shield machine hob cutter in the width direction can be obtained in a laser measurement mode, the abrasion data of the shield machine hob cutter in the thickness direction can be obtained in an image measurement mode, the comprehensiveness of the abrasion data is improved, and more sufficient data basis is provided for judging the abrasion condition of the shield machine hob cutter. And the method can automatically analyze based on measured data such as light intensity information, thickness images and the like to obtain the wear condition score of the hob cutter of the shield machine, does not depend on personnel experience, and improves the accuracy and objectivity of the wear condition judgment. When the width abrasion severity score is determined, the width abrasion severity of the shield tunneling machine hob cutter can be determined based on the number of receivers for detecting the light intensity information of the laser, the accuracy of the width abrasion severity score is improved, the abrasion degree of the position with the most serious abrasion is used as the width abrasion severity score to represent the requirement degree of the shield tunneling machine hob cutter to be replaced, and the objectivity of the width abrasion severity score is improved. When determining the width wear uniformity degree score, whether the wear of the shield tunneling machine hob cutter in the width direction is uniform or not can be determined through the gap between the theoretical total number and the actual total number of the receivers capable of receiving laser, so that the width wear uniformity degree score is determined, and when judging whether the wear is uniform or not, the accuracy and objectivity of the width wear uniformity degree score are improved without depending on personnel experience. When the thickness abrasion severity degree score is determined, the position of the edge of the shield machine hob cutter can be determined by testing the gradient of the pixel value of the pixel point on the straight line based on the characteristic of high contrast between the inside and outside of the edge of the shield machine hob cutter, so that the thickness of the shield machine hob cutter after abrasion is determined, and the accuracy of thickness solving is improved. And the thickness abrasion severity degree score can be solved according to the abrasion degree of the most abraded position so as to represent the required degree of the cutter of the shield tunneling machine hob to be replaced, and the objectivity of the thickness abrasion severity degree score is improved. When the thickness wear uniformity degree score is determined, the relative difference between the maximum value and the minimum value of the worn thickness of the blade of the hob cutter of the shield machine can be used as the thickness wear uniformity degree score to evaluate the thickness wear uniformity, the personnel experience is not relied on, and the accuracy and objectivity of the thickness wear uniformity degree score are improved.
Fig. 4 schematically illustrates a block diagram of a real-time shield machine hob cutter wear monitoring system according to an embodiment of the present invention, said system comprising:
the first setting module is used for setting a laser array 1 on one side of a shield machine hob cutter and setting a receiver array on the other side of the shield machine hob cutter, wherein the laser array 1 comprises a row of lasers 2, the arrangement direction of the row of lasers 2 is parallel to the radial direction of the shield machine hob cutter, the distance between the first laser 2 and the last laser 2 in the laser array 1 is equal to the width of a blade of the shield machine hob cutter, the distance between the first laser 2 and a rotating shaft of the shield machine hob cutter is equal to the radius of the shield machine hob cutter, each laser 2 is used for transmitting laser with preset frequency, the receiver array comprises a row of receivers, the row of receivers comprises a plurality of receivers, the receivers are respectively used for receiving the laser with the preset frequency transmitted by each laser 2, and a bracket 3 of the laser array and a bracket of the receiver array are respectively arranged on a bracket 4 of the shield machine hob cutter and are positioned in a shield machine shell;
the second setting module is used for setting a camera and illumination equipment at a position opposite to the shield machine hob cutter, and a bracket of the camera and the illumination equipment is arranged on a support 4 of the shield machine hob cutter and is positioned in the shield machine shell;
The starting module is used for enabling the shield tunneling machine hob cutter to start rotating and starting the laser array 1, the receiver array, the camera and the lighting equipment;
the acquisition module is used for acquiring the light intensity information of the lasers corresponding to the rotation angles received by a plurality of receivers in the receiver array every time the preset angle is rotated, and acquiring the thickness image of the shield machine hob cutter corresponding to the rotation angles, which is shot by the camera;
the width direction abrasion state scoring module is used for determining the width direction abrasion state scoring of the shield machine hob cutter according to a plurality of rotation angles and the light intensity information of a plurality of receivers corresponding to the rotation angles after the shield machine hob cutter rotates for one circle;
the thickness direction abrasion condition scoring module is used for determining thickness direction abrasion condition scoring of the shield tunneling machine hob cutter according to the plurality of rotation angles and the thickness images corresponding to the rotation angles;
the shield machine hob cutter wear condition scoring module is used for obtaining the shield machine hob cutter wear condition score according to the width direction wear condition score and the thickness direction wear condition score;
And the prompting module is used for generating replacement prompting information under the condition that the abrasion condition score is higher than a preset scoring threshold value.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. The real-time monitoring method for the abrasion of the hob cutter of the shield machine is characterized by comprising the following steps:
a laser array (1) is arranged on one side of a shield machine hob cutter, and a receiver array is arranged on the other side of the shield machine hob cutter, wherein the laser array (1) comprises a row of lasers (2), the arrangement direction of the row of lasers (2) is parallel to the radial direction of the shield machine hob cutter, the distance between the first laser (2) and the last laser (2) in the laser array (1) is equal to the blade width of the shield machine hob cutter, the distance between the first laser (2) and the rotating shaft of the shield machine hob cutter is equal to the radial direction of the shield machine hob cutter, each laser (2) is used for emitting laser with preset frequency, the receiver array comprises a row of receivers, each row of receivers comprises a plurality of receivers, and a bracket (3) of the laser array and a bracket of the receiver array are respectively arranged on a bracket (4) of the shield machine hob cutter and are positioned inside a shield machine shell;
A camera and illumination equipment are arranged at the position opposite to the shield machine hob cutter, and a bracket of the camera and the illumination equipment is arranged on a support (4) of the shield machine hob cutter and is positioned in a shield machine shell;
enabling the shield tunneling machine hob cutter to start rotating, and starting a laser array (1), a receiver array, a camera and illumination equipment;
each time a preset angle is rotated, acquiring light intensity information of laser received by a plurality of receivers in the receiver array and corresponding to the rotation angle, and acquiring a thickness image of a shield tunneling machine hob cutter corresponding to the rotation angle, which is shot by the camera;
after the shield tunneling machine hob cutter rotates for one circle, determining the width direction abrasion condition score of the shield tunneling machine hob cutter according to the plurality of rotation angles and the light intensity information of the plurality of receivers corresponding to the rotation angles;
determining the thickness direction abrasion condition score of the shield machine hob cutter according to the plurality of rotation angles and the thickness images corresponding to the rotation angles;
obtaining the abrasion condition score of the shield machine hob cutter according to the width direction abrasion condition score and the thickness direction abrasion condition score;
And generating replacement prompt information under the condition that the wear condition score is higher than a preset score threshold value.
2. The method for monitoring wear of a hob cutter of a shield machine in real time according to claim 1, wherein determining a wear condition score of the hob cutter of the shield machine in a width direction according to a plurality of rotation angles and light intensity information of a plurality of receivers corresponding to the rotation angles after the hob cutter of the shield machine rotates one circle, comprises:
determining the width abrasion severity score of the shield tunneling machine hob cutter according to the plurality of rotation angles and the light intensity information of the plurality of receivers corresponding to the rotation angles;
fitting the light intensity information of the plurality of receivers corresponding to each rotation angle with the rotation angle to determine a wear relation function;
determining the width abrasion uniformity degree score of the shield machine hob cutter according to the abrasion relation function, the rotation angle and the light intensity information;
and obtaining the width direction abrasion condition score of the shield machine hob cutter according to the width abrasion severity score and the width abrasion uniformity score.
3. The method for real-time monitoring of shield tunneling machine hob cutter wear according to claim 2, wherein determining the width wear severity score of the shield tunneling machine hob cutter according to the plurality of rotation angles and the light intensity information of the plurality of receivers corresponding to the respective rotation angles, comprises:
According to the formula
，
Determining width abrasion severity score of shield machine hob cutterWherein->For the light intensity information received by the jth receiver corresponding to the ith rotation angle,/th>For presetting the light intensity threshold, if is a conditional function,/->Is the number of lasers (2) in the laser array (1), j is less than or equal to ∈>And j and->Positive integer>For the ith rotation angle, max is a maximum function.
4. The method for monitoring wear of a hob cutter of a shield machine in real time according to claim 2, wherein determining a width wear uniformity degree score of the hob cutter of the shield machine according to the wear relation function, the rotation angle and the light intensity information comprises:
according to the formula
，
Determining width abrasion uniformity degree scoring of hob cutter of shield machineWherein->For the light intensity information received by the jth receiver corresponding to the ith rotation angle,/th>For presetting the light intensity threshold, if is a conditional function,/->Is the number of lasers (2) in the laser array (1), m is the number of rotation angles，i≤m，j≤/>And i, j, m and +.>Positive integer>For the ith rotation angle, +.>The wear relation function is obtained by fitting the number of receivers with the light intensity information corresponding to each rotation angle being larger than or equal to a preset light intensity threshold value with the rotation angle, Is a derivative of the wear relationship function, +.>Is the maximum of the absolute value of the derivative of the wear relationship function.
5. The method for monitoring wear of a hob cutter of a shield machine in real time according to claim 1, wherein determining a thickness direction wear condition score of the hob cutter of the shield machine according to a plurality of rotation angles and the thickness images corresponding to the rotation angles comprises:
acquiring an image center of the thickness image;
setting a test straight line in the horizontal direction through the center of the image;
setting a first direction vector in a left direction and a second direction vector in a right direction on the test straight line;
determining thickness abrasion severity scores of the shield tunneling machine hob cutters according to pixel values of pixel points on the test straight line, the first direction vector and the second direction vector;
determining thickness abrasion uniformity degree scores of the shield machine hob cutter according to the rotation angles, the pixel values of the pixel points on the test straight line, the first direction vector and the second direction vector;
and obtaining the thickness direction abrasion condition score of the shield machine hob cutter according to the thickness abrasion severity score and the thickness abrasion uniformity score.
6. The method for real-time monitoring of shield tunneling machine hob cutter wear according to claim 5, wherein determining a thickness wear severity score of a shield tunneling machine hob cutter according to a pixel value of a pixel point on said test line, said first direction vector and said second direction vector, comprises:
according to the formula
，
Obtaining a first distance between the edge of the shield machine hob cutter on the left side of the center of the image and the center of the image in the thickness image corresponding to the ith rotation angleWherein->Is the coordinates of the center of the image, +.>In the thickness image corresponding to the ith rotation angle, the kth pixel point on the test straight line on the left side of the center of the image,in the thickness image corresponding to the ith rotation angle, the pixel value of the kth pixel point on the test straight line at the left side of the center of the image, +.>For the first direction vector in the thickness image corresponding to the ith rotation angle, +.>In the thickness image corresponding to the ith rotation angle, the gradient of the pixel value of the kth pixel point on the test straight line at the left side of the center of the image along the first direction vector is +.>For a preset threshold value, ++>In the thickness image corresponding to the ith rotation angle, the total number of pixel points on the test straight line at the left side of the center of the image is +. >In the thickness image corresponding to the ith rotation angle, k is equal to or less than +.k which is the modulus of the vector between the kth pixel point on the test straight line on the left side of the image center and the image center>And k and->Are all positive integers;
according to the formula
，
Obtaining a second distance between the edge of the shield machine hob cutter on the right side of the center of the image and the center of the image in the thickness image corresponding to the ith rotation angleWherein->For the s-th pixel point on the test straight line on the right side of the center of the image in the thickness image corresponding to the i-th rotation angle,/the pixel point is>In the thickness image corresponding to the ith rotation angle, the pixel value of the s-th pixel point on the test straight line on the right side of the center of the image, +.>For a second direction vector in the thickness image corresponding to the i-th rotation angle,in the thickness image corresponding to the ith rotation angle, the gradient of the pixel value of the s-th pixel point on the test straight line on the right side of the center of the image along the second direction vector is +.>In order to obtain the total number of pixel points on the test straight line on the right side of the center of the image in the thickness image corresponding to the ith rotation angle,in the thickness image corresponding to the ith rotation angle, s is equal to or less than or equal to ∈of the vector between the s-th pixel point on the test line on the right side of the image center and the image center in the thickness image >And s and->Are all positive integers;
according to the formula
，
Determining thickness wear severity score of shield machine hob cutterWherein->For the preset distance, m is the number of rotation angles, i is less than or equal to m, i and m are positive integers, and min is a minimum function.
7. The method for real-time monitoring wear of a shield machine hob cutter according to claim 6, wherein determining a thickness wear uniformity score of the shield machine hob cutter according to a plurality of rotation angles, pixel values of pixel points on a test line, the first direction vector and the second direction vector, comprises:
according to the formulaDetermining thickness abrasion uniformity degree score of shield machine hob cutter>Where max is the maximum function.
8. The method for monitoring the wear of the hob cutter of the shield machine in real time according to claim 1, wherein the step of obtaining the wear condition score of the hob cutter of the shield machine according to the width direction wear condition score and the thickness direction wear condition score comprises the steps of:
multiplying the width-direction abrasion condition score and the thickness-direction abrasion condition score to obtain the abrasion condition score of the shield tunneling machine hob cutter.
9. The utility model provides a shield constructs quick-witted hobbing cutter wearing and tearing real-time supervision system which characterized in that includes:
The device comprises a first setting module, a first setting module and a second setting module, wherein the first setting module is used for setting a laser array (1) on one side of a shield machine hob cutter and setting a receiver array on the other side of the shield machine hob cutter, the laser array (1) comprises a row of lasers (2), the arrangement direction of the row of lasers (2) is parallel to the radial direction of the shield machine hob cutter, the distance between the first lasers (2) and the last lasers (2) in the laser array (1) is equal to the blade width of the shield machine hob cutter, the distance between the first lasers (2) and the rotating shaft of the shield machine hob cutter is equal to the radial direction of the shield machine hob cutter, each laser (2) is used for emitting laser with preset frequency, the receiver array comprises a row of receivers, the row of receivers respectively are used for receiving the laser with the preset frequency emitted by each laser (2), and a bracket (3) of the laser array and a bracket of the receiver array are respectively arranged on a bracket (4) of the shield machine hob cutter and are positioned inside a shell of the shield machine;
the second setting module is used for setting a camera and illumination equipment at a position opposite to the shield machine hob cutter, and a bracket of the camera and the illumination equipment is arranged on a support (4) of the shield machine hob cutter and is positioned in the shield machine shell;
The starting module is used for enabling the shield tunneling machine hob cutter to start rotating and starting the laser array (1), the receiver array, the camera and the lighting equipment;
the acquisition module is used for acquiring the light intensity information of the lasers corresponding to the rotation angles received by a plurality of receivers in the receiver array every time the preset angle is rotated, and acquiring the thickness image of the shield machine hob cutter corresponding to the rotation angles, which is shot by the camera;
the width direction abrasion state scoring module is used for determining the width direction abrasion state scoring of the shield machine hob cutter according to a plurality of rotation angles and the light intensity information of a plurality of receivers corresponding to the rotation angles after the shield machine hob cutter rotates for one circle;
the thickness direction abrasion condition scoring module is used for determining thickness direction abrasion condition scoring of the shield tunneling machine hob cutter according to the plurality of rotation angles and the thickness images corresponding to the rotation angles;
the shield machine hob cutter wear condition scoring module is used for obtaining the shield machine hob cutter wear condition score according to the width direction wear condition score and the thickness direction wear condition score;
And the prompting module is used for generating replacement prompting information under the condition that the abrasion condition score is higher than a preset scoring threshold value.
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