Need help for complex query

I have a product table, category table and another table to join product and category where category stored in JSON format. What I need to do is to get all the product with a list category IDs.

Category table

Code:

-----------------------
| id | category_name
-----------------------

Product table

Code:

-----------------------
| id | product_title
-----------------------

Product Category relation table

Code:

-----------------------
| product_id | categories [varchar(100) but data stored in JSON format]
-----------------------
| 1          | [1,4,6]
-----------------------
| 2          | [34,8,9]
-----------------------
| 2          | [27,18,29]

According to example, what will be the query if I need to get all the product with the category list (array)[34,18,6]

I will be very glad if you suggest any better table structures. Thanks in advance. 

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