A method for measuring the seat posture of shield machine hob cutters based on monocular vision

Abstract

The invention belongs to the technical field of visual detection, and discloses a method for measuring the seat posture of a hob cutter of a shield machine based on monocular vision. S1 knows the three-dimensional model of the tool holder and the calibration results of the camera. Through the camera projection model, the world coordinates of the corner points of the tool holder in different poses are converted into image coordinates, and the image coordinates of the corner points under each pose are stored to form the tool. Seat posture template library; S2 collects the actual image of the tool holder to be measured and performs image processing to obtain the coordinates of the corner points in the actual image and the chamfering distance transformation map of the binary image containing only the corner points; S3 through the chamfering distance transformation map , calculate the distance feature value between each template in the pose library and the actual tool seat, and use the template pose corresponding to the minimum distance feature value as the estimated pose of the tool seat to achieve accurate positioning of the tool seat; through the present invention, the tool seat pose estimation accuracy high and computationally efficient.

Description

technical field [0001] The invention belongs to the technical field of visual inspection, and more particularly relates to a method for measuring the seat posture of a shield machine hob cutter based on monocular vision. Background technique [0002] Tool change is the core operation of tunneling equipment, and at present, manual tool change is still the main method. During the excavation process, the equipment is often faced with extreme operating environments such as high pressure and high humidity, especially the super-large mud-water composite shield machine. Manual tool changing operations in extreme environments have great safety risks, and the tool changing efficiency is low. The safe and efficient operation mode of "replacing humans by robots" has become the key to improving the intelligence of excavation equipment, and it is imminent to develop an automatic tool changing robot. For the visual measurement system of the tool changing robot, according to the inherent ...

AI Technical Summary

Problems solved by technology

During the excavation process, the equipment is often faced with extreme operating environments such as high pressure and high humidity, especially the ultra-large mud-water composite shield machine. Manual tool change operations in extreme environments have great safety risks, and the efficiency of tool change is low. The safe and efficient operation mode of "machines replacing humans" has become the key to improving the intelligence of excavation equipment. It is imminent to develop a tool-changing robot with automatic tool-changing

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