盾构刀盘原位修复机器人多传感器融合定位系统与方法
By using multi-sensor fusion and factor graph optimization, the problem of high-precision positioning of the shield cutterhead in-situ repair robot under extreme working conditions was solved, and high-precision shield cutterhead repair was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA UNIV OF MINING & TECH
- Filing Date
- 2025-09-03
- Publication Date
- 2026-07-17
AI Technical Summary
Existing in-situ repair robots for tunnel boring machine cutterheads have large positioning errors under extreme working conditions, resulting in a low repair pass rate and difficulty in achieving high-precision positioning in narrow spaces.
By employing a six-axis IMU sensor, a deflection angle measuring instrument, a GNSS positioning instrument, and a UWB positioning module, combined with a three-probe ultrasonic rangefinder, an infrared visual imager, and a camera monitor, high-precision positioning is achieved through multi-sensor data fusion and factor graph optimization.
High-precision positioning was achieved under extreme working conditions, abnormal data was eliminated, the uniformity of the cladding layer thickness was ensured, and the repair qualification rate was improved.
Smart Images
Figure CN121185276B_ABST