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.