基于视觉导航定位的盾构机器人换刀技术研究

郭俊可; 王杜娟

doi:10.3973/j.issn.2096-4498.2021.02.017

隧道建设 >

2021 , Vol. 41 >Issue 2: 300 - 307

DOI: https://doi.org/10.3973/j.issn.2096-4498.2021.02.017

施工机械

基于视觉导航定位的盾构机器人换刀技术研究

郭俊可 ,
王杜娟

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（中铁工程装备集团有限公司，河南郑州 450016）

郭俊可（1990—），男，河南平顶山人，2018年毕业于郑州大学，机械电子工程专业，硕士，助理工程师，主要从事盾构设备研发及设计工作。E-mail： 1217478594@qq.com。

网络出版日期: 2021-03-06

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Research on CutterReplacement Technology for Shield Machine Using Robot Based on Visual Navigation Positioning

GUO Junke ,
WANG Dujuan

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(China Railway Engineering Equipment Group Co., Ltd., Zhengzhou 450016, Henan, China)

Online published: 2021-03-06

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摘要

目前盾构换刀作业以人工为主，由于作业环境恶劣，其效率和风险性大大制约了盾构施工效率。为解决换刀难的问题，同时为满足盾构自动化、智能化的需求，引入机器人代替人工进行换刀作业。机器人对待更换刀具能否进行精确定位决定了机器人换刀作业的成败。基于盾构施工特点和实际工况，对换刀机器人的精确定位技术进行研究，提出基于视觉导航的机器人换刀精确定位方法。通过在实验室搭建机器人换刀试验台进行可行性试验验证。经试验发现，基于视觉导航的刀具精确定位技术可应用于机器人换刀作业，且机器人视觉导航定位精度可达到0.5 mm，满足现场使用需求。

关键词： 盾构; 换刀; 机器人; 视觉导航定位; 精确定位技术

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郭俊可 , 王杜娟 . 基于视觉导航定位的盾构机器人换刀技术研究[J]. 隧道建设, 2021 , 41(2) : 300 -307 . DOI: 10.3973/j.issn.2096-4498.2021.02.017

Abstract

Manual operation remains the main cutterreplacement method. Because of poor operating environment, the shieldtunneling efficiency is greatly restricted. Accordingly, robots are used to replace the worn and damaged cutters to realize automatic and intelligent shield tunneling. Accurate positioning of the cutter to be replaced is the key in cutter replacement by robots. Thus, an accuratepositioning technology is studied based on the construction characteristics and actual working conditions of the shield, and an accuratepositioning method for cutter replacement by a robot based on visual navigation is proposed. A laboratory cutterreplacement platform is developed, and the testing results show that the cutter replacement by a robot using an accuratepositioning technology based on visualpositioning technology for the shield is found feasible. The visualpositioning accuracy reaches 0.5 mm, which indicates that the technology can provide key technical supports for automatic cutter replacement of shields.

Key words： shield; cutter replacement; robot; visual navigation and positioning; accurate positioning technology

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