Manual operation remains the main cutterreplacement
method. Because of poor operating environment, the shieldtunneling 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 accuratepositioning technology is studied based on the construction characteristics
and actual working conditions of the shield, and an accuratepositioning method for cutter replacement by a robot based on visual
navigation is proposed. A laboratory cutterreplacement
platform is developed, and the testing results show that the cutter replacement
by a robot using an accuratepositioning technology
based on visualpositioning technology for the shield
is found feasible. The visualpositioning accuracy
reaches 0.5 mm, which indicates that the technology can provide key technical
supports for automatic cutter replacement of shields.
GUO Junke
,
WANG Dujuan
.
Research on CutterReplacement Technology for Shield
Machine Using
Robot Based on Visual Navigation Positioning
[J]. Tunnel Construction, 2021
, 41(2)
: 300
-307
.
DOI: 10.3973/j.issn.2096-4498.2021.02.017
