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Line-Features-Based Pose Estimation Method for the Disc Cutter Holder of Shield Machine.

Zhe Xie1, Guoli Zhu1, Dailin Zhang1

  • 1School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China.

Sensors (Basel, Switzerland)
|February 11, 2023
PubMed
Summary
This summary is machine-generated.

This study presents a vision-based method for accurately estimating the pose of disc cutter holders on shield machines, even in challenging industrial conditions. The approach enhances automatic cutter replacement accuracy.

Keywords:
contour extractionline detectionrounded edge modelvisual positioning

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Area of Science:

  • Robotics
  • Machine Vision
  • Mechanical Engineering

Background:

  • Automatic disc cutter replacement in shield machines requires precise pose estimation of the disc cutter holder.
  • Polluted and low-illumination environments pose significant challenges for traditional machine vision methods.

Purpose of the Study:

  • To develop a robust line-feature-based pose estimation method for shield machine disc cutter holders using a monocular camera.
  • To address challenges posed by blurred edges and environmental conditions in industrial settings.

Main Methods:

  • A rounded edge model was developed to accurately detect edge points, matching the 3D model of the workpiece.
  • An adaptive threshold region growing method was employed for contour separation and edge search box generation.
  • Preprocessing of edge points and RANSAC linear fitting were utilized to improve efficiency and accuracy.

Main Results:

  • The proposed method demonstrated high reliability in pose estimation for disc cutter holders.
  • The technique effectively handles blurred edges caused by rounded corners.
  • Experimental results confirmed the method's suitability for practical engineering applications.

Conclusions:

  • The developed line-feature-based pose estimation method significantly improves the accuracy of disc cutter holder localization.
  • This approach is crucial for enabling reliable automatic disc cutter replacement in shield machines.
  • The method meets the stringent measurement accuracy requirements of real-world engineering applications.