Abstract
Due to the non-closed-loop control of the cutter head and the uncertain environments of the excavation chamber, it is impossible to obtain the precise positioning of the cutter. Therefore, a robot cutter changing method based on visual navigation was proposed. Analyzed the working environment, disc cutter features, and installation accuracy of the cutter changing robot, and designed a visual positioning method based on scaled sub pixel features. To solve the problem that changes in visual distance will affect the positioning robustness and accuracy, a variable scale precise approximation target point control strategy was designed, and an adaptive adjustment robot motion step algorithm based on bolt circle center distance error was proposed. The feasibility of the algorithm was verified through a disc cutter change test bench. The results show that the proposed visual positioning method has a comprehensive positioning accuracy less than 1 mm under non-structured environmental conditions such as different disc cutter positions, lighting, and visual distances, which meets the requirements of dynamically adjusting the position and posture of the end effector of the cutter changing robot for precise cutter changing.
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Wu, Q., Yang, H., Li, Z., Peng, F., Jiang, L. (2023). Research on Visual Localization of Cutter Changing Robot in Unstructured Environments. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_13
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DOI: https://doi.org/10.1007/978-981-99-6480-2_13
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