Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

Peng, Dandan; Zhu, Guoli; Zhang, Dailin; Xie, Zhe; Liu, Rui; Hu, Jinlong; Liu, Yang

doi:10.3390/s22020467

Open AccessArticle

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

by

Dandan Peng

,

Guoli Zhu

^*,

Dailin Zhang

^*

,

Zhe Xie

,

Rui Liu

,

Jinlong Hu

and

Yang Liu

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

^*

Authors to whom correspondence should be addressed.

Sensors 2022, 22(2), 467; https://doi.org/10.3390/s22020467

Submission received: 17 November 2021 / Revised: 23 December 2021 / Accepted: 5 January 2022 / Published: 8 January 2022

(This article belongs to the Collection Robotics and 3D Computer Vision)

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Abstract

The visual measurement system plays a vital role in the disc cutter changing robot of the shield machine, and its accuracy directly determines the success rate of the disc cutter grasping. However, the actual industrial environment with strong noise brings a great challenge to the pose measurement methods. The existing methods are difficult to meet the required accuracy of pose measurement based on machine vision under the disc cutter changing conditions. To solve this problem, we propose a monocular visual pose measurement method consisting of the high precision optimal solution to the PnP problem (OPnP) method and the highly robust distance matching (DM) method. First, the OPnP method is used to calculate the rough pose of the shield machine’s cutter holder, and then the DM method is used to measure its pose accurately. Simulation results show that the proposed monocular measurement method has better accuracy and robustness than the several mainstream PnP methods. The experimental results also show that the maximum error of the proposed method is 0.28° in the direction of rotation and 0.32 mm in the direction of translation, which can meet the measurement accuracy requirement of the vision system of the disc cutter changing robot in practical engineering application.

Keywords: monocular vision; disc cutter holder; OPnP; distance transformation; pose estimation

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MDPI and ACS Style

Peng, D.; Zhu, G.; Zhang, D.; Xie, Z.; Liu, R.; Hu, J.; Liu, Y. Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision. Sensors 2022, 22, 467. https://doi.org/10.3390/s22020467

AMA Style

Peng D, Zhu G, Zhang D, Xie Z, Liu R, Hu J, Liu Y. Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision. Sensors. 2022; 22(2):467. https://doi.org/10.3390/s22020467

Chicago/Turabian Style

Peng, Dandan, Guoli Zhu, Dailin Zhang, Zhe Xie, Rui Liu, Jinlong Hu, and Yang Liu. 2022. "Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision" Sensors 22, no. 2: 467. https://doi.org/10.3390/s22020467

APA Style

Peng, D., Zhu, G., Zhang, D., Xie, Z., Liu, R., Hu, J., & Liu, Y. (2022). Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision. Sensors, 22(2), 467. https://doi.org/10.3390/s22020467

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Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

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