Research On Visual Localization And Trajectory Planning For TBM Cutter Changing Robot

At present,TBM(Tunnel Boring Machine)shield machine tool changer is mainly by the operator into the high pressure mud tank for tool inspection and replacement.Working under high pressure will cause great harm to the health of the staff.Therefore,designing and manufacturing a manipulator to replace the manual tool changer to replace worn tools not only avoids the danger of manual belt-in operation,but also improves the tool changing efficiency and speeds up the process.The main purpose of this paper is to obtain and calculate the movement parameters of manipulator in the process of tool change and to control the manipulator to complete the task of automatic tool change.This dissertation focuses on the research of visual positioning and trajectory planning of the shield changer manipulator,and obtains the position and orientation of the target by using the visual positioning and the target tracking technology.At the same time,combined with the robot control system to control the end effector of the manipulator to track the planned trajectory to reach the desired position for the purpose of precise positioning and visual navigation.First of all,taking the three-dimensional model of the tool change robot designed by the project team as the research object.The kinematics model was established by using D-H parameters.Focus on the Newton iterative method of inverse kinematics algorithm has been improved and improved.And the experimental verification as a necessary basis for manipulator control system.Secondly,in order to achieve automatic acquisition of the target pose of manipulator,the binocular stereo vision positioning technology is structured and analyzed,focusing on the principle of stereo vision ranging and the imaging model of the camera.The pose measurement and target tracking algorithm are theoretically analyzed and experimentally verified through the combination of programming and vision system hardware.Then,based on the kinematics model and the positive and inverse kinematics solutions,the interpolation methods of the line,arc and pose in Cartesian space and the interpolation method of joint angular displacement in joint space are analyzed respectively.Under the Matlab platform,a preliminary planning and simulation of the trajectory of the robot’s tool changing process was carried out.Finally,based on the above research,the semi-physical virtual prototyping simulation system with manipulator control by the handle is constructed by Matlab,Labview and Solidworks software.At the same time,the visual measurement data is transmitted to the simulation system for calculation in real time.The simulation results verify the reliability of inverse kinematics and the feasibility of tool change trajectory.