Visual Servoing With Grid-Based Directional Error Mapping for Robotic TBM Disc Cutter Replacement

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Qiang Yang, Liang Du, Hao Chen, Sheng Bao, Zhengtao Hu, Jianjun Yuan
{"title":"Visual Servoing With Grid-Based Directional Error Mapping for Robotic TBM Disc Cutter Replacement","authors":"Qiang Yang,&nbsp;Liang Du,&nbsp;Hao Chen,&nbsp;Sheng Bao,&nbsp;Zhengtao Hu,&nbsp;Jianjun Yuan","doi":"10.1002/rob.22561","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>Tunnel boring machines (TBM) need to replace disc cutters to ensure the efficiency of tunneling, which relies on intensive labor operations in harsh environments, highlighting the urgent need for robotic systems to substitute. Visual servoing is crucial for robots to grasp disc cutters with uncertainty. However, traditional methods face significant challenges in environments with unpredictable occlusions, contamination, and damage. Thus, we propose to develop a robust visual servo strategy for the harsh working environment in real TBMs. The major contribution of this strategy includes two parts. First, we propose an image-based desired vectors field made up of griddings of image. Second, we propose a direct and constant interaction matrix to map the camera velocity from the image-based desired vectors. These two parts increase the robustness of visual servoing for the vision-based controller, especially for working with a polluted environment and servoing uncertain states of the disc cutters. The experiments validated it is a stable, easy-employing vision controller for overcoming the difficulty in controlling cutter replacement robots in unstatic environment conditions, thus promoting the application of robotic technologies in more field situations.</p></div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"3003-3015"},"PeriodicalIF":5.2000,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22561","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

Abstract

Tunnel boring machines (TBM) need to replace disc cutters to ensure the efficiency of tunneling, which relies on intensive labor operations in harsh environments, highlighting the urgent need for robotic systems to substitute. Visual servoing is crucial for robots to grasp disc cutters with uncertainty. However, traditional methods face significant challenges in environments with unpredictable occlusions, contamination, and damage. Thus, we propose to develop a robust visual servo strategy for the harsh working environment in real TBMs. The major contribution of this strategy includes two parts. First, we propose an image-based desired vectors field made up of griddings of image. Second, we propose a direct and constant interaction matrix to map the camera velocity from the image-based desired vectors. These two parts increase the robustness of visual servoing for the vision-based controller, especially for working with a polluted environment and servoing uncertain states of the disc cutters. The experiments validated it is a stable, easy-employing vision controller for overcoming the difficulty in controlling cutter replacement robots in unstatic environment conditions, thus promoting the application of robotic technologies in more field situations.

基于网格定向误差映射的TBM机器人刀盘更换视觉伺服
隧道掘进机(TBM)需要替换盘式切割机以保证隧道掘进的效率,而隧道掘进依赖于在恶劣环境下的密集劳动作业,凸显了机器人系统替代的迫切需求。视觉伺服是机器人抓取不确定盘式铣刀的关键。然而,在不可预测的闭塞、污染和损伤环境中,传统方法面临着重大挑战。因此,我们建议开发一种鲁棒的视觉伺服策略,以适应实际tbm的恶劣工作环境。这一战略的主要贡献包括两个部分。首先,我们提出了一个由图像网格组成的基于图像的期望向量场。其次,我们提出了一个直接和恒定的交互矩阵,从基于图像的期望向量映射相机速度。这两部分增加了基于视觉控制器的视觉伺服的鲁棒性,特别是在污染环境和不确定状态下对圆盘铣刀的伺服。实验验证了该视觉控制器是一种稳定、易于使用的视觉控制器,克服了在非静态环境条件下控制刀具更换机器人的困难,从而促进了机器人技术在更多领域的应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信