Target Recognition and Automatic Drilling Control for A Tunnel Drilling Robot

In order to solve the problems of low accuracy, labor consumption and poor stability in traditional tunnel drilling, a tunnel drilling robot with a hydraulic manipulator and its automatic drilling technique are investigated. Firstly, a tunnel drilling robot is designed to achieve the capacity of drilling in the subway tunnel. Secondly, the method of combining laser and image recognition to achieve the spatial positioning of the target point and the measurement of the angle between the drilling bit and the drilling plane is studied. Thirdly, the decoupled real-time feedback control based on the above sensing message is proposed to realize automatic target recognition and automatic drilling and the tunnel drilling process is given out as well. Finally. the effectiveness and efficiency of proposed method is validated by experiments, and results show that the accuracy and efficiency of tunnel drilling can be improved greatly.