Trajectory planning of TBM cutter changing robot based on binocular vision

Tunnel Boring Machine (TBM) is a large-scale equipment that is widely used in various tunnel constructions. However, the replacement of cutters still relies heavily on manual labor, which brings serious safety problems to workers and restricts the further improvement of TBM efficiency. At present, there is still no effective solution to solve this urgent engineering problem in tunnel projects constructed by TBM. In this article, we first analyze the current research progress of TBM automated cutter change and some key issues that need to be resolved when using automated cutter change. Then, this paper proposes a set of feasible automated cutter change solutions, including TBM cutter change robot and a new integrated cutter system. Finally, a TBM cutter changing robot trajectory planning algorithm based on binocular vision is proposed to solve the problem that the internal space of the TBM is narrow and the TBM cutter changing robot is difficult to locate the cutters.