A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection
The automatic assembly of shield tunnel segments can significantly reduce labor intensity and improve tunneling efficiency. However, during the automatic segment gripping process, traditional methods of setting targets introduce manual errors and complicate operations. Moreover, single-object detect...
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| Format: | Article |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10985748/ |
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| author | Jie Liu Shuaishuai Liu Zhendong He Yanqiu Xiao Guangzhen Cui Pengpeng Wang |
| author_facet | Jie Liu Shuaishuai Liu Zhendong He Yanqiu Xiao Guangzhen Cui Pengpeng Wang |
| author_sort | Jie Liu |
| collection | DOAJ |
| description | The automatic assembly of shield tunnel segments can significantly reduce labor intensity and improve tunneling efficiency. However, during the automatic segment gripping process, traditional methods of setting targets introduce manual errors and complicate operations. Moreover, single-object detection methods only capture the bolt area, which makes precise bolt positioning challenging. Consequently, this research introduces an approach to detect and pinpoint the position of segment bolts by utilizing the circular imagery of the bolt head’s surface. The technique uses the elliptical shape of the bolt head in images to accurately determine bolt locations through ellipse detection methods. In response to the issue of decreased elliptical detection accuracy due to circular arc defects, an arc-cluster-based elliptical detection algorithm is further proposed, which encompasses key steps such as image preprocessing, arc clustering, and least squares fitting. Furthermore, in response to the challenge that monocular vision systems face in obtaining vertical data with point lasers during the gripping process, this study presents a monocular positioning strategy. This strategy is founded on the constant diameter of the bolt head’s circular form, facilitating the determination of the bolt’s spatial orientation without the need for additional height measurements. This strategy is based on the constant diameter of the bolt head’s circular shape, facilitating the determination of the bolt’s spatial orientation without the need for additional height measurements. Experimental results demonstrate that this method improves elliptical detection accuracy, and gripping experiments further validate its feasibility. |
| format | Article |
| id | doaj-art-4e89eb2f141f428eb193fa266fb4bb90 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-4e89eb2f141f428eb193fa266fb4bb902025-08-20T01:56:48ZengIEEEIEEE Access2169-35362025-01-0113892088922110.1109/ACCESS.2025.356667510985748A Shield Segment Bolt Detection and Localization Method Based on Ellipse DetectionJie Liu0Shuaishuai Liu1https://orcid.org/0009-0001-0381-9949Zhendong He2https://orcid.org/0000-0003-3169-3113Yanqiu Xiao3https://orcid.org/0000-0002-9215-0537Guangzhen Cui4Pengpeng Wang5College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, ChinaCollege of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, ChinaCollege of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, ChinaCollaborative Innovation Center of Intelligent Tunnel Boring Machine, Zhengzhou, ChinaCollaborative Innovation Center of Intelligent Tunnel Boring Machine, Zhengzhou, ChinaCollaborative Innovation Center of Intelligent Tunnel Boring Machine, Zhengzhou, ChinaThe automatic assembly of shield tunnel segments can significantly reduce labor intensity and improve tunneling efficiency. However, during the automatic segment gripping process, traditional methods of setting targets introduce manual errors and complicate operations. Moreover, single-object detection methods only capture the bolt area, which makes precise bolt positioning challenging. Consequently, this research introduces an approach to detect and pinpoint the position of segment bolts by utilizing the circular imagery of the bolt head’s surface. The technique uses the elliptical shape of the bolt head in images to accurately determine bolt locations through ellipse detection methods. In response to the issue of decreased elliptical detection accuracy due to circular arc defects, an arc-cluster-based elliptical detection algorithm is further proposed, which encompasses key steps such as image preprocessing, arc clustering, and least squares fitting. Furthermore, in response to the challenge that monocular vision systems face in obtaining vertical data with point lasers during the gripping process, this study presents a monocular positioning strategy. This strategy is founded on the constant diameter of the bolt head’s circular form, facilitating the determination of the bolt’s spatial orientation without the need for additional height measurements. This strategy is based on the constant diameter of the bolt head’s circular shape, facilitating the determination of the bolt’s spatial orientation without the need for additional height measurements. Experimental results demonstrate that this method improves elliptical detection accuracy, and gripping experiments further validate its feasibility.https://ieeexplore.ieee.org/document/10985748/Bolt detectionellipse detectionmonocular visionsegment grabbingshield tunneling |
| spellingShingle | Jie Liu Shuaishuai Liu Zhendong He Yanqiu Xiao Guangzhen Cui Pengpeng Wang A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection IEEE Access Bolt detection ellipse detection monocular vision segment grabbing shield tunneling |
| title | A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection |
| title_full | A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection |
| title_fullStr | A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection |
| title_full_unstemmed | A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection |
| title_short | A Shield Segment Bolt Detection and Localization Method Based on Ellipse Detection |
| title_sort | shield segment bolt detection and localization method based on ellipse detection |
| topic | Bolt detection ellipse detection monocular vision segment grabbing shield tunneling |
| url | https://ieeexplore.ieee.org/document/10985748/ |
| work_keys_str_mv | AT jieliu ashieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT shuaishuailiu ashieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT zhendonghe ashieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT yanqiuxiao ashieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT guangzhencui ashieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT pengpengwang ashieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT jieliu shieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT shuaishuailiu shieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT zhendonghe shieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT yanqiuxiao shieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT guangzhencui shieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection AT pengpengwang shieldsegmentboltdetectionandlocalizationmethodbasedonellipsedetection |