A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting

Yan, Changqing; Zhao, Wei; Lu, Xiaofeng

doi:10.3390/s19224955

Cited by 14 publications

(6 citation statements)

References 9 publications

(15 reference statements)

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“…In response to the issue of pose perception for the boomtype roadheader, numerous research institutions both domestically and internationally have conducted highly effective studies on inertial navigation, laser targeting, ultra-wideband (UWB), indoor Global Positioning System (iGPS), and total station [8][9][10][11]. Tao et al [12] proposed a measurement method using iGPS to determine the body pose of the boom-type roadheader, allowing for single-station multi-point measurements in a time-sharing manner.…”

Section: Introductionmentioning

confidence: 99%

Position measurement technology of boom-type roadheader based on binocular vision

Cheng,

Wang,

Zheng

et al. 2023

Meas. Sci. Technol.

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Positioning of underground mining equipment in coal mines is a primary challenge in the intelligent development of tunnel excavation. Accurate and reliable position measurement plays a crucial role in improving excavation efficiency. However, the stability and accuracy of traditional measurement methods are difficult to guarantee due to factors such as vibration, magnetic interference, and the absence of GPS signals in coal mine environments. To address the problem of unstable measurement of the boom-type roadheader‘s position, this paper proposes a binocular vision-based measurement technique that utilizes four light spots as characteristic points. By processing the target images captured by the binocular camera and combining the minimum bounding rectangle and ellipse fitting of the spot regions, the method successfully obtains the four light spot characteristics. Subsequently, precise matching and stereo distance measurement of the target in the left and right images enable the determination of the boom-type roadheader’s posi-tion information. A positioning platform based on binocular vision is built and experimentally evaluated. The results demonstrate that this method can achieve accurate spot extraction and stable measurement of the machine’s position, even in complex backgrounds such as mixed lighting and low illumination. The planar measurement errors within a distance range of 50 m are all within ±25 mm, which basically meets the required construction precision for tunnel excavation.

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Section: Introductionmentioning

confidence: 99%

Position measurement technology of boom-type roadheader based on binocular vision

Cheng,

Wang,

Zheng

et al. 2023

Meas. Sci. Technol.

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show abstract

“…the most difficult thing in such a working, and more precisely in the face, is to transport and install the elements of the roadway support [3] due to very little free space (fig. 1) [4,5]. this applies to all types of supports, mainly the yielding arch support type ŁP [6,7].…”

Section: Introductionmentioning

confidence: 99%

Computer-Aided Selection of the Stabilising System Parameters of the Mobile Transport and Assembly Manipulator in Mining Excavations

2023

Archives of Mining Sciences

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Computer-Aided SeleCtion of the StAbiliSing SyStem pArAmeterS of the mobile trAnSport And ASSembly mAnipulAtor in mining exCAvAtionSShifting masses in a confined space in the company of other machines and devices, which limits the manoeuvring and transport area, poses a significant problem in every field of industry, especially with underground mining. the works involved in transporting and manoeuvring masses in underground workings are challenging and are most often performed using various auxiliary machines or manually. hence the need arose to develop a device carrying out activities related to the shifting of masses with the assumed maximum value. the device was created as a result of cooperation between fAMA sp. z o.o. and the AGh university of Science and technology in Kraków, poland. the mining modular transport and assembly unit (Mzt-M) enables assembling and transporting various masses, especially the elements of the roadway support in the face. the primary function of this device is its movement in the excavation along with the transported mass and delivering it to a specific place. therefore, an important issue is to ensure the module's stability in different phases of its operation (lifting, transport, manoeuvring, feeding, lowering) due to the limited space in the excavation. that is why an analytical model and specialised software were created to determine the design parameters of the device as a function of its operating phases, especially the counterweight's mass. As previously mentioned, an analytical model (physical, mathematical) with equations and applications written in Microsoft Visual Studio and Matlab was used for this purpose. it is beneficial at the design or construction changes stage. calculation results are documented in the form of numerical summaries and graphs.

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“…J. Yang [22] proposed a vision/odometer/inertial navigation dynamic pose integrated measurement method and corrected the measurement value of inertial navigation/odometer with reference to the vision measurement results. Yan [23] proposed a pose detection method of roadheader based on multi-sensor fusion, and on this basis, studied the automatic cutting method of arbitrary roadway sections.…”

Section: Introductionmentioning

confidence: 99%

Pose Detection and Automatic Deviation Correction Control Strategy of Crawler Walking Equipment in Coal Mines

Chen

Yang

et al. 2022

Applied Sciences

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Autonomous navigation technology is the basis of underground crawler walking equipment automation. Based on research of the sector laser pose parameter detection method, a pose detection system based on a cross laser is proposed. The mathematical model between pose parameters, laser receiver measurement data and tilt sensor measurement data is established by vector algorithm and the expression of key pose parameters is deduced. This paper studies the deviation correction control strategy of crawler walking equipment and puts forward the point deviation correction control strategy based on roadway excavation technology. Firstly, the end position of the path is determined according to the initial pose of the roadheader. Then, Bessel curve is used to plan the path between the starting point and the endpoint, and the pure tracking algorithm is used to track the planned path. The measurement errors of X and Y coordinates and yaw angle of roadheader within 10 80 m shall not exceed 10 mm, 32 mm and 0.65°. Using the point deviation correction strategy, the positioning error of the roadheader at the end of the path is less than 13 mm, and the yaw angle error is less than 0.16°. In the deviation correction process, the maximum angular velocity of the roadheader is 0.07 rad/s, which is less than 0.82 rad/s of the conventional deviation correction strategy. The results show that the point deviation correction strategy can not only ensure the accuracy of motion control, but also improve the stability of equipment motion.

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A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting

Cited by 14 publications

References 9 publications

Position measurement technology of boom-type roadheader based on binocular vision

Position measurement technology of boom-type roadheader based on binocular vision

Computer-Aided Selection of the Stabilising System Parameters of the Mobile Transport and Assembly Manipulator in Mining Excavations

Pose Detection and Automatic Deviation Correction Control Strategy of Crawler Walking Equipment in Coal Mines

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