Application and testing of a vertical angle control for a boom-type road header

Tian, Jie; Chen, Guoqiang; Yang, Yang; Wang, Hongyao; Liu, Jiangong; Wu, Miao

doi:10.1016/s1674-5264(09)60178-2

Cited by 6 publications

(4 citation statements)

References 1 publication

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“…The method of describing the position and attitude of aircraft, ships and other vehicles during navigation was used for reference. The "fuselage yaw angle α", "fuselage pitch angle β", "fuselage rolling angle γ" and "fuselage offset L" were adopted to describe the position and attitude of the roadheader when tunneling in the roadway coordinate system [25,26]. The design centerline direction of the roadway is defined as the X h axis; the direction vertically pointing to the roadway roof is taken as the axis Z h ; the Y h axis is parallel to the roadway floor; the angle of rotation about the Z h axis is called the yaw angle α; the angle of rotation about the Y h axis is called the pitch angle β; the angle of rotation about the X h axis is called the roll angle γ; the three-dimensional space offset distance between the fuselage center line and the roadway center line is called offset L, as shown in Figure 11.…”

Section: Kinematic Analysis Of Roadheader Bodymentioning

confidence: 99%

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Fang

et al. 2022

Sustainability

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A cantilever roadheader is the main tunneling equipment for underground coal mine roadways. The key to the safe, efficient and intelligent development of coal enterprises is to achieve the autonomous cutting and intelligent control of the cantilever roadheader. In order to realize the automatic cutting shaping control of a large-section coal roadway, the path planning and control method of secondary automatic cutting of a cantilever roadheader were studied. The Wangjialing 12307 belt roadway was used as the engineering background, the vertical displacement law of the roadway roof under different cutting paths was simulated with the FLAC 3D software, the reasonable cutting path was determined according to the actual situation, and the underground industrial test was carried out. The simplified model and spatial position and attitude coordinate system of the roadheader were established, the kinematics of the roadheader was analyzed, and the position and attitude expression of the cutting head center in the roadway coordinate system was obtained. The simplified model of the cutting head was established, the position expression of the pick in the roadway coordinate system was derived, the position coordinate of the inflection point and the cutting step distance were determined according to the relationship between the cutting head and the roadway boundary, and the cutting path control flow was designed. Finally, the reliability of the cutting path control method was verified with a MATLAB simulation. The research works provide a theoretical foundation for path planning and control to realize “secondary autonomous cutting of cantilever roadheader”.

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Section: Kinematic Analysis Of Roadheader Bodymentioning

confidence: 99%

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Fang

et al. 2022

Sustainability

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“…where, M 1 0 represent the transformation relation between the machine body and the rotary joints coordinate frames; M 2 1 represent the transformation relation between the rotary joints and the lift joints coordinate frames; M 3 2 represent the transformation relation between the lift joints and expansion joints coordinate frames; M 4 3 represent the transformation relation between the expansion joints and cutting-head coordinate frames.…”

Section: Infrared Leds-based Vision Mensearment System For Boom-type Roadheadermentioning

confidence: 99%

“…Due to strong vibration, high dust, noise and other factors in underground working environment, these measurement methods have some deficiencies. The angular sensor based methods [1]- [3] are installed at the rotating joint or lifting joint of the cutting arm, and vibration condition accelerates the sensors damage. The measurement accuracy and reliability degrades very quickly after a short period of using in the working condition.…”

Section: Introductionmentioning

confidence: 99%

Infrared LEDs-Based Pose Estimation With Underground Camera Model for Boom-Type Roadheader in Coal Mining

Yang

Zhang

et al. 2019

IEEE Access

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Accurate and reliable pose estimation of a boom-type roadheader is of great importance in order to maintain the efficiency of automatic coal mining. The stability and accuracy of conventional measurement methods are difficult to be guaranteed on account of vibration noise, magnetic disturbance, electrostatic interference, and other factors in an underground environment. In this paper, a vision-based non-contact measurement method for cutting-head pose estimation is presented, which deploy a 16-point infrared LED target on the boom-type roadheader to tackle the low-illumination, high-dust, and complicated background. By establishing a monocular vision measurement system, the cutting-head pose is estimated through processing the LED target images obtained from an explosion-proof industrial camera mounted on the roadheader. After analyzing the measurement mechanism, an underground camera model based on the equivalent focal length is built to eliminate refraction errors caused by the two-layer glasses for explosion-proof and dust removal. Then, the pose estimation processes, including infrared LEDs feature point extraction, spot center location, and an improved P4P method based on dual quaternions, are carried out. The influence factors of cutting-head pose estimation accuracy are further studied by modeling, and the error distribution of the main parameters is investigated and evaluated. The numerical simulation and experimental evaluation are designed to verify the performance of the proposed method. The results show that the pose estimation error is in line with the numerical prediction, achieving the requirements of cuttinghead pose estimation in underground roadway construction in the coal mine.INDEX TERMS Vision measurement, infrared LEDs, pose estimation, underground camera model, total accuracy error, boom-type roadheader.

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“…Due to the complexity and severe environmental condition during operations in coalmine wells, no practical identification method of coal-rock interface is available [1]. In current operation of shearer, the memory-cut technique is commonly used to avoid cutting gangue in some degree.…”

Section: Introductionmentioning

confidence: 99%

Strategy Analysis of Override-Control for Drum Height of Shearers

Zhang

2014

AMR

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Aiming to solve the switch problem between auto-and manual-operation of shearer memory-cut due to variation of coal seam conditions, this paper proposes a method that introduces the strategy of override control to the controlling system of shearer memory-cut. This study also improves the control of hydraulic system for lifting cylinder, and designs an override control system for lifting cylinder of shearer. The procedure for controlling the height adjustment mechanism is thus addressed to offer a new control means for reliable operation of the shearer during operations.

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Application and testing of a vertical angle control for a boom-type road header

Cited by 6 publications

References 1 publication

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Infrared LEDs-Based Pose Estimation With Underground Camera Model for Boom-Type Roadheader in Coal Mining

Strategy Analysis of Override-Control for Drum Height of Shearers

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