Ultra-wideband pose detection method based on TDOA positioning model for boom-type roadheader

Fu, Shichen; Li, Yiming; Zong, Kai; Liu, Chao; Liú, Dan; Wu, Miao

doi:10.1016/j.aeue.2018.11.023

Cited by 19 publications

(10 citation statements)

References 16 publications

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“…The method could overcome the shortcoming of excessive accumulated errors in a single inertial navigation measurement and effectively monitor the roadheader pose. Fu et al [9,10] developed a set of roadheader pose measurement systems based on an ultra-wideband. A time-of-arrival model was built after the distance between the positioning node of a roadheader and ultra-wideband (UWB) positioning base station was measured.…”

Section: Introductionmentioning

confidence: 99%

Research on Visual Positioning of a Roadheader and Construction of an Environment Map

et al. 2021

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The autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and build a navigation map of a roadway is presented. In terms of pose estimation, an RGB-D camera is used to collect images, and a pose calculation model of a roadheader is established based on random sample consensus (RANSAC) and iterative closest point (ICP); constructing a pose graph optimization model with closed-loop constraints. An iterative equation based on Levenberg–Marquadt is derived-, which can achieve the optimal estimation of the body pose. In terms of mapping, LiDAR is used to experimentally construct the grid map based on open-source algorithms, such as Gmapping, Cartographer, Karto, and Hector. A point cloud map, octree map, and compound map are experimentally constructed based on the open-source library RTAB-MAP. By setting parameters, such as the expansion radius of an obstacle and the updating frequency of the map, a cost map for the navigation of a roadheader is established. Combined with algorithms, such as Dijskra and timed-elastic-band, simulation experiments show that the combination of octree map and cost map can support global path planning and local obstacle avoidance.

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Section: Introductionmentioning

confidence: 99%

Research on Visual Positioning of a Roadheader and Construction of an Environment Map

et al. 2021

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“…Because of the poor working environment and complex structure of cutting mechanism, it is rather difficult or even impossible to directly monitor the surrounding rock hardness with sensors. 23 The rotating hydraulic cylinders and the lifting hydraulic cylinders drive the cutting arm to swing during the cutting process of roadheader. To balance the changing of cutting head load, the pressure of hydraulic cylinders changes continuously.…”

Section: Introductionmentioning

confidence: 99%

Recognition of cutting rock hardness by hydraulic cylinder pressure

Tian

Feng

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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The online identification of rock hardness is the basis to adjust the rotation velocity and swing velocity of cutting head in real time. To effectively identify the hardness of rock around roadway under different cutting conditions, a novel method based on the hydraulic cylinder pressure signal is proposed. Here, we analyze the changing rule of cutting head load under different rock hardness through dynamic simulation, and the transfer characteristics between cutting dynamic load and the hydraulic cylinder pressure. On this basis, a function model between the hydraulic cylinder pressure and the protodyakonov scale of rock hardness is constructed to identify the rock hardness. The average recognition accuracy of the heavy-duty roadheader in the test is 92.01%. The experimental results indicate that the model can effectively identify the rock hardness under different cutting conditions. This study can be used for online identification of rock hardness and provide reliable basis for the automatic control of roadheader.

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“…Over the last decades, significant research has been done on this topic [1,2,3,4,5,6]. With laser targets acting as information sources, a visual measurement system was presented for pose detection by utilizing the cross laser beams received [4].…”

Section: Introductionmentioning

confidence: 99%

“…Although the error of the model was reported to be 16 mm for practical tunneling, the core issue, how to measure the pose angles, was not clearly stated. An ultra-wide band pose detection system was designed for roadheader pose detection [2], which was shown to be able to meet the accuracy requirement of a fully mechanized excavation face. However, it is generally considered that it is very difficult to achieve an error of less than 10 cm due to the limitations of the ultra-wide band technique itself, as well as its increasing error with increasing distance.…”

Section: Introductionmentioning

confidence: 99%

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

Yan

Zhao

2019

Sensors

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Autonomous posture detection and self-localization of roadheaders is the key to automatic tunneling and roadheader robotization. In this paper, a multi-sensor based positioning method, involving an inertial system for altitude angles measurement, total station for coordinate measurement, and sensors for measuring the real-time length of the hydraulic cylinder is presented for roadheader position measurement and posture detection. Based on this method, a positioning model for roadheader and cutter positioning is developed. Additionally, flexible trajectory planning methods are provided for automatic cutting. Based on the positioning model and the trajectory planning methods, an automatic cutting procedure is proposed and applied in practical tunneling. The experimental results verify the high accuracy and efficiency of both the positioning method and the model. Furthermore, it is indicated that arbitrary shapes can be generated automatically and precisely according to the planned trajectory, employing the automatic cutting procedure. Therefore, unmanned tunneling can be realized by employing the proposed automatic cutting process.

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Ultra-wideband pose detection method based on TDOA positioning model for boom-type roadheader

Cited by 19 publications

References 16 publications

Research on Visual Positioning of a Roadheader and Construction of an Environment Map

Research on Visual Positioning of a Roadheader and Construction of an Environment Map

Recognition of cutting rock hardness by hydraulic cylinder pressure

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

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