Ultra-wideband pose detection system for boom-type roadheader based on Caffery transform and Taylor series expansion

Abstract

To realize unmanned pose detection of a coalmine boom-type roadheader, an ultra-wideband (UWB) pose detection system (UPDS) for a roadheader is designed, which consists of four UWB positioning base stations and three roadheader positioning nodes. The positioning base stations are used in turn to locate the positioning nodes of the roadheader fuselage. Using 12 sets of distance measurement information, a time-of-arrival (TOA) positioning model is established to calculate the 3D coordinates of three positioning nodes of the roadheader fuselage, and the three attitude angles (heading, pitch, and roll angles) of the roadheader fuselage are solved. A range accuracy experiment of a UWB P440 module was carried out in a narrow and closed tunnel, and the experiment data show that the mean error and standard deviation of the module can reach below 2 cm. Based on the TOA positioning model of the UPDS, we propose a fusion-positioning algorithm based on a Caffery transform and Taylor series expansion (CTFPA). We derived the complete calculation process, designed a flowchart, and carried out a simulation of CTFPA in MATLAB, comparing 1000 simulated positioning nodes of CTFPA and the Caffery positioning algorithm (CPA) for a 95 m long tunnel. The positioning error field of the tunnel was established, and the influence of the spatial variation on the positioning accuracy of CPA and CTFPA was analysed. The simulation results show that, compared with CPA, the positioning accuracy of CTFPA is clearly improved, and the accuracy of each axis can reach more than 5 mm. The accuracy of the X-axis is higher than that of the Y-and Z-axes. In section X-Y of the tunnel, the root mean square error (RMSE) contours of CTFPA are clear and orderly, and with an increase in the measuring distance, RMSE increases linearly. In section X-Z, the RMSE contours are concentric circles, and the variation ratio is nonlinear.

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

“…The response regularities of multibody large-scale displacement of roadheader under effect of multi-factors, is one of the primary key basic problems in the fully mechanized excavation face, which can provide useful theoretical basis for deviation rectification control of the multibody structures of roadheader. However, in most cases, measurement and control of the pose parameters of roadheader are the focus of concern, 23–25 while the response characteristics and mechanism under complex excitations are seldom researched and reported, which causes serious faultage situation in theoretical study of roadheader. Therefore, the response characteristics of multibody large-scale displacement of roadheader need to be studied and solved urgently, and solution of this problem contributes to improvement of roadheader’s overall stability and realization of speedy drivage of the roadway, and furtherly promotes the development of mining machinery dynamics.…”

Path Correction of the Boom Road‐Header in Coal Mining Based on State Estimation

“…Measurement and Process Noises. Fu et al [15,16] built up an ultra-wideband (UWB) pose detection system (UPDS) to realize unmanned pose detection based on the principle of local positioning for the working road-header. It was proved by a range of accuracy experiments that the mean error and standard deviation of the measured distances are below 2 cm.…”

“…ose values may change for different coal mining plants. e data group (3) is summarized from prior studies which are cited at relevant places within the text as references [14][15][16].…”

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

“…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.…”