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Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader

Author

Listed:
  • Jicheng Wan

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

  • Xuhui Zhang

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

  • Chao Zhang

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

  • Wenjuan Yang

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

  • Mengyu Lei

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

  • Yuyang Du

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

  • Zheng Dong

    (College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi’an 710054, China)

Abstract

Pose measurement of coal mine excavation equipment is an important part of roadway excavation. However, in the underground mining roadway of coal mine, there are some influencing factors such as low illumination, high dust and interference from multiple equipment, which lead to the difficulty in the position and pose measurement of roadheader with low measurement accuracy and poor stability. A combination positioning method based on machine vision and optical fiber inertial navigation is proposed to realize the position and pose measurement of roadheader and improve the accuracy and stability of the position and pose measurement. The visual measurement model of arm roadheader is established, and the optical fiber inertial navigation technology and the spatial coordinate transformation method are used. Finally, the Kalman filter fusion algorithm is used to fuse the two kinds of data to get the accurate roadheader pose data, and the inertia is compensated and corrected. Underground coal mine experiments are designed to verify the performance of the proposed method. The results show that the positioning error of the roadheader body using this method is within 40 mm, which meets the positioning accuracy requirements of roadway construction. This method compensates for the shortcomings of low accuracy and poor reliability of single vision measurement, single inertial navigation measurement and single odometer measurement.

Suggested Citation

  • Jicheng Wan & Xuhui Zhang & Chao Zhang & Wenjuan Yang & Mengyu Lei & Yuyang Du & Zheng Dong, 2023. "Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader," Sustainability, MDPI, vol. 15(5), pages 1-16, February.
    • Handle: RePEc:gam:jsusta:v:15:y:2023:i:5:p:4018-:d:1077029
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    References listed on IDEAS

    as
    1. Qinghua Mao & Fei Zhang & Xuhui Zhang & Xusheng Xue & Liang Wang & Jie Hu, 2023. "Deviation Correction Path Planning Method of Full-Width Horizontal Axis Roadheader Based on Improved Particle Swarm Optimization Algorithm," Mathematical Problems in Engineering, Hindawi, vol. 2023, pages 1-13, January.
    2. Ziyue Xu & Minfu Liang & Xinqiu Fang & Gang Wu & Ningning Chen & Yang Song, 2022. "Research on Autonomous Cutting Method of Cantilever Roadheader," Energies, MDPI, vol. 15(17), pages 1-14, August.
    3. Xiaodong Ji & Minjun Zhang & Yuanyuan Qu & Hai Jiang & Miao Wu, 2021. "Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway," Energies, MDPI, vol. 14(21), pages 1-21, November.
    4. Xiaofang Wo & Guichen Li & Yuantian Sun & Jinghua Li & Sen Yang & Haoran Hao, 2022. "The Changing Tendency and Association Analysis of Intelligent Coal Mines in China: A Policy Text Mining Study," Sustainability, MDPI, vol. 14(18), pages 1-14, September.
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    Cited by:

    1. Mengyu Lei & Xuhui Zhang & Zheng Dong & Jicheng Wan & Chao Zhang & Guangming Zhang, 2023. "Locating Anchor Drilling Holes Based on Binocular Vision in Coal Mine Roadways," Mathematics, MDPI, vol. 11(20), pages 1-18, October.

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