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Open AccessArticle

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

1
Department of Information Engineering, Shandong University of Science and Technology, Tai’an 271000, China
2
College of Computer Science and Engineering, Shandong University of Science and Technology & Research center of smart mine software engineering and technology, Qingdao 266590, China
3
Shandong Province Key Laboratory of Wisdom Mine Information Technology, Shandong University of Science and Technology, Qingdao 266590, China
4
Shandong Province Research Center of Intelligent Mine Software Engineering and Technology, Shandong Lionking Software Co., Ltd., Tai’an 271000, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(22), 4955; https://doi.org/10.3390/s19224955
Received: 16 October 2019 / Revised: 10 November 2019 / Accepted: 12 November 2019 / Published: 14 November 2019
(This article belongs to the Special Issue Multi-Sensor Systems for Positioning and Navigation)
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. View Full-Text
Keywords: automatic cutting; multi-sensor; roadheader; positioning model automatic cutting; multi-sensor; roadheader; positioning model
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MDPI and ACS Style

Yan, C.; Zhao, W.; Lu, X. A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting. Sensors 2019, 19, 4955. https://doi.org/10.3390/s19224955

AMA Style

Yan C, Zhao W, Lu X. A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting. Sensors. 2019; 19(22):4955. https://doi.org/10.3390/s19224955

Chicago/Turabian Style

Yan, Changqing; Zhao, Wenxiao; Lu, Xinming. 2019. "A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting" Sensors 19, no. 22: 4955. https://doi.org/10.3390/s19224955

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