4.6 Article

Multi-sensor fusion method for roadheader pose detection

Journal

MECHATRONICS
Volume 80, Issue -, Pages -

Publisher

PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2021.102669

Keywords

Mine automation; Multi-sensor fusion; Pose detection; Spatial algorithm

Funding

  1. National Natural Science Foundation of China [51974159]
  2. National Key Research and Development Project of China [2017YFC0804305]
  3. Natural Science Foundation of Liaoning Province of China [2019-M-161]

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This paper presents a method of multi-sensor data fusion for the detection of roadheader fuselage pose. The experimental results show that the pose estimation system has higher measurement accuracy and can meet the requirements of engineering application. The pose detection system consists of a cross laser transmitter, photoelectric sensors and an inclination sensor.
Pose detection of roadheader has become an important topic in the field of mine automation. This paper presents a method of multi sensor data fusion for the detection of roadheader fuselage pose. The pose detection system consists of a cross laser transmitter, several photoelectric sensors and an inclination sensor. The laser transmitter is used to create reference coordinate frame. The photoelectric sensors and inclination sensor are used to acquire data for the calculation of roadheader pose. The spatial algorithm for the pose parameters of roadheader is derived by fusing the measurement data of photoelectric sensors and inclination sensor. A test platform is built to verify the performance of the pose estimation system. The experimental results show that by using multi-sensor data fusion method, the pose estimation system has higher measurement accuracy and can meet the requirements of engineering application.

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