Mr. Jinyong Yang Profile

Jinyong Yang

at Tianjin Univ of Science and Technology

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Proceedings Article | 12 January 2018 Paper

Research on position and orientation measurement method for roadheader based on vision/INS

Jinyong Yang, Guanqin Zhang, Zhe Huang, Yaozhong Ye, Bowen Ma, Yizhong Wang

Proceedings Volume 10621, 1062105 (2018) https://doi.org/10.1117/12.2288670

KEYWORDS: Mining, Cameras, Imaging systems, Navigation systems, Optical filters, Visualization, Stray light, Gyroscopes, Image processing, Motion measurement

Read Abstract +

Roadheader which is a kind of special equipment for large tunnel excavation has been widely used in Coal Mine. It is one of the main mechanical-electrical equipment for mine production and also has been regarded as the core equipment for underground tunnel driving construction. With the deep application of the rapid driving system, underground tunnel driving methods with higher automation level are required. In this respect, the real-time position and orientation measurement technique for roadheader is one of the most important research contents. For solving the problem of position and orientation measurement automatically in real time for roadheaders, this paper analyses and compares the features of several existing measuring methods. Then a new method based on the combination of monocular vision and strap down inertial navigation system (SINS) would be proposed. By realizing five degree-of-freedom (DOF) measurement of real-time position and orientation of roadheader, this method has been verified by the rapid excavation equipment in Daliuta coal mine. Experiment results show that the accuracy of orientation measurement is better than 0.1°, the standard deviation of static drift is better than 0.25° and the accuracy of position measurement is better than 1cm. It is proved that this method can be used in real-time position and orientation measurement application for roadheader which has a broad prospect in coal mine engineering.

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