Citation: Ma, Y.; Chen, H.; Yang, W.;
Zhang, D.; Chen, H. Pose Detection
and Automatic Deviation Correction
Control Strategy of Crawler Walking
Equipment in Coal Mines. Appl. Sci.
2022, 12, 12072. https://doi.org/
10.3390/app122312072
Academic Editor: Alessandro
Gasparetto
Received: 10 November 2022
Accepted: 23 November 2022
Published: 25 November 2022
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Article
Pose Detection and Automatic Deviation Correction Control
Strategy of Crawler Walking Equipment in Coal Mines
Ying Ma
1
, Hongyan Chen
2,
* , Wei Yang
2,3
, Desheng Zhang
1
and Hongyue Chen
2
1
CCTEG Coal Mining Research Institute, Beijing 100013, China
2
School of Mechanical Engineering, Liaoning Technical University, Fuxin 123000, China
3
School of Mechanical Engineering, Anyang Institute of Technology, Anyang 455000, China
* Correspondence: chyerbin@163.com
Abstract:
Autonomous navigation technology is the basis of underground crawler walking equipment
automation. Based on research of the sector laser pose parameter detection method, a pose detection
system based on a cross laser is proposed. The mathematical model between pose parameters, laser
receiver measurement data and tilt sensor measurement data is established by vector algorithm and
the expression of key pose parameters is deduced. This paper studies the deviation correction control
strategy of crawler walking equipment and puts forward the point deviation correction control
strategy based on roadway excavation technology. Firstly, the end position of the path is determined
according to the initial pose of the roadheader. Then, Bessel curve is used to plan the path between
the starting point and the endpoint, and the pure tracking algorithm is used to track the planned path.
The measurement errors of X and Y coordinates and yaw angle of roadheader within 10 80 m shall
not exceed 10 mm, 32 mm and 0.65
◦
. Using the point deviation correction strategy, the positioning
error of the roadheader at the end of the path is less than 13 mm, and the yaw angle error is less
than 0.16
◦
. In the deviation correction process, the maximum angular velocity of the roadheader is
0.07 rad/s, which is less than 0.82 rad/s of the conventional deviation correction strategy. The results
show that the point deviation correction strategy can not only ensure the accuracy of motion control,
but also improve the stability of equipment motion.
Keywords:
crawler walking equipment; cross laser; pose detection; automatic deviation correction
control strategy
1. Introduction
Coal is a large part of the global energy mix and an important primary
energy [1–6]
.
The mining environment of underground coal mine is poor and even dangerous. The
rapid development of new industries, such as the new energy, new materials and infor-
mation industries, has absorbed a large number of talents, and hence impacted employ-
ment within the coal industry. The coal industry brain drain phenomenon has gradu-
ally emerged, and new talent is insufficient [
7
]. Therefore, intelligent coal mining is not
only helpful to improve the efficiency of coal mining and improve the working environ-
ment of workers, but also to cater for the need for sustainable development in the coal
industry [8–11].
Heavy equipment, such as roadheader and continuous miners, moves by crawler.
The automation of crawler walking equipment is the key to realize the intellectualization
of roadway excavation, and the autonomous navigation system is the foundation of the
intellectualization of crawler walking equipment. Crawler walking equipment navigation
technology includes two aspects: real-time detection of equipment pose and automatic
deviation correction control. The former is the basis of the latter [12].
M. Wu [
13
] applied the space intersection measurement technology to the measure-
ment of the pose parameters of the roadheader and simulated the working environment
Appl. Sci. 2022, 12, 12072. https://doi.org/10.3390/app122312072 https://www.mdpi.com/journal/applsci
