| Popis: |
To overcome the problems faced in underground positioning,the robotic roadheader mine Internet of things (IoT) was designed which connected multi sensors,surveying devices and industrial computers,and a novel positioning method was developed,based on which a robotic roadheader system was built.The robotic roadheader system was employed for real-world tunnel cutting.The experimental results verifies the high accuracy of the positioning method,which achieves an RMSE error less than 5 cm,and the robust running of the robotic roadheader indicates that the robotic roadheader system can precisely perceive the surrounding environment and make precise interaction with the working environment,which yield a safety,high efficiency,and precisely underground tunnel building and coal mining and an unmanned working surface. |
