{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T18:05:50Z","timestamp":1768586750212,"version":"3.49.0"},"reference-count":10,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2019,11,14]],"date-time":"2019-11-14T00:00:00Z","timestamp":1573689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/s19224955","type":"journal-article","created":{"date-parts":[[2019,11,14]],"date-time":"2019-11-14T10:56:34Z","timestamp":1573728994000},"page":"4955","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0571-8025","authenticated-orcid":false,"given":"Changqing","family":"Yan","sequence":"first","affiliation":[{"name":"Department of Information Engineering, Shandong University of Science and Technology, Tai\u2019an 271000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenxiao","family":"Zhao","sequence":"additional","affiliation":[{"name":"College of Computer Science and Engineering, Shandong University of Science and Technology &amp; Research center of smart mine software engineering and technology, Qingdao 266590, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinming","family":"Lu","sequence":"additional","affiliation":[{"name":"Shandong Province Key Laboratory of Wisdom Mine Information Technology, Shandong University of Science and Technology, Qingdao 266590, China"},{"name":"Shandong Province Research Center of Intelligent Mine Software Engineering and Technology, Shandong Lionking Software Co., Ltd., Tai\u2019an 271000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,11,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"192","DOI":"10.1016\/j.autcon.2018.05.020","article-title":"Pose and trajectory control of shield tunneling machine in complicated stratum","volume":"93","author":"Wang","year":"2018","journal-title":"Autom. Constr."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1016\/j.aeue.2018.11.023","article-title":"Ultra-wideband pose detection method based on TDOA positioning model for boom-type roadheader","volume":"99","author":"Fu","year":"2019","journal-title":"AEU Int. J. Electron. Commun."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/j.autcon.2015.03.006","article-title":"Optimization-based excavator pose estimation using real-time location systems","volume":"56","author":"Vahdatikhaki","year":"2015","journal-title":"Autom. Constr."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"104","DOI":"10.1117\/1.OE.55.10.104107","article-title":"Visual measurement system for roadheaders pose detection in mines","volume":"55","author":"Du","year":"2016","journal-title":"Opt. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1016\/j.tust.2018.03.032","article-title":"Kinematic models and simulations for trajectory planning in the cutting of Spatially-Arbitrary crosssections by a robotic roadheader","volume":"78","author":"Tian","year":"2018","journal-title":"Tunn. Undergr. Sp. Tech."},{"key":"ref_6","unstructured":"Yang, J., Zhang, G., Huang, Z., Ye, Y., Ma, B., and Wang, Y. (2018, January 12). Research on position and orientation measurement method for roadheader based on vision\/INS. Proceedings of the 2017 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, International Society for Optics and Photonics, Beijing, China."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Zong, K., Jia, W., and Wu, M. (2016). Position and Attitude Measurement System Design of Boom-type Roadheader. DEStech Trans. Mater. Sci. Eng., 167\u2013173.","DOI":"10.12783\/dtmse\/smne2016\/10579"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Barrett, J.M., Gennert, M.A., Michalson, W.R., Audi, M.D., Center, J.L., Kirk, J.F., and Welch, B.W. (2013, January 22\u201323). Development of a low-cost, self-contained, combined vision and inertial navigation system. Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), Woburn, MA, USA.","DOI":"10.1109\/TePRA.2013.6556351"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"33698","DOI":"10.1109\/ACCESS.2019.2904097","article-title":"Infrared LEDs-Based Pose Estimation with Underground Camera Model for Boom-Type Roadheader in Coal Mining","volume":"7","author":"Yang","year":"2019","journal-title":"IEEE Access"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1258","DOI":"10.1016\/j.robot.2013.09.004","article-title":"A survey on coverage path planning for robotics","volume":"61","author":"Galceran","year":"2013","journal-title":"Robot. Auton. 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