Li, X;
Liu, C;
Li, J;
Baghdadi, M;
Liu, Y;
(2021)
A Multi-Sensor Environmental Perception System for an Automatic Electric Shovel Platform.
Sensors
, 21
(13)
, Article 4355. 10.3390/s21134355.
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Abstract
Electric shovels have been widely used in heavy industrial applications, such as mineral extraction. However, the performance of the electric shovel is often affected by the complicated working environment and the proficiency of the operator, which will affect safety and efficiency. To improve the extraction performance, it is particularly important to study an intelligent electric shovel with autonomous operation technology. An electric shovel experimental platform for intelligent technology research and testing is proposed in this paper. The core of the designed platform is an intelligent environmental sensing/perception system, in which multiple sensors, such as RTK (real-time kinematic), IMU (inertial measurement unit) and LiDAR (light detection and ranging), have been employed. By appreciating the multi-directional loading characteristics of electric shovels, two 2D-LiDARs have been used and their data are synchronized and fused to construct a 3D point cloud. The synchronization is achieved with the assistance of RTK and IMU, which provide pose information of the shovel. In addition, in order to down-sample the LiDAR point clouds to facilitate more efficient data analysis, a new point cloud data processing algorithm including a bilateralfiltering based noise filter and a grid-based data compression method is proposed. The designed platform, together with its sensing system, was tested in different outdoor environment conditions. Compared with the original LiDAR point cloud, the proposed new environment sensing/perception system not only guarantees the characteristic points and effective edges of the measured objects, but also reduces the amount of processing point cloud data and improves system efficiency. By undertaking a large number of experiments, the overall measurement error of the proposed system is within 50 mm, which is well beyond the requirements of electric shovel application. The environment perception system for the automatic electric shovel platform has great research value and engineering significance for the improvement of the service problem of the electric shovel.
| Type: | Article |
|---|---|
| Title: | A Multi-Sensor Environmental Perception System for an Automatic Electric Shovel Platform |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.3390/s21134355 |
| Publisher version: | http://dx.doi.org/10.3390/s21134355 |
| Language: | English |
| Additional information: | This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited |
| Keywords: | environmental perception system; electrical shovel; point cloud processing; multiple sensors |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10130220 |
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