Hydraulic support alignment method based on laser radar

Abstract

The invention provides a hydraulic support alignment method based on a laser radar. The hydraulic support alignment method comprises the steps that 1, deploying a laser radar and a detection target between adjacent hydraulic supports; 2, acquiring data by using the laser radar, and converting the acquired data into a Cartesian coordinate system form; 3, filtering the data acquired by the laser radar, and filtering out points irrelevant to the detection target; 4, carrying out right-angle detection on the filtered data to obtain the position of a detection target; 5, judging whether the detection target is aligned or not, if so, ending, and otherwise, turning to step 6; and 6, returning the position of the detection target to a device for controlling the supports to move, controlling the supports to move under the control of the control device, and turning to step 2.

Description

technical field

[0001] The present invention relates to a method for detecting obstacles based on laser radar, and more particularly, to a method for aligning hydraulic supports based on laser radar. Background technique

[0002] The hydraulic support is a structure used to control the mine pressure of the coal mining face. During the operation of the shearer, it is necessary to constantly align the hydraulic pressure. In traditional alignment methods, manpower is often required to align the hydraulic supports. This not only creates a great potential safety hazard, but also wastes a lot of labor costs. Therefore, there is an urgent need for a method that can automatically align hydraulic supports. Contents of the invention

[0003] The invention proposes a method for automatically aligning hydraulic supports to reduce safety hazards and labor costs of manually aligning hydraulic supports. The method includes the following steps:

[0004] Step 1, deploy lidar and detec...

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