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Hydraulic support alignment method based on laser radar

A technology of laser radar and hydraulic support, which is applied to the re-radiation of electromagnetic waves, the use of re-radiation, measuring devices, etc., can solve the problems of wasting labor costs and so on

Active Publication Date: 2020-07-17
NANJING UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This not only creates a great potential safety hazard, but also wastes a lot of labor costs

Method used

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  • Hydraulic support alignment method based on laser radar
  • Hydraulic support alignment method based on laser radar
  • Hydraulic support alignment method based on laser radar

Examples

Experimental program
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Embodiment Construction

[0058] figure 1 It is a flow chart of the lidar-based hydraulic support alignment method of the present invention.

[0059] Such as figure 1 As shown, the method includes the following steps:

[0060] Step 1, deploy lidar and detect targets between adjacent hydraulic supports.

[0061] A detection target and a laser radar are deployed on each hydraulic support, and the detection target is a cubic box with a length, width and height of 30cm;

[0062] The positional relationship among the hydraulic support, the laser radar and the detection target is as follows: figure 2 shown.

[0063] Step 2, collect data with lidar, and convert the collected data into Cartesian coordinate system. This step includes:

[0064] Step 2-1, collect data with lidar. The collected data is a series of coordinates representing the position of obstacles within the laser scanning range. These coordinates are in polar form, denoted D in order of increasing angle 1 =[(r 1 , θ 1 ), (r 2 , θ 2 ...

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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...

Claims

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Application Information

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IPC IPC(8): G01S17/93G01S7/481
CPCG01S17/93G01S7/481
Inventor 申富饶刘凤山邵玥金勇盛敏
Owner NANJING UNIV
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