Fully mechanized coal mining face hydraulic support supporting height and top beam inclination angle measuring method

Abstract

The embodiment of the invention discloses a fully mechanized coal mining face hydraulic support supporting height and top beam inclination angle measuring method, and relates to the technical field offully mechanized coal mining face equipment monitoring. adopting a depth camera to obtain a point cloud image containing a hydraulic support base; performing noise reduction processing on the point cloud image by adopting a filtering algorithm; segmenting the denoised three-dimensional point cloud by using a point cloud segmentation algorithm to obtain a plurality of types of point cloud data clusters; selecting a point cloud feature descriptor to perform feature description and extraction on point cloud clustering; performing matching in point cloud clustering according to the hydraulic support base three-dimensional model to obtain base point cloud; registering the hydraulic support base point cloud with a preset base database point cloud model to obtain six-degree-of-freedom parametersof the support base relative to the depth camera in an actual scene; and obtaining the supporting height of the hydraulic support and the inclination angle value of the top beam by combining the installation position relation of the depth camera and the top beam. According to the measuring method, real-time on-line measurement of the supporting height of the hydraulic support and the inclinationangle parameters of the top beam can be well achieved.

Description

technical field [0001] The invention relates to the technical field of visual measurement applications, in particular to a method for measuring the support height of a hydraulic support and the inclination angle of a top beam in a fully mechanized mining face. Background technique [0002] Visual measurement is to capture the characteristics of the target object in three-dimensional space through the image sensor, and then use image processing and recognition technology to obtain the size, position and attitude of the target object, so as to realize the pose calculation of the target object in space. At present, visual measurement technology has been widely used in the industrial field, mainly using image sensors instead of human eyes to accurately obtain target pose information. [0003] As one of the important equipments in the underground fully mechanized mining face, the accurate acquisition of the position and attitude state information of the hydraulic support will dir...

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Problems solved by technology

[0005] The inventor found in the process of realizing the invention that: although the above method is simple in structure and easy to install, it needs to install a positioning identification plate on each hydraulic support, which has high installation cost and low precision, which affects the measurement accuracy; and the identification plate is easy to install. Covered by coal dust or loose, which will affect the normal operation of the measurement system

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