Hydraulic support group space straightness measuring and adjusting method based on three-dimensional point cloud

Abstract

The invention relates to a hydraulic support group space straightness measurement and adjustment method based on a three-dimensional point cloud, and the method comprises the steps: firstly defining the space straightness of a hydraulic support group, obtaining the point cloud of a hydraulic support through a three-dimensional laser radar, and extracting a key point set of the hydraulic support through a point cloud processing related algorithm; spatial straightness measurement of the hydraulic support group is realized by using a method of fitting a spatial straight line by using least squares and calculating a distance error, and meanwhile, a spatial straightness measurement and state adjustment method of the hydraulic support group under the condition that the fluctuation change of a coal seam is small is provided, and a spatial straightness measurement and state adjustment method of the hydraulic support group under the condition that the fluctuation change of the coal seam is large is provided. According to the method, accurate measurement and accurate adjustment of the straightness of the hydraulic support group can be realized.

Description

technical field [0001] The invention relates to a method for measuring and adjusting the straightness of hydraulic support groups in a fully mechanized mining face of a coal mine, in particular to a method for measuring and adjusting the spatial straightness of hydraulic support groups based on three-dimensional point clouds. Background technique [0002] As an important equipment to ensure the working space and safe production in the fully mechanized mining face, the hydraulic support not only provides safe operation space for the shearer, scraper conveyor and other equipment, but also provides power for the smooth advancement of the working face. Under the ideal working conditions of the fully mechanized mining face, the fully mechanized mining face should be in a state of three straight and flat, the hydraulic support group must maintain a certain straightness, and the hydraulic support must continue to follow the scraper conveyor to move forward to support From the end p...

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Problems solved by technology

[0003] The invention patent with the application number CN201310492654.6 discloses a coal mine face hydraulic support straightening system and straightening method, which adopts the straightness control method of laser alignment, and mainly installs a laser transceiver between the hydraulic supports to perform hydraulic pressure adjustment. The measurement of the relative linear position of the support, but this method can only measure the front and back position relationship of the hydraulic support during the moving process, and cannot accurately measure the straightness of the hydraulic support;

[0004] The invention patent with the application number CN201710442811.0 discloses a method for measuring the pose and straightness of downhole hydraulic support groups based on a multi-image sequence. The image information of the marking target on the hydraulic support realizes the measurement of the position, posture and straightness of the hydraulic support. However, the two-dimensional visual measurement is easily disturbed by downhole light and dust, and the measurement accuracy cannot be guaranteed.

[0005] The invention patent with the application number CN202011187016.X discloses a method for controlling the straightness of a coal mining face. In this invention, a laser radar is installed on the propulsion rod of the hydraulic support, and a corner reflector is installed on the side of the propulsion plate of the hydraulic support facing the radar. It is used to detect whether the push plate is on the same plane, so as to realize the automatic adjustment of the hydraulic support. This method still uses the method of laser alignment and distance measurement, and can only detect the straightness of two or three hydraulic supports at a time. The corner reflector is installed on the bracket, and it is more complicated to control the radar and be on the same line with the propulsion plate

[0006] According to the records of the above prior art, their defects mainly exist in: one, the straightness measurement research of the hydraulic support group is still in the one-dimensional or two-dimensional stage, and the influence of the undulation of the coal seam on the straightness of the hydraulic support is not considered; two. It is necessary to install a receiving device in order to obtain information. The position of the receiving device is easily affected by dust and falling coal in the mine, and the installation also requires a lot of manpower and material resources. deviation in one direction

In the underground, due to the undulation of the coal seam floor, the floating coal is soft, and the hydraulic support is stepped, it is not accurate enough to describe the straightness of the hydraulic support group by using a certain direction in the three-dimensional space alone, and there is also a lack of information to guide the state adjustment of the hydraulic support.

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