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

A technology of fully mechanized mining face and hydraulic support, which is applied in the direction of measuring device, measuring inclination, surveying and navigation, etc., can solve problems such as affecting the normal operation of the measuring system, affecting the measuring accuracy, loosening and falling off of the sign board, etc., and achieves improved operation. Stability and measurement accuracy, avoid abnormal operation, and simplify the effect of measurement components

CN111879244AActive Publication Date: 2020-11-03CCTEG COAL MINING RES INST +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-11-03

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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.
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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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Embodiment Construction

[0058] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0059] It should be clear that in order to illustrate the present invention more clearly, numerous technical details are described in the following specific embodiments, and those skilled in the art should understand that the present invention can also be implemented without some of the details. In addition, in order to highlight the gist of the present invention, some methods, means, components and their applications that are well known to those skilled in the art are not described in detail, but this does not affect the implementation of the present invention. The embodiments described herein are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of...