Method for measuring recovery attitude of mining hydraulic support face guard

Abstract

The invention provides a mining hydraulic support face guard recovery attitude measurement method, and belongs to the technical field of intelligent coal mining. The problem that the three-dimensional attitude information of the face guard on the fully mechanized coal mining face cannot be obtained due to environmental interference when an explosion-proof camera is used for monitoring the attitude of the face guard in the prior art is solved. The method comprises the following steps of: acquiring an image through an image acquisition device, transmitting the acquired image into a PC (Personal Computer) end, importing the image into hdevelop software for pattern recognition and pattern processing, extracting feature points of a base image of the face guard, optimizing the feature points, and selecting any point on the bottom edge of the face guard from a coordinate system of the face guard, the coordinate point of the point in the static coordinate system of the base is obtained according to the step 6, the coordinate point of each point in the static coordinate system of the base is obtained according to different selected points, and then measurement of the withdrawing posture on the face guard is completed. The device is mainly used for measuring the withdrawing posture of the hydraulic support face guard.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent coal mining, and in particular relates to a method for measuring the retracting posture of a side guard plate of a hydraulic support for a mine. Background Art

[0002] Intelligent mining is the core technical support for the high-quality development of the coal industry. As an important component of the hydraulic support, the guard plate supports the coal wall and prevents spalling. Therefore, the research on the retraction posture of the guard plate plays a very important role in realizing intelligent mining. At present, the posture monitoring of the guard plate of the hydraulic support in underground coal mines mostly adopts the method of inclination sensor, but this method is easily affected by vibration. In recent years, with the continuous application of vision technology in coal mines, explosion-proof cameras are used to monitor the posture of the guard plate, and image processing is used to obtain the working posture of the guard plate. However, this method is easily affected by environmental interference, and it is also impossible to obtain the three-dimensional posture information of the guard plate in the comprehensive mining working face. Summary of the invention

[0003] In view of this, the present invention aims to propose a method for measuring the retracted posture of the guard plate of a mining hydraulic support, so as to solve the problem in the prior art that the guard plate posture monitoring using an explosion-proof camera is easily disturbed by the environment and cannot obtain the three-dimensional posture information of the guard plate in the comprehensive mining working face.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A method for measuring the retracted posture of a guard plate of a mining hydraulic support comprises the following steps:

[0006] Step 1: Capture images through an image acquisition device;

[0007] Step 2: Transfer the collected image to the PC, import the image into the hdevelop software for graphic recognition and graphic processing;

[0008] Step 3: Extract the feature points of the guard plate base image and optimize these feature points;

[0009] Step 4: Create multiple local coordinate systems to describe the spatial posture of the guard plate, and obtain the relationship between the guard plate coordinate system and the base static coordinate system through coordinate conversion between the local coordinate systems;

[0010] Step 5: After obtaining three feature points of the guard plate base through steps 3 and 4, construct a guard plate bracket base plane, and obtain the attitude angle of the explosion-proof camera plane in the image acquisition device relative to the guard plate base plane through the plane;

[0011] Step 6: Set one of the feature points in step 5 as the origin of the dynamic coordinate system of the seat base, establish the dynamic coordinate system of the base corresponding to the feature point, and finally obtain the coordinate system transformation matrix from the static coordinate system of the base to the guard plate coordinate system through the relationship transformation between multiple local coordinate systems;

[0012] Step 7: In the guard plate coordinate system, select any point on the bottom edge of the guard plate, and obtain the coordinate point of the point in the static coordinate system of the base according to step 6. Depending on the selected points, obtain the coordinate point of each point in the static coordinate system of the base, and then complete the measurement of the retraction posture on the guard plate.

[0013] Furthermore, in step 3, the Fast algorithm is used to extract the feature points of the guard plate base image.

[0014] Furthermore, in step 3, a neighborhood search algorithm is used to optimize feature points.

[0015] Furthermore, the image acquisition device includes a first fixed seat, a second fixed seat, an X-axis slide module, a Y-axis slide module, a ball screw, a fixed tray and a T-shaped camera bracket, the first fixed seat and the second fixed seat are symmetrically installed at the bottom of the X-axis slide module, the U-shaped grooves of the X-axis slide module and the Y-axis slide module are both equipped with ball screws, the fixed tray is threadedly connected to the ball screw and slidably installed in the U-shaped groove, the Y-axis slide module is installed on the end face of the fixed tray on the X-axis slide module, the T-shaped camera bracket is installed on the end face of the tray on the Y-axis slide module, and the explosion-proof camera is connected to the T-shaped camera bracket.

[0016] Furthermore, the ball screw in the X-axis slide module is connected to the output end of the second stepper motor through a coupling, the ball screw in the Y-axis slide module is connected to the output end of the first stepper motor through a coupling, the fixed end of the first stepper motor is installed in the U-shaped groove of the Y-axis slide module, and the fixed end of the second stepper motor is installed in the U-shaped groove of the X-axis slide module.

[0017] Furthermore, a fixed sleeve is installed at one end of the ball screw and the coupling, and a fixed sleeve is also installed at the other end.

[0018] Furthermore, trapezoidal plates are installed at both ends of the X-axis slide module and the Y-axis slide module.

[0019] Furthermore, a grating ruler is installed on the T-shaped camera bracket, and the grating ruler is located below the explosion-proof camera.

[0020] Furthermore, the first fixed seat and the second fixed seat are both T-shaped bosses, and the top of the T-shaped boss is a rectangular flat plate, and four threaded holes are respectively provided on both sides of the rectangular flat plate for installation on the top beam of the hydraulic support. The bottom of the T-shaped boss is a rectangular boss, and two threaded holes are respectively provided on both sides of the rectangular boss for installation on the X-axis slide module.

[0021] Furthermore, the outside of the X-axis slide module and the Y-axis slide module are both U-shaped slides, and the U-shaped slides are provided with 12 threaded holes. The 8 threaded holes on both sides of the X-axis slide module correspond to the threaded holes on the first fixed seat and the second fixed seat, the 4 threaded holes in the middle of the X-axis slide module are connected to the top beam, and the four threaded holes in the middle of the Y-axis slide module are used for installation with the fixed tray on the X-axis slide module.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention realizes real-time monitoring of the retracted posture of the hydraulic support guard plate, which can ensure the safe, stable and efficient operation of the comprehensive mining working face, escort the construction of modern and unmanned intelligent mines, and solves the problem in the prior art that the use of explosion-proof cameras to monitor the posture of the guard plate is easily disturbed by the environment and cannot obtain the three-dimensional posture information of the guard plate in the comprehensive mining working face.

[0024] 2. The direction of the fixed tray of the present invention is fixed by the cooperation between the detachable slot and the card slot. The detachable card slot and the slot can avoid the inconvenience of module operation caused by wear or rust. Regular replacement of the card slot and the slot can increase the service life of the module. In addition, the card slot and the slot are designed and produced in different models. By replacing the tray, the orientation of larger or smaller cameras and other items can be controlled to reduce economic losses.

[0025] 3. During the process of retracting the guard plate, the explosion-proof camera needs to adjust the focal length several times and the position of the camera needs to be adjusted. Therefore, the cross slider module is used to work simultaneously to adjust the position of the camera, thereby ensuring the stability of the movement of the explosion-proof camera and reducing the impact of vibration during the camera acquisition process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 It is a structural schematic diagram of the image acquisition device of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the fixed tray of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the fixing seat of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the slide module;

[0031] Figure 5 This is the coordinate transformation flow chart of the hydraulic support guard plate.

[0032] 1-first fixed seat, 2-second fixed seat, 3-X-axis slide module, 4-Y-axis slide module, 5-first stepper motor, 6-second stepper motor, 7-fixed bushing, 8-ball screw, 9-fixed tray, 10-trapezoidal plate, 11-T-shaped camera bracket, 12-coupling, 13-grating ruler, 14-explosion-proof camera. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0034] See also Figure 1-5 The present embodiment is a method for measuring the retracted posture of a hydraulic support guard plate of a mine, characterized in that it comprises the following steps:

[0035] Step 1: Capture images through an image acquisition device;

[0036] Step 2: Transfer the collected image to the PC, import the image into the hdevelop software for graphic recognition and graphic processing;

[0037] Step 3: Extract the feature points of the guard plate base image and optimize these feature points;

[0038] Step 4: Create multiple local coordinate systems to describe the spatial posture of the guard plate, and obtain the relationship between the guard plate coordinate system and the base static coordinate system through coordinate conversion between the local coordinate systems;

[0039] Step 5: After obtaining three characteristic points of the guard plate base through steps 3 and 4, construct a guard plate bracket base plane, and obtain the attitude angle of the explosion-proof camera 14 plane in the image acquisition device relative to the guard plate base plane through the plane;

[0040] Step 6: Set one of the feature points in step 5 as the origin of the dynamic coordinate system of the seat base, establish the dynamic coordinate system of the base corresponding to the feature point, and finally obtain the coordinate system transformation matrix from the static coordinate system of the base to the guard plate coordinate system through the relationship transformation between multiple local coordinate systems;

[0041] Step 7: In the guard plate coordinate system, select any point on the bottom edge of the guard plate, and obtain the coordinate point of the point in the static coordinate system of the base according to step 6. Depending on the selected points, obtain the coordinate point of each point in the static coordinate system of the base, and then complete the measurement of the retraction posture on the guard plate.

[0042] In step 3, the Fast algorithm is used to extract the feature points of the guard plate base image, and in step 3, the neighborhood search algorithm is used to optimize the feature points.

[0043] The image acquisition module will transfer the collected clear images to the PC end. At this time, the pictures will be imported into the hdevelop software for graphic recognition and graphic processing, and the FAST algorithm will be used to extract the image feature points of the hydraulic support guard plate base: Where I(x) is the gray value of the candidate point, I(p) is the gray value of the center point, ξ d is the threshold between two points. Since the number of feature points of the support base extracted by the FAST algorithm is large, these feature points are optimized. The optimization method of the feature points adopts a simplified neighborhood search algorithm. First, the inscribed circle of the hydraulic support base after segmentation is made to obtain the center coordinates (x0, y0) and the radius length r, and then the feature point (x, y) is solved, and the distance between it and the center of the circle is calculated; by comparing the size, when the distance is greater than the radius, it is an unqualified feature point, and when the distance is less than the radius, the feature point in the circle is an advantage. The feature point optimization algorithm is as follows:

[0044]

[0045] Where step is the step value. The spatial posture of the hydraulic support guard plate needs to be described by creating multiple local coordinate systems. The local coordinate system mainly includes the camera plane coordinate system {O c}、Base static coordinate system {O j}、Base dynamic coordinate system {O d} and the guard plate coordinate system {O h}, after the coordinate transformation between the local coordinate systems, the hydraulic support guard plate coordinate system {O h} and the base static coordinate system {O j}, the coordinate transformation flow chart of the hydraulic support guard plate is as follows Figure 5 shown.

[0046] After the extraction and optimization of the above feature points, three feature points on the hydraulic support base are obtained. c} are expressed as P1(X1, Y1, Z1), P2(X2, Y2, Z2), and P3(X3, Y3, Z3). According to the principle of three points forming a plane, the plane of the hydraulic support base in the camera coordinate system can be constructed: Ax+By+Cz+D=0. Therefore, the attitude angle of the camera plane relative to the plane of the hydraulic support base can be obtained through the constructed base plane:

[0047] Yaw angle Roll Angle

[0048] Pitch Angle Set point P1 (X1, Y1, Z1) as the base dynamic coordinate system {O d}, establish the base dynamic coordinate system corresponding to the feature point: P x =P1P2×P1P3, Py=P2×P1P2, therefore, the camera coordinate system {O c} to the base dynamic coordinate system {O d The coordinate transformation matrix between} is:

[0049]

[0050] Base static coordinate system j} to the base moving coordinate system {O d The coordinate transformation matrix between} is:

[0051]

[0052] Among them l x From P1 to O d The pixel value of the point in the x direction, l y From P1 to O d The pixel value of the point in the y direction, the camera coordinate system {O c} to the hydraulic support guard plate coordinate system {O h The coordinate transformation matrix between} is:

[0053]

[0054] Among them, Δx, Δy, and Δz are the relative offsets of the hydraulic support guard plate coordinate system relative to the camera coordinate system on the x, y, and z axes. After the relationship transformation between multiple local coordinate systems, the coordinate system transformation matrix T between the base static coordinate system and the guard plate coordinate system is finally obtained. oh =T d T c T h Therefore, in the hydraulic support guard plate coordinate system {Oh}, take any point P on the bottom edge line of the hydraulic support guard plate h (l c cosθ,Δy h ,l c sinθ), which is in the base static coordinate system {O j The coordinate point under} is P d =T oh P h , where l c Indicates the length of the hypotenuse of the hydraulic support guard plate, Δ yh It represents the distance value of the y-axis of the hydraulic support guard plate coordinate system, and completes the measurement of the retraction posture of the hydraulic support guard plate.

[0055] Through this method, real-time monitoring of the retracted posture of the hydraulic support guard plate is achieved, which can ensure the safe, stable and efficient operation of the comprehensive mining working face, safeguard the construction of modern and unmanned intelligent mines, and solve the problem in the existing technology that the use of explosion-proof cameras to monitor the posture of the guard plate is easily disturbed by the environment and cannot obtain the three-dimensional posture information of the guard plate in the comprehensive mining working face.

[0056] Furthermore, the image acquisition device includes a first fixed seat 1, a second fixed seat 2, an X-axis slide module 3, a Y-axis slide module 4, a ball screw 8, a fixed tray 9 and a T-shaped camera bracket 11. The first fixed seat 1 and the second fixed seat 2 are symmetrically installed at the bottom of the X-axis slide module 3. The ball screw 8 is installed in the U-shaped groove of the X-axis slide module 3 and the Y-axis slide module 4. The fixed tray 9 is threadedly connected to the ball screw 8 and slidably installed in the U-shaped groove. The Y-axis slide module 4 is installed on the end face of the fixed tray 9 on the X-axis slide module 3. The T-shaped camera bracket 11 is installed on the end face of the tray 9 on the Y-axis slide module 4. The explosion-proof camera 14 is connected to the T-shaped camera bracket 11.

[0057] The ball screw 8 in the X-axis slide module 3 is connected to the output end of the second stepper motor 6 through a coupling 12, and the ball screw 8 in the Y-axis slide module 4 is connected to the output end of the first stepper motor 5 through a coupling 12. The fixed end of the first stepper motor 5 is installed in the U-shaped groove of the Y-axis slide module 4, and the fixed end of the second stepper motor 6 is installed in the U-shaped groove of the X-axis slide module 3. A fixed shaft sleeve 7 is installed at one end of the ball screw 8 and the coupling 12, and a fixed shaft sleeve 7 is also installed at the other end. Traverse plates 10 are installed at both ends of the Y-axis slide module 3 and the Y-axis slide module 4, which can limit the fixed tray 9. The direction of the fixed tray 9 is fixed by the cooperation of the detachable slide groove and the card slot. The detachable card slot and the slide groove can avoid the inconvenience of module operation due to wear or rust. Regular replacement of the card slot and the slide groove can increase the service life of the module. In addition, the card slot and the slide groove are designed and produced in different models. By replacing the tray, the orientation of larger or smaller cameras and other items can be controlled to reduce economic losses.

[0058] During the retraction of the hydraulic support guard plate, the explosion-proof camera 14 installed on the T-shaped camera bracket 11 will collect images of the guard plate. During the collection process, because the retraction of the guard plate is a slow process, in order to judge the retraction posture of the guard plate, it is necessary to collect images multiple times during the retraction of the guard plate. Therefore, during the retraction of the guard plate, the explosion-proof camera needs to adjust the focal length multiple times when taking pictures, and the position of the camera needs to be adjusted. At this time, during the retraction of the guard plate, the cross slider module needs to work simultaneously to adjust the camera position. The explosion-proof camera 14 is installed on the T-shaped camera bracket 11 of the cross slider module, and the T-shaped camera bracket 11 is installed on the fixed tray 9. The direction of the fixed tray 9 is fixed by the cooperation of the detachable slide groove and the card slot. The bottom of the fixed tray 9 is mutually connected with the ball screw 8 In coordination, one end of the ball screw 8 is fixed to one end of the U-shaped slide groove by a fixed shaft sleeve 7, and the other end of the ball screw 8 is connected to a coupling 12. The coupling 12 is connected to the output shaft of the second stepper motor. The connection between the coupling 12 and the ball screw 8 is fixed in the U-shaped groove by a fixed shaft sleeve 7. When the second stepper motor is working, the output shaft drives the ball screw 8 to rotate through the coupling 12, and then drives the fixed tray 9 to slide on the U-shaped groove, so that the T-shaped camera bracket 11 can move freely, which is convenient for the explosion-proof camera 14 to adjust the focal length. The X-axis slide module 3 controls the T-shaped camera bracket 11 to move left and right, and the Y-axis slide module 4 controls the T-shaped camera bracket 11 to move forward and backward. The cross slider module is used to work simultaneously to adjust the position of the camera, thereby ensuring the stability of the movement of the explosion-proof camera 14 and reducing the impact of vibration during the camera acquisition process.

[0059] Furthermore, a grating ruler 13 is installed on the T-shaped camera bracket 11, and the grating ruler 13 is located below the explosion-proof camera 14. The grating ruler 13 can provide very precise measurement results, and the accuracy can usually reach the micron or even nanometer level. The measurement is performed optically and does not require direct contact with the object being measured, which helps to reduce wear and errors during the measurement process. It can provide very high resolution and is suitable for applications that require high-precision measurement. Due to the measurement principle of the grating ruler 13, it can provide very stable repeatability, which is very important for industrial applications that require repeated measurements. The grating ruler 13 can be used not only for static measurement, but also for dynamic measurement, that is, real-time measurement of the position of an object during its movement. The grating ruler 13 can usually provide digital signal output, which is convenient for connection with a computer system or other electronic equipment to achieve automatic control and data processing.

[0060] Furthermore, the first fixed seat 1 and the second fixed seat 2 are both T-shaped bosses, and the top of the T-shaped boss is a rectangular flat plate, and four threaded holes are respectively provided on both sides of the rectangular flat plate for installation on the top beam of the hydraulic support, and the bottom of the T-shaped boss is a rectangular boss, and two threaded holes are respectively provided on both sides of the rectangular boss for installation on the X-axis slide module 3. The outside of the X-axis slide module 3 and the Y-axis slide module 4 are both U-shaped slides, and 12 threaded holes are provided on the U-shaped slide. The 8 threaded holes on both sides of the X-axis slide module 3 correspond to the threaded holes on the first fixed seat 1 and the second fixed seat 2, and the 4 threaded holes in the middle of the X-axis slide module 3 are connected to the top beam, and the four threaded holes in the middle of the Y-axis slide module 4 are used for installation with the fixed tray 9 on the X-axis slide module 3. By providing multiple threaded holes and each part being fixedly connected by bolts, it is convenient to install and disassemble the entire image acquisition device, to replace components, and to improve work efficiency.

[0061] Furthermore, there is a rectangular base below the T-shaped camera bracket 11, with four threaded holes on both sides of the base for fixing to the fixed tray 9. A grating ruler 13 is installed above the base for detecting the camera movement distance and facilitating the adjustment of the focal length. The top of the base is connected to the T-shaped camera bracket, and there are two threaded holes at both ends of the top of the T-shaped camera bracket for fixing the explosion-proof camera 14.

[0062] Furthermore, the first fixing seat 1 and the second fixing seat 2 are both shaped as a T-shaped boss, and the top of the T-shaped boss is a rectangular plate, and there are 4 threaded holes on the left and right sides of the plate, and the T-shaped boss and the 4 threaded holes in the middle of the rectangular plate are interconnected.

[0063] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A method for measuring the retracted posture of a hydraulic support guard plate for a mine, characterized in that: The following steps are involved: Step 1: Capture images through an image acquisition device; Step 2: Transfer the collected image to the PC, import the image into the hdevelop software for graphic recognition and graphic processing; Step 3: Extract the feature points of the guard plate base image and optimize these feature points; Step 4: Create multiple local coordinate systems to describe the spatial posture of the guard plate, and obtain the relationship between the guard plate coordinate system and the base static coordinate system through coordinate conversion between the local coordinate systems; Step 5: After obtaining three characteristic points of the guard plate base through steps 3 and 4, a guard plate support base plane is constructed, and through the plane, the attitude angle of the explosion-proof camera (14) plane in the image acquisition device relative to the guard plate base plane is obtained; Step 6: Set one of the feature points in step 5 as the origin of the dynamic coordinate system of the seat base, establish the dynamic coordinate system of the base corresponding to the feature point, and finally obtain the coordinate system transformation matrix from the static coordinate system of the base to the guard plate coordinate system through the relationship transformation between multiple local coordinate systems; Step 7: In the guard plate coordinate system, select any point on the bottom edge of the guard plate, and obtain the coordinate point of the point in the static coordinate system of the base according to step 6. Depending on the selected points, obtain the coordinate point of each point in the static coordinate system of the base, and then complete the measurement of the retraction posture on the guard plate.

2. A method for measuring the retracted posture of a hydraulic support guard plate for a mine according to claim 1, characterized in that: In step 3, the Fast algorithm is used to extract the feature points of the guard plate base image.

3. The method for measuring the retracted posture of the guard plate of a mining hydraulic support according to claim 1 is characterized in that: In step 3, a neighborhood search algorithm is used to optimize feature points.

4. The method for measuring the retracted posture of the guard plate of a mining hydraulic support according to claim 1 is characterized in that: The image acquisition device comprises a first fixed seat (1), a second fixed seat (2), an X-axis slide module (3), a Y-axis slide module (4), a ball screw (8), a fixed tray (9) and a T-shaped camera bracket (11), wherein the first fixed seat (1) and the second fixed seat (2) are symmetrically mounted at the bottom of the X-axis slide module (3), a ball screw (8) is mounted in the U-shaped grooves of the X-axis slide module (3) and the Y-axis slide module (4), the fixed tray (9) is threadedly connected to the ball screw (8) and slidably mounted in the U-shaped groove, the Y-axis slide module (4) is mounted on the end face of the fixed tray (9) on the X-axis slide module (3), the T-shaped camera bracket (11) is mounted on the end face of the tray (9) on the Y-axis slide module (4), and the explosion-proof camera (14) is connected to the T-shaped camera bracket (11).

5. A method for measuring the retracted posture of a hydraulic support guard plate for a mine according to claim 4, characterized in that: The ball screw (8) in the X-axis slide module (3) is connected to the output end of the second stepper motor (6) through a coupling (12), and the ball screw (8) in the Y-axis slide module (4) is connected to the output end of the first stepper motor (5) through a coupling (12). The fixed end of the first stepper motor (5) is installed in the U-shaped groove of the Y-axis slide module (4), and the fixed end of the second stepper motor (6) is installed in the U-shaped groove of the X-axis slide module (3).

6. A method for measuring the retracted posture of a hydraulic support guard plate for a mine according to claim 5, characterized in that: One end of the ball screw (8) and the coupling (12) is installed with a fixed shaft sleeve (7), and the other end is also installed with a fixed shaft sleeve (7).

7. A method for measuring the retracted posture of a hydraulic support guard plate for a mine according to claim 4, characterized in that: Trapezoidal plates (10) are installed at both ends of the X-axis slide module (3) and the Y-axis slide module (4).

8. The method for measuring the retracted posture of the guard plate of a mining hydraulic support according to claim 4 is characterized in that: A grating ruler (13) is installed on the T-shaped camera bracket (11), and the grating ruler (13) is located below the explosion-proof camera (14).

9. A method for measuring the retracted posture of a hydraulic support guard plate for a mine according to claim 4, characterized in that: The first fixing seat (1) and the second fixing seat (2) are both T-shaped bosses, and the upper part of the T-shaped boss is a rectangular flat plate, and four threaded holes are respectively provided on both sides of the rectangular flat plate for installation on the top beam of the hydraulic support; the lower part of the T-shaped boss is a rectangular boss, and two threaded holes are respectively provided on both sides of the rectangular boss for installation on the X-axis slide module (3).

10. A method for measuring the retracted posture of a hydraulic support guard plate for a mine according to claim 9, characterized in that: The exterior of the X-axis slide module (3) and the Y-axis slide module (4) are both U-shaped slideways, and the U-shaped slideways are provided with 12 threaded holes. The eight threaded holes on both sides of the X-axis slide module (3) correspond to the threaded holes on the first fixed seat (1) and the second fixed seat (2). The four threaded holes in the middle of the X-axis slide module (3) are connected to the top beam, and the four threaded holes in the middle of the Y-axis slide module (4) are used for installation with the fixed tray (9) on the X-axis slide module (3).

Images