Posture monitoring system for supporting shield type hydraulic support based on point cloud

Abstract

The invention relates to the technical field of shield type hydraulic support attitude monitoring, in particular to a shield type hydraulic support attitude monitoring system and method based on point cloud. Comprising a data acquisition module, a data processing module, a data transmission device and a hydraulic support attitude analysis module, the data acquisition module comprises a vision measurement device and an inclination angle-displacement measurement device; the data processing module receives and processes point cloud information and pose information of the vision measurement device and the inclination angle-displacement measurement device; the data transmission device transmits information resolved by the data processing module to the hydraulic support pose analysis module; and the hydraulic support pose analysis module performs data fusion on pose information obtained by forward and inverse solutions to obtain a final hydraulic support pose.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude monitoring of shield hydraulic supports, and specifically to a shield hydraulic support attitude monitoring system and method based on point cloud. Background Art

[0002] In underground coal mining operations, the support shield hydraulic support is the core equipment to ensure roof stability and safe production, and its accurate attitude monitoring directly affects the mining efficiency and accident prevention and control. At present, the mainstream monitoring technologies rely on manual experience judgment and single-inclination sensors, with problems such as low accuracy (error > 5°) and single coverage dimension (only inclination detection in the vertical direction), and cannot effectively identify complex deformations such as side shift and torsion of the support. In the scenario of sudden change of in-situ stress in deep mining, it is easy to cause roof collapse accidents. To break through the above technical bottlenecks, the present invention proposes a composite monitoring method that combines three-dimensional laser point cloud measurement and multi-node inclination-displacement sensors. Aiming at the defects of the existing technology, the present invention focuses on solving the problems of accurate acquisition and dynamic monitoring of multi-dimensional deformation data of the support under complex working conditions, providing a high-precision and high-reliability attitude perception basis for the intelligent mining system, and promoting the upgrade of coal mine support monitoring from single-point discrete to three-dimensional global. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides a support shield hydraulic support attitude monitoring system based on point cloud.

[0004] The present invention adopts the following technical solutions: A support shield hydraulic support attitude monitoring system based on point cloud, including a data acquisition module, a data processing module, a data transmission device, and a hydraulic support pose analysis module; the data acquisition module includes a vision measurement device and an inclination-displacement measurement device; the data processing module receives the point cloud information and pose information of the vision measurement device and the inclination-displacement measurement device and processes them; the data transmission device transmits the information calculated by the data processing module to the hydraulic support pose analysis module; the hydraulic support pose analysis module performs data fusion on the pose information obtained from the forward and inverse solutions to obtain the final hydraulic support pose.

[0005] Further, the laser-displacement measurement devices are respectively a No. 1 inclination sensor, a No. 2 inclination sensor, a No. 3 inclination sensor, and a laser displacement sensor; the No. 1 inclination sensor is installed on the top beam to detect the attitude angle information of the top beam and feedback it to the data processing module; the No. 2 inclination sensor is installed on the shield beam to detect the attitude angle information of the shield beam and feedback it to the data processing module; the No. 3 inclination sensor is installed on the base to detect the attitude angle information of the base and feedback it to the data processing module; the laser displacement sensor is installed on the top beam to measure the support height of the hydraulic support and feedback it to the data processing module.

[0006] The vision measurement device is a 3D lidar device, which is installed between the electro-hydraulic controller and the column and ensures that the 3D lidar is parallel to the base plane and scans vertically upward, for scanning the point cloud contour information of the top beam and the shield beam.

[0007] A support and shield type hydraulic support attitude monitoring system based on point cloud includes the following steps. Step 101: The vision measurement device includes installing a 3D lidar device between the electro-hydraulic controller and the column to scan the point cloud contour information of the top beam and the shield beam; the inclination-displacement measurement device includes installing a No. 1 inclination sensor on the top beam to detect the attitude angle information of the top beam; installing a No. 2 inclination sensor on the shield beam to detect the attitude angle information of the base; installing a No. 3 inclination sensor on the base to detect the attitude angle information of the base; installing a laser displacement sensor on the top beam to measure the support height of the hydraulic support. Step 102: The inclination-displacement measurement device and the vision measurement device transmit the point cloud data and pose data to the data processing module, and the data processing module calculates the base inclination , shield beam inclination , top beam inclination , support height through the solution of the pose information of the inclination-displacement measurement device; the data processing module calculates the base inclination , shield beam inclination , top beam inclination through the point cloud diagram of the vision measurement device; Step 103: The data transmission device transmits the information calculated by the data processing module to the hydraulic support pose analysis module; Step 104: The hydraulic support pose analysis module performs data fusion on the pose information obtained from the forward and inverse solutions to obtain the final hydraulic support pose information.

[0008] In the step, the processing process of the pose information of the inclination-displacement measurement device includes:

[0009] Transmit the detected attitude angle information received by each sensor to the hydraulic support attitude analysis module. Combining the lengths of the rods in the support four-bar mechanism, through geometric conversion, the joint rotation angles of the base , rear link joint rotation angle , shield beam joint rotation angle , top beam joint rotation angle can be obtained respectively. Combine the obtained attitude angle information with the key structural dimensions of the hydraulic support, and after calculation, obtain the support height of the hydraulic support, and compare the calculated support height with the target value of the support height measured by the laser displacement sensor to realize the monitoring of the hydraulic support pose.

[0010] The joint rotation angles of the base of a support and shield hydraulic support attitude monitoring system based on point cloud , the joint rotation angle of the rear connecting rod , the joint rotation angle of the shield beam , and the joint rotation angle of the top beam are calculated by the following formula:

[0011]

[0012] Where: is the component of the attitude angle of the base in the Z direction under the absolute coordinate system { }; is the component of the attitude angle of the shield beam in the Z direction under the absolute coordinate system { }; is the component of the attitude angle of the top beam in the Z direction under the absolute coordinate system { }; ∠CFC′′, are the structural parameters of the hydraulic support, and ε and η are intermediate parameters; the expressions of the structural parameters ∠CFC′′, of the hydraulic support and the intermediate parameters ε and η are as follows:

[0013]

[0014]

[0015]

[0016]

[0017] In the formula: lAB is the distance between joint point A and joint point B in the four-bar linkage mechanism of the support; lBC is the distance between joint point B and joint point C in the four-bar linkage mechanism of the support,

[0018] ;

[0019] lAC is the distance between joint point A and joint point C in the four-bar linkage mechanism of the support; lCD is the distance between joint point D and joint point C in the four-bar linkage mechanism of the support; lBD is the distance between joint point B and joint point D in the four-bar linkage mechanism of the support; lCM is the distance between joint point C and joint point M in the four-bar linkage mechanism of the support; lDM is the distance between joint point D and joint point M in the four-bar linkage mechanism of the support; lCC′ is the distance between joint point C and joint point C′ in the four-bar linkage mechanism of the support; lC′F′ is the distance between joint point C′ and joint point F′ in the four-bar linkage mechanism of the support; lFF′ is the distance between joint point F and joint point F′ in the four-bar linkage mechanism of the support.

[0020] The expression of ∠BAC for the intermediate parameters included in lBC is as follows:

[0021]

[0022] In the formula: structure where is the structural parameter of the hydraulic support

[0023]

[0024] In the formula: lBB’ is the distance from the joint point B to the base in the four-bar linkage mechanism of the support, and B′ is the foot of the perpendicular from the joint point B on the base; lOA is the distance between the joint point A and the origin O of the absolute coordinate system { } on the base in the hydraulic support.

[0025] A posture monitoring system for a supported shield hydraulic support based on point cloud, characterized in that: in the step 102, the point cloud preprocessing process of the vision measurement device includes: processing the three-dimensional lidar point cloud information through the least square method and particle filtering and converting the coordinate system into a right-handed Cartesian coordinate system with the coordinate origin at the center of the three-dimensional lidar: the X-axis direction is horizontally to the right opposite to the direction of the hydraulic support moving the support, and the Y-axis is vertically upward; the transformation matrix is:

[0026]

[0027] In the converted coordinate system, the straight line equations of the shield beam, the top beam, and the base can be obtained:

[0028]

[0029] The angles of the shield beam, the top beam, and the base relative to the horizontal plane can be obtained as , and the angle of the shield beam relative to the base is , for the structure of the hydraulic support and being known, from the four-bar linkage structure, it can be obtained that:

[0030]

[0031] The solution is:

[0032] The inclination angle of the front connecting rod ;

[0033] The inclination angle of the front connecting rod ;

[0034] Among them, the intermediate variables a, b, and c are respectively:

[0035]

[0036] Given the inclination angle of the top beam , by combining the analysis of the structures of the top beam and the base of the hydraulic support, as well as the known fixed length structure parameters of each part of the hydraulic support, the variable of the column can be determined .

[0037] In the coordinate system { }, the coordinates of points A, C, F, and H are:

[0038]

[0039]

[0040] Based on point O, the coordinates of point I are obtained as:

[0041]

[0042] Thus, the elongation of the column :

[0043]

[0044] Where

[0045]

[0046] We get

[0047] In the above formulas, O is the inflection point at the rear end of the base; A is the hinge point between the rear connecting rod and the base; B is the hinge point between the front connecting rod and the base; C is the hinge point between the shield beam and the rear connecting rod; D is the hinge point between the front connecting rod and the shield beam; F is the hinge point between the shield beam and the top beam; H is the hinge point between the column and the top beam; I is the hinge point between the column and the base; LAB is the distance between points A and B; LCD is the distance between points C and D; LAC is the distance between points A and C; LBD is the distance between points B and D; LAO is the distance between points A and O; LFC is the length of the shield beam; LFJ is the distance between points F and J; LFH is the distance between points F and H; LOI is the distance between points O and I; LHI original is the initial length of the column; is the base structure angle; is the angle between OA and the Y-axis of the O coordinate system; is the angle between OA and AC; is the angle between AC and EC; is the angle between BC and AC; is the angle between BC and FC.

[0048] The specific steps of step 104 are: obtaining the attitude information of the hydraulic support through the forward solution of the inclination-displacement measuring device: the base inclination , the shield beam inclination , the top beam inclination , Joint rotation angle of the base , Joint rotation angle of the rear connecting rod , Joint rotation angle of the shield beam , Joint rotation angle of the top beam ; Data obtained by inverse solution of the point cloud map of the vision sensor of the vision measurement device: Column elongation , Base inclination angle , Shield beam inclination angle , Top beam inclination angle Front connecting rod inclination angle , Front connecting rod inclination angle ; By comparing and fusing the attitude information obtained from the forward solution and the attitude information obtained from the inverse solution, the final attitude information of the hydraulic support is obtained.

[0049] Data fusion includes the following steps.

[0050] (1) Obtain the preprocessed data obtained by solving the point cloud information collected by the inclination-displacement sensor and the 3D lidar within t in step 102. The attitude information of the hydraulic support measured and solved by the inclination-displacement sensor is , , , and its measurement variances are , , . The point cloud information collected by the lidar, after being processed, the attitude information of the hydraulic support measured by the lidar is , , , and its measurement variances are , , .

[0051] (2) Calculate the weight of each sensor in the fusion process according to the sensor measurement variance. Let the weight of the inclination-displacement sensor be , and the weight of the lidar be . The calculation formula is as follows:

[0052]

[0053] (3) Weighted average fusion to obtain the final fused attitude information of the hydraulic support , and the calculation formula is:

[0054]

[0055] Perform result verification and feedback, and calculate the deviation between the fusion result and the reference value :

[0056]

[0057]

[0058] wherein is the reference attitude angle, is the verification threshold.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. In the present invention, the point cloud measurement technology is organically combined with the inclination-displacement sensor measurement, with complementary advantages. It can not only use the point cloud technology to construct the macroscopic three-dimensional attitude of the support, but also rely on the inclination-displacement sensor to ensure the high precision of the monitoring of key parts.

[0061] 2. Import the final attitude of the hydraulic support into the ADAMS virtual simulation software to drive the virtual prototype.

[0062] 3. The present invention can directly obtain the deformation parameters of the key parts of the support through the combination of sensors. Moreover, such sensors have relatively low costs, are convenient to install, and have simple data processing. They have high reliability in relatively stable local measurement scenarios. While ensuring the accuracy, by reasonably configuring sensors and optimizing the data fusion algorithm, the equipment failure rate can be reduced, and the high costs brought by frequent replacement and maintenance of equipment can be reduced, contributing to the sustainable development of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is the schematic flow chart of the present invention;

[0064] Figure 2 is the side view of the installation of the inclination-displacement measurement device and the vision measurement device;

[0065] Figure 3 is the schematic diagram of the structural parameters of the hydraulic support;

[0066] Figure 4 is the simplified structural diagram of the hydraulic support;

[0067] In the figure, 1. No. 1 inclination sensor; 2. No. 2 inclination sensor; 3. No. 3 inclination sensor; 4. 3D lidar; 5. Laser displacement sensor; 6. Shield type hydraulic support. DETAILED DESCRIPTION OF THE INVENTION

[0068] The present invention will be further described below with reference to the accompanying drawings.

[0069] A posture monitoring system for supported shield hydraulic supports based on point cloud, characterized in that: it includes a data acquisition module, a data processing module, a data transmission device and a hydraulic support pose analysis module; the data acquisition module includes a vision measurement device and an inclination-displacement measurement device; the data processing module receives the point cloud information and pose information of the vision measurement device and the inclination-displacement measurement device and processes them; the data transmission device transmits the information calculated by the data processing module to the hydraulic support pose analysis module; the hydraulic support pose analysis module performs data fusion on the pose information obtained from the forward and inverse solutions to obtain the final hydraulic support pose.

[0070] The laser-displacement measurement devices are respectively a No. 1 inclination sensor, a No. 2 inclination sensor, a No. 3 inclination sensor and a laser displacement sensor; the No. 1 inclination sensor is installed on the top beam to detect the attitude angle information of the top beam and feedback it to the data processing module; the No. 2 inclination sensor is installed on the shield beam to detect the attitude angle information of the shield beam and feedback it to the data processing module; the No. 3 inclination sensor is installed on the base to detect the attitude angle information of the base and feedback it to the data processing module; the laser displacement sensor is installed on the top beam to measure the support height of the hydraulic support and feedback it to the data processing module;

[0071] The vision measurement device is a 3D lidar, which is installed on the base between the electro-hydraulic controller and the column and ensures that the 3D lidar is parallel to the base plane and the 3D lidar scans vertically upward, and is used to scan the point cloud contour information of the top beam and the shield beam.

[0072] A posture monitoring system for supported shield hydraulic supports based on point cloud includes the following steps,

[0073] Step 101: The vision measurement device includes installing a 3D lidar device between the electro-hydraulic controller and the column to scan the point cloud contour information of the top beam and the shield beam; the inclination-displacement measurement device includes installing a No. 1 inclination sensor on the top beam to detect the attitude angle information of the top beam; installing a No. 2 inclination sensor on the shield beam to detect the attitude angle information of the base; installing a No. 3 inclination sensor on the base to detect the attitude angle information of the base; installing a laser displacement sensor on the top beam to measure the support height of the hydraulic support.

[0074] Step 102: The inclination-displacement measurement device and the vision measurement device transmit the point cloud data and pose data to the data processing module, and the data processing module calculates the base inclination , shield beam inclination , top beam inclination , support height ; the data processing module calculates the column length through the point cloud diagram of the vision measurement device Base inclination angle 、Canopy beam inclination angle 、Top beam inclination angle ;

[0075] In step 102, the process of processing the pose information of the inclination-displacement measuring device includes: transmitting the attitude angle information detected by each sensor to the hydraulic support attitude analysis module, and combining the lengths of the various rods in the support four-bar linkage mechanism, and through geometric conversion, the joint rotation angles of the base 、Joint rotation angle of the rear connecting rod 、Canopy beam joint rotation angle 、Top beam joint rotation angle can be obtained respectively.

[0076] Combining the obtained attitude angle information with the key structural dimensions of the hydraulic support, the support height of the hydraulic support is obtained after calculation , and the calculated support height is compared with the target value of the support height measured by the laser displacement sensor to realize the monitoring of the pose of the hydraulic support. The joint rotation angle of the base 、Joint rotation angle of the rear connecting rod 、Canopy beam joint rotation angle 、Top beam joint rotation angle are calculated by the following formula:

[0077]

[0078] Where: is the component of the attitude angle of the base in the Z direction in the absolute coordinate system { }; is the component of the attitude angle of the canopy beam in the Z direction in the absolute coordinate system { }; is the component of the attitude angle of the top beam in the Z direction in the absolute coordinate system { }; ∠CFC′′, are the structural parameters of the hydraulic support, and ε and η are intermediate parameters; the expressions of the structural parameters ∠CFC′′, of the hydraulic support and the intermediate parameters ε and η are as follows:

[0079]

[0080]

[0081]

[0082]

[0083] Where: \(l_{AB}\) is the distance between joint point A and joint point B in the four-bar linkage mechanism of the support; \(l_{BC}\) is the distance between joint point B and joint point C in the four-bar linkage mechanism of the support,

[0084] ; \(l_{AC}\) is the distance between joint point A and joint point C in the four-bar linkage mechanism of the support; \(l_{CD}\) is the distance between joint point D and joint point C in the four-bar linkage mechanism of the support; \(l_{BD}\) is the distance between joint point B and joint point D in the four-bar linkage mechanism of the support; \(l_{CM}\) is the distance between joint point C and joint point M in the four-bar linkage mechanism of the support; \(l_{DM}\) is the distance between joint point D and joint point M in the four-bar linkage mechanism of the support; \(l_{CC'}\) is the distance between joint point C and joint point C' in the four-bar linkage mechanism of the support; \(l_{C'F'}\) is the distance between joint point C' and joint point F' in the four-bar linkage mechanism of the support; \(l_{FF'}\) is the distance between joint point F and joint point F' in the four-bar linkage mechanism of the support.

[0085] The expression of \(\angle BAC\) for the intermediate parameters included in \(l_{BC}\) is as follows:

[0086]

[0087] Where: the in is the structural parameter of the hydraulic support

[0088]

[0089] Where: \(l_{BB'}\) is the distance of joint point B relative to the base in the four-bar linkage mechanism of the support, and B′ is the foot of the perpendicular of joint point B on the base; \(l_{OA}\) is the distance between joint point A and the origin O of the absolute coordinate system \(\{\) \(\}\) on the base in the hydraulic support.

[0090] The point cloud preprocessing process for the vision measurement device includes:

[0091] Processing the three-dimensional lidar point cloud information through the least squares method and particle filtering and converting the coordinate system into a right-handed Cartesian coordinate system with the coordinate origin at the center of the three-dimensional lidar: the X-axis direction is horizontally to the right opposite to the direction of the hydraulic support moving the support, and the Y-axis is vertically upward; the transformation matrix is:

[0092]

[0093] The straight-line equations of the shield beam, the top beam, and the base can be obtained in the transformed coordinate system:

[0094]

[0095] The angles of the shield beam, the top beam, and the base relative to the horizontal plane can be obtained as , the angle between the shield beam and the base is , for hydraulic support structure and It is known that from the four-bar linkage structure:

[0096]

[0097] The solution is:

[0098] Front link angle ;

[0099] Rear link angle ;

[0100] The intermediate variables a, b, and c are:

[0101]

[0102] Known top beam inclination , combined with the analysis of the top beam and base structure of the hydraulic support, and the known fixed length structural parameters of the hydraulic support, the variables of the column can be determined .

[0103] In the coordinate system { }, the coordinates of points A, C, F, and H are:

[0104]

[0105]

[0106] The coordinates of point I are obtained based on point O:

[0107]

[0108] The column elongation is thus obtained :

[0109]

[0110] in

[0111]

[0112] have to

[0113] In the above formula, O is the inflection point at the rear end of the base; A is the hinge point between the rear connecting rod and the base; B is the hinge point between the front connecting rod and the base; C is the hinge point between the shield beam and the rear connecting rod; D is the hinge point between the front connecting rod and the shield beam; F is the hinge point between the shield beam and the top beam; H is the hinge point between the prop and the top beam; I is the hinge point between the prop and the base; LAB is the distance between points A and B; LCD is the distance between points C and D; LAC is the distance between points A and C; LBD is the distance between points B and D; LAO is the distance between points A and O; LFC is the length of the shield beam; LFJ is the distance between points F and J; LFH is the distance between points F and H; LOI is the distance between points O and I; LHI original is the original length of the prop. is the structural angle of the base; is the angle between OA and the Y-axis of the O coordinate system; is the angle between OA and AC; is the angle between AC and EC; is the angle between BC and AC; is the angle between BC and FC.

[0114] Step 103: The data transmission device transmits the information calculated by the data processing module to the hydraulic support pose analysis module;

[0115] Step 104: The hydraulic support pose analysis module performs data fusion on the pose information obtained from the forward and inverse solutions to obtain the final hydraulic support pose information.

[0116] The specific steps of Step 104 are as follows: Obtain the hydraulic support attitude information through the forward solution of the inclination-displacement measurement device: the base inclination angle , the shield beam inclination angle , the top beam inclination angle , the joint rotation angle of the base , the joint rotation angle of the rear connecting rod , the shield beam joint rotation angle , the joint rotation angle of the top beam ; Obtain the data obtained by the inverse solution of the point cloud map of the vision sensor of the vision measurement device: the prop elongation , the base inclination angle , the shield beam inclination angle , the top beam inclination angle the front connecting rod inclination angle , the front connecting rod inclination angle ; Compare and perform data fusion on the attitude information obtained from the forward solution and the attitude information obtained from the inverse solution to obtain the final hydraulic support attitude information.

[0117] Data fusion includes the following steps

[0118] (1) The preprocessed data obtained by resolving the point cloud information collected by the dip angle-displacement sensor and the 3D lidar within time t in step 102. The attitude information of the hydraulic support obtained by measuring and resolving the dip angle-displacement sensor is 、 、 , and its measurement variances are 、 、 . The attitude information of the hydraulic support measured by the lidar obtained after processing the point cloud information collected by the lidar is 、 、 , and its measurement variances are 、 、 .

[0119] (2) Calculate the weight of each sensor in the fusion process according to the sensor measurement variance. Let the weight of the dip angle-displacement sensor be , and the weight of the lidar be . The calculation formula is as follows:

[0120]

[0121] (3) Obtain the finally fused attitude information of the hydraulic support through weighted average fusion , and the calculation formula is:

[0122]

[0123] (4) Conduct result verification and feedback, and calculate the deviation between the fusion result and the reference value :

[0124]

[0125]

[0126] Where is the reference attitude angle, and is the severe threshold.

Claims

1. A point cloud-based support and shielding hydraulic support posture monitoring system, characterized in that: It includes a data acquisition module, a data processing module, a data transmission device and a hydraulic support posture analysis module; The data acquisition module includes a visual measurement device and an inclination-displacement measurement device; The data processing module receives and processes the point cloud information and posture information of the visual measurement device and the inclination-displacement measurement device; The data transmission device transmits the information solved by the data processing module to the hydraulic support posture analysis module; The hydraulic support posture analysis module performs data fusion on the posture information obtained from the forward and inverse solutions to obtain the final hydraulic support posture.

2. The point cloud-based support and shielding hydraulic support posture monitoring system according to claim 1 is characterized in that: The laser-displacement measuring devices are respectively a No. 1 inclination sensor, a No. 2 inclination sensor, a No. 3 inclination sensor and a laser displacement sensor; Tilt sensor No. 1 is installed on the top beam to detect the attitude angle information of the top beam and feed it back to the data processing module; Tilt sensor No. 2 is installed on the shield beam to detect the attitude angle information of the shield beam and feed it back to the data processing module; The No. 3 inclination sensor is installed on the base to detect the attitude angle information of the base and feed it back to the data processing module; The laser displacement sensor is installed on the top beam to measure the support height of the hydraulic support and feed back to the data processing module.

3. The point cloud-based support and shield type hydraulic support posture monitoring system according to claim 2 is characterized in that: The visual measurement device is a three-dimensional laser radar, which is installed on the base between the electro-hydraulic controller and the column to ensure that the three-dimensional laser radar is parallel to the plane of the base and the three-dimensional laser radar scans vertically upward to scan the point cloud contour information of the top beam and the cover beam.

4. The point cloud-based support and shielding hydraulic support posture monitoring system according to claim 3 is characterized in that: The following steps are included: Step 101: The visual measurement device includes installing a three-dimensional laser radar device between the electro-hydraulic controller and the column to scan the point cloud contour information of the top beam and the shield beam; the inclination-displacement measurement device includes installing a No. 1 inclination sensor on the top beam to detect the attitude angle information of the top beam; installing a No. 2 inclination sensor on the shield beam to detect the attitude angle information of the base; installing a No. 3 inclination sensor on the base to detect the attitude angle information of the base; Install a laser displacement sensor on the top beam to measure the support height of the hydraulic support; Step 102: The inclination-displacement measuring device and the visual measuring device transmit the point cloud data and the posture data to the data processing module, and the data processing module obtains the base inclination by solving the posture information of the inclination-displacement measuring device. , shield beam inclination , top beam inclination , support height ; The data processing module calculates the length of the column through the point cloud diagram of the visual measurement device Base inclination , shield beam inclination , top beam inclination ; Step 103: The data transmission device transmits the information solved by the data processing module to the hydraulic support posture analysis module; Step 104: The hydraulic support posture analysis module performs data fusion on the posture information obtained by the forward and inverse solutions to obtain the final hydraulic support posture information.

5. The point cloud-based support and shield type hydraulic support posture monitoring system according to claim 4 is characterized in that: In step 102, the process of processing the posture information of the inclination-displacement measuring device includes: The attitude angle information detected by each sensor is transmitted to the hydraulic support attitude analysis module. Combined with the length of each rod in the four-bar linkage mechanism of the support, the joint rotation angle of the base can be obtained through geometric conversion. , joint rotation angle of rear link , guard beam joint rotation angle , joint rotation angle of top beam ; The obtained attitude angle information is combined with the key structural dimensions of the hydraulic support to obtain the support height of the hydraulic support after calculation. , and the calculated support height The position and posture of the hydraulic support are monitored by comparing it with the target support height measured by the laser displacement sensor.

6. The point cloud-based support and shield type hydraulic support posture monitoring system according to claim 5 is characterized in that: Joint rotation angle of the base , joint rotation angle of rear link , guard beam joint rotation angle , joint rotation angle of top beam It is calculated by the following formula: ； in: is the attitude angle of the base in the absolute coordinate system { }The component in the Z direction; is the attitude angle of the shield beam in the absolute coordinate system { }The component in the Z direction; is the attitude angle of the top beam in the absolute coordinate system { }Z-direction component; ∠CFC′′, is the structural parameter of the hydraulic support, ε and η are the intermediate parameters; the structural parameters of the hydraulic support ∠CFC′′, , the expressions of the intermediate parameters ε and η are as follows: ； ； ； ； Where: lAB is the distance between joint site A and joint site B in the four-bar linkage mechanism of the bracket; lBC is the distance between joint site B and joint site C in the four-bar linkage mechanism of the bracket, ; lAC is the distance between joint site A and joint site C in the four-bar linkage mechanism of the bracket; lCD is the distance between joint site D and joint site C in the four-bar linkage mechanism of the bracket; lBD is the distance between joint site B and joint site D in the four-bar linkage mechanism of the bracket; lCM is the distance between joint site C and joint site M in the four-bar linkage mechanism of the bracket; lDM is the distance between joint site D and joint site M in the four-bar linkage mechanism of the bracket; lCC' is the distance between joint site C and joint site C' in the four-bar linkage mechanism of the bracket; lC'F' is the distance between joint site C' and joint site F' in the four-bar linkage mechanism of the bracket; lFF' is the distance between joint site F and joint site F' in the four-bar linkage mechanism of the bracket; The expression of ∠BAC for the intermediate parameters included in lBC is as follows: ； In the formula: The following are the structural parameters of the hydraulic support: ； Where: lBB' is the distance between the joint point B and the base in the four-bar linkage mechanism of the bracket, B' is the vertical foot of the joint point B on the base; lOA is the distance between the joint point A and the absolute coordinate system { }The distance between the origin O on the base.

7. The point cloud-based support and shield type hydraulic support posture monitoring system according to claim 4 is characterized in that: In step 102, the point cloud preprocessing process of the visual measurement device includes: The 3D laser radar point cloud information is processed by the least square method and particle filtering, and the coordinate system is transformed into a right-handed Cartesian coordinate system with the origin of the coordinate system as the center of the 3D laser radar: the X-axis direction is horizontal to the right opposite to the direction of the hydraulic support moving frame, and the Y-axis is vertically upward; the conversion matrix is: ； In the transformed coordinate system, the straight line equations of the shield beam, top beam, and base can be obtained: ； The angles of the shield beam, top beam, and base relative to the horizontal plane are: , the angle between the shield beam and the base is , for hydraulic support structure and It is known that from the four-bar linkage structure: ； The solution is: Front link angle ; Front link angle ; The intermediate variables a, b, and c are: ； Known top beam inclination , combined with the analysis of the top beam and base structure of the hydraulic support, and the known fixed length structural parameters of the hydraulic support, the variables of the column can be determined ; In the coordinate system { }, the coordinates of points A, C, F, and H are: ； ； The coordinates of point I based on point O are: ; The column elongation is thus obtained : ; in: ； have to In the above formula, O is the inflection point at the rear end of the base; A is the hinge point between the rear link and the base; B is the hinge point between the front link and the base; C is the hinge point between the shield beam and the rear link; D is the hinge point between the front link and the shield beam; F is the hinge point between the shield beam and the top beam; H is the hinge point between the column and the top beam; I is the hinge point between the column and the base; LAB is the distance between points A and B; LCD is the distance between points C and D; LAC is the distance between points A and C; LBD is the distance between points B and D; LAO is the distance between points A and O; LFC is the length of the shield beam; LFJ is the distance between points F and J; LFH is the distance between points F and H; LOI is the distance between points O and I; LHI is the initial length of the column; is the base structure angle; is the angle between OA and the Y axis of the O coordinate system; is the angle between OA and AC; is the angle between AC and EC; is the angle between BC and AC; is the angle between BC and FC.

8. The point cloud-based support and shield type hydraulic support posture monitoring system according to claim 4 is characterized in that: The specific steps of step 104 are: obtaining the hydraulic support posture information through the positive solution of the inclination-displacement measuring device: the base inclination , shield beam inclination , top beam inclination , joint rotation angle of the base , joint rotation angle of rear link , guard beam joint rotation angle , joint rotation angle of top beam ; Data obtained by inverse calculation of the point cloud image of the visual sensor of the visual measuring device: column elongation , base inclination , shield beam inclination , top beam inclination Front link angle , front link inclination angle The posture information obtained by the forward solution is compared with the posture information obtained by the inverse solution and data fusion is performed to obtain the final hydraulic support posture information.

9. The point cloud-based support and shield type hydraulic support posture monitoring system according to claim 7, characterized in that: The data fusion The following steps are included: (1) Obtain the pre-processed data obtained by solving the point cloud information collected by the inclination-displacement sensor and the three-dimensional laser radar in step 102. The hydraulic support posture information obtained by the inclination-displacement sensor measurement is: , , , and its measurement variance is , , The point cloud information collected by the laser radar is processed and the hydraulic support posture information measured by the laser radar is obtained as follows: , , , and its measurement variance is , , ; (2) Calculate the weight of each sensor in the fusion process based on the sensor measurement variance. Suppose the weight of the tilt-displacement sensor is , the weight of the laser radar is , the calculation formula is as follows: ； (3) Weighted average fusion to obtain the final fused hydraulic support posture information , the calculation formula is: ； (4) Perform result verification feedback and calculate the deviation between the fusion result and the reference value : ； ； in is the reference attitude angle, is the critical threshold.

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