Mining hydraulic support face guard withdrawing posture measuring device

Abstract

The utility model provides a mining hydraulic support face guard recovery attitude measuring device, 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 device comprises a first fixing base, a second fixing base, an X-axis sliding table module, a Y-axis sliding table module, ball screws, a fixing tray, an explosion-proof camera and a T-shaped camera support, the first fixing base and the second fixing base are symmetrically installed at the bottom of the X-axis sliding table module, and the ball screws are installed in U-shaped grooves of the X-axis sliding table module and the Y-axis sliding table module. The fixed tray is in threaded connection with the ball screw and is installed in the U-shaped groove in a sliding mode, and the Y-axis sliding table module is installed on the end face of the fixed tray on the X-axis sliding table module. The device is mainly used for measuring the recovery attitude of the mining hydraulic support face guard.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent coal mining, in particular to a device for measuring the retraction posture of a side guard plate of a hydraulic support used in mining. 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 to prevent 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 hydraulic support guard plate in 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. Utility Model Content

[0003] In view of this, the utility model aims to propose a device for measuring the retraction posture of the guard plate of a mining hydraulic support, so as to 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.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A device for measuring the retraction posture of a hydraulic support guard plate for a mine, comprising a first fixed seat, a second fixed seat, an X-axis slide module, a Y-axis slide module, a ball screw, a fixed tray, an explosion-proof camera and a T-shaped camera bracket, wherein the first fixed seat and the second fixed seat are symmetrically mounted on the bottom of the X-axis slide module, a ball screw is installed in the U-shaped groove of the X-axis slide module and the Y-axis slide module, the fixed tray is threadedly connected to the ball screw and is slidably mounted in the U-shaped groove, the Y-axis slide module is mounted on the end face of the fixed tray on the X-axis slide module, the T-shaped camera bracket is mounted 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.

[0006] 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.

[0007] 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.

[0008] Furthermore, trapezoidal plates are installed at both ends of the X-axis slide module and the Y-axis slide module.

[0009] Furthermore, a grating ruler is installed on the T-shaped camera bracket, and the grating ruler is located below the explosion-proof camera.

[0010] Furthermore, the first fixing seat and the second fixing seat are both T-shaped bosses, and the top of the T-shaped boss is a rectangular flat plate with four threaded holes 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 with two threaded holes on both sides of the rectangular boss for installation on the X-axis slide module.

[0011] Furthermore, the T-shaped bosses of the first fixing seat and the second fixing seat are communicated with the four threaded holes in the middle of the rectangular flat plate.

[0012] Furthermore, the exterior 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.

[0013] Furthermore, the bottom of the T-shaped camera bracket is a rectangular base, and four threaded holes for mounting with a fixed tray are respectively provided on both sides of the rectangular base, and two threaded holes for fixing the explosion-proof camera are respectively provided at both ends of the top of the T-shaped camera bracket.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. The utility model adjusts the position of the camera by adopting the method of simultaneous operation of the cross slider module, thereby ensuring the stability of the movement of the explosion-proof camera, reducing the impact of vibration during the camera acquisition process, and avoiding the problem that the monitoring of the guard plate posture is easily affected by the environment and the three-dimensional posture information of the guard plate in the comprehensive mining working face cannot be obtained.

[0016] 2. The fixed tray of this utility model is fixed in position by means of a removable slide and a card slot. These removable slots and slides prevent module operation problems caused by wear and rust. Regular replacement of the slots and slides prolongs the module's service life. Furthermore, the slots and slides are available in different designs, allowing for position control of larger or smaller cameras and other items by replacing the tray, minimizing financial losses.

[0017] 3. The utility model realizes the real-time monitoring of the retraction posture of the hydraulic support guard plate, which can ensure the safe, stable and efficient operation of the fully mechanized mining working face and safeguard the construction of modern and unmanned intelligent mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a structural schematic diagram of a device for measuring the retraction posture of a hydraulic support guard plate for a mine according to the present invention;

[0020] Figure 2 This is a schematic structural diagram of the fixed tray described in the utility model;

[0021] Figure 3 This is a schematic structural diagram of the fixing seat described in the utility model;

[0022] Figure 4 It is a structural diagram of the slide module.

[0023] 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

[0024] The following will be combined with the accompanying 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 and features in the embodiments of the present invention can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0025] See also Figure 1-4The present embodiment describes a device for measuring the posture of a hydraulic support guard plate retraction for a mine, comprising 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), an explosion-proof camera (14), and a T-shaped camera bracket (11). The first fixed seat (1) and the second fixed seat (2) are symmetrically mounted on the bottom of the X-axis slide module (3). A ball screw (8) is mounted 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 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 The bracket (11) is mounted 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); 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); 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 mounted in the U-shaped groove of the Y-axis slide module (4); the fixed end of the second stepper motor (6) is mounted in the U-shaped groove of the X-axis slide module (3); one end of the ball screw (8) and the coupling (12) is mounted with a fixed shaft sleeve (7); the other end is also mounted with a fixed shaft sleeve (7).

[0026] Both ends of the X-axis slide module 3 and the Y-axis slide module 4 are equipped with trapezoidal plates 10, which can limit the fixed tray 9. The direction of the fixed tray 9 is fixed by the cooperation between the detachable slide and the card slot. The detachable card slot and the slide can avoid the occurrence of inconvenience in module operation due to wear or rust. Regular replacement of the card slot and the slide can increase the service life of the module. In addition, the card slot and the slide 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.

[0027] During the retraction of the hydraulic support guard plate, the explosion-proof camera 14 installed on the T-shaped camera bracket 11 will capture images of the guard plate. During the capture process, because the guard plate is a slow process in the process of retraction, in order to judge the retraction posture of the guard plate, it is necessary to capture images multiple times during the retraction process 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 cooperates with the ball screw 8, and one end of the ball screw 8 is fixed to the U-shaped slide groove by the fixed shaft sleeve 7. The second stepper motor is fixed in the U-shaped groove by the fixed 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 left and right movement of the T-shaped camera bracket 11, and the Y-axis slide module 4 controls the front and back movement of the T-shaped camera bracket 11. The cross slider module works simultaneously to adjust the position of the camera, thereby ensuring the stability of the movement of the explosion-proof camera 14, reducing the impact of vibration during the camera acquisition process, and avoiding the problem that the posture monitoring of the guard plate is easily interfered with by the environment and the three-dimensional posture information of the guard plate in the comprehensive mining working face cannot be obtained.

[0028] After the explosion-proof camera 14 captures the image, the clear image is transferred to the PC. At this time, the image is imported into the hdevelop software for graphic recognition and processing. The FAST algorithm is 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, 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, and the center coordinates (x0, y0) and the radius length r are obtained. Then, the distance between the feature point (x, y) and the center of the circle is solved. By comparing the sizes, when the distance is greater than the radius, it is an unqualified feature point. When the distance is less than the radius, the feature point inside the circle is an advantage. The feature point optimization algorithm is as follows:

[0029]

[0030] 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, which mainly include 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}.

[0031] After the extraction and optimization of the above feature points, three feature points on the hydraulic support base are obtained. The three feature points are located at {O c The coordinates under the camera coordinate system 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 hydraulic support base plane in the camera coordinate system can be constructed: Ax+By+Cz+D=0. Therefore, the attitude angle of the camera plane relative to the hydraulic support base plane can be obtained from the constructed base plane:

[0032] Yaw angle Roll angle

[0033] 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 system transformation matrix between} is:

[0034]

[0035] Base static coordinate system {O j} to the base moving coordinate system {O d The coordinate system transformation matrix between} is:

[0036]

[0037] where 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 {Oh The coordinate system transformation matrix between} is:

[0038]

[0039] 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 {O h}, 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. Through this method, real-time monitoring of the retraction posture of the hydraulic support guard plate is realized, which can ensure the safe, stable and efficient operation of the comprehensive mining working face, and escort the construction of modern and unmanned intelligent mines. It solves the problem in the existing technology that the use of explosion-proof cameras to monitor the guard plate posture is easily affected by the environment and cannot obtain the three-dimensional posture information of the guard plate in the comprehensive mining working face.

[0040] 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 requiring 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 the 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.

[0041] Furthermore, the first fixing seat 1 and the second fixing 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, and the 8 threaded screw holes on both sides of the X-axis slide module 3 correspond to the threaded holes on the first fixing seat 1 and the second fixing 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 to install with the fixed tray 9 on the X-axis slide module 3. By providing multiple threaded holes, each part is fixedly connected by bolts, which facilitates the installation and disassembly of the entire image acquisition device, facilitates the replacement of components, and improves work efficiency.

[0042] 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.

[0043] Furthermore, the first fixing seat 1 and the second fixing seat 2 are both shaped like a T-shaped boss, and the top of the T-shaped boss is a rectangular flat plate with 4 threaded holes on the left and right sides of the flat plate respectively, and the T-shaped boss and the 4 threaded holes in the middle of the rectangular flat plate are interconnected.

[0044] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. These embodiments do not exhaust all details, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A device for measuring the retraction posture of a hydraulic support guard plate for a mine, characterized by: The invention 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), an explosion-proof camera (14) and a T-shaped camera bracket (11), wherein the first fixed seat (1) and the second fixed seat (2) are symmetrically mounted on the bottom of the X-axis slide module (3), a ball screw (8) is mounted 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 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).

2. The device for measuring the retraction posture of a hydraulic support guard plate for a mine according to claim 1, 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).

3. The device for measuring the retraction posture of a hydraulic support guard plate for a mine according to claim 2, characterized in that: One end of the ball screw (8) and the coupling (12) is mounted with a fixed shaft sleeve (7), and the other end is also mounted with a fixed shaft sleeve (7).

4. The device for measuring the retraction posture of a hydraulic support guard plate for a mine according to claim 1, 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).

5. The device for measuring the retraction posture of a hydraulic support support for mining according to claim 1 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).

6. The device for measuring the retraction posture of a hydraulic support support for mining according to claim 1, characterized in that: The first fixing seat (1) and the second fixing seat (2) are both T-shaped bosses. Above the T-shaped boss is a rectangular flat plate with four threaded holes on both sides thereof for mounting on the top beam of the hydraulic support. Below the T-shaped boss is a rectangular boss with two threaded holes on both sides thereof for mounting on the X-axis slide module (3).

7. The device for measuring the retraction posture of a hydraulic support support for mining according to claim 6, characterized in that: The T-shaped bosses of the first fixing seat (1) and the second fixing seat (2) are in communication with the four threaded holes in the middle of the rectangular flat plate.

8. The device for measuring the retraction posture of a hydraulic support guard plate for a mine according to claim 6, 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).

9. The device for measuring the retraction posture of a hydraulic support support for mining according to claim 1, characterized in that: The bottom of the T-shaped camera bracket (11) is a rectangular base, and four threaded holes for mounting with a fixed tray (9) are respectively provided on both sides of the rectangular base. Two threaded holes for fixing an explosion-proof camera (14) are respectively provided at both ends of the top of the T-shaped camera bracket (11).

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