Hydraulic Support Pose Sensing via Multi-Point Ranging
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Solution Overview
Problem
Existing methods for detecting the position and pose of hydraulic supports are costly and ineffective, prone to errors due to cumulative errors in inertial sensor measurements and environmental interference in other measurement methods.
Innovation Solution
A method using multi-point ranging to establish a reference coordinate system and calculate the position and pose of hydraulic support groups, incorporating ranging terminals on the canopy, rear link bar, and base to convert distance information into three-dimensional pose information, allowing for accurate measurement of single hydraulic supports and hydraulic support groups even with axial offset and roll.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inertial sensor measurement is used to detect hydraulic support pose, then measurement can be performed, but cumulative error occurs and costs increase due to need for combination navigation
Solution Approach 1:
The system segments the measurement task by placing multiple ranging terminals (three on base, three on canopy) to independently measure distances between specific points. This segmentation allows calculation of pose parameters through geometric relationships rather than cumulative sensor integration, eliminating cumulative error while maintaining measurement capability.
2Measurement precision
If combination of ranging device and angle sensor is used, then position and pose can be perceived, but device complexity and costs increase
Solution Approach 1:
The ranging terminals perform multiple functions: they measure distances between base and canopy points, enable calculation of position coordinates, determine pose angles through geometric relationships, and provide redundancy for error correction. This multi-functionality eliminates the need for separate angle sensors, reducing device complexity while maintaining comprehensive detection capability.
3Measurement precision
If video monitoring, radar, ultrasonic or laser measurement methods are used, then position detection is possible, but measurement is greatly affected by environment
Solution Approach 1:
The system replaces environmental-sensitive optical and electromagnetic measurement methods (video, radar, ultrasonic, laser) with a geometric ranging approach based on distance measurements between fixed points. This substitution uses fundamental geometric relationships that are insensitive to environmental conditions such as dust, smoke, and lighting variations typical in mining environments.
Data Source
AI summary
The present disclosure provides a method of perceiving a position and pose of a hydraulic support group based on multi-point ranging and belongs to the field of test or measurement technologies unlisted in other categories. The method uses a hydraulic support group. The hydraulic support group includes multiple juxtaposed hydraulic supports. The method includes: with a plane above a base as a reference plane, establishing a reference coordinate system; perceiving a relative position of the base and a canopy of the hydraulic supports and perceiving a position and pose of a single hydraulic support; when the hydraulic supports have axial offset and roll phenomenon, performing offset amount calculation; based on the perception of the position and pose of single hydraulic supports, performing perception on the position and pose of the hydraulic support group. In the present disclosure, the measurement devices achieve conversion of pure distance information into three-dimensional pose information of an object in time and space by using logical combination of several real-time ranging terminals, leading to simple structure; there is no interference between measurement devices, and there is wireless connection between a signal transmitting device and a signal receiving device, resulting in no rendezvous point and being free from impact of frictional force.