Abstract
Hydraulic support is an indispensable equipment for coal mining face. To detect the position and posture of the hydraulic support and automatically control its straightness at the mining working face, we developed a device based on the principle that three noncolinear points determine a plane and proposed a novel method using it. First, the sensor parameters in the device were experimentally calibrated. Second, the accuracy of the device was evaluated in the single point detection experiment by measuring the position of the nine datum points. Through actual testing, our detection accuracy can reach 24.82mm. Third, our method was validated in the experiment of the plane detection. Finally, the detection device was installed on the hydraulic support mode. The change of the position and posture of the canopy in the movement of the hydraulic support lifting leg, realized the detection of position and posture of the adjacent hydraulic support, and the feasibility of the detection method was verified. Our research on the position and posture detection of the hydraulic support can lay an important theoretical foundation for the automatic control of the straightness of mining working face and the surveillance of the dangerous posture of the hydraulic support. Furthermore, it can provide a novel monitoring approach for preventing collapse of hydraulic supports under complex geological conditions such as large dip angles and large mining heights.
Highlights
Underground coal automation and intelligent mining technology is an inevitable trend for coal mining technology development [1]
The research on relative position and posture detection lays a foundation for the analysis of the straightness of mining working face and the dangerous posture of the hydraulic support
Based on the mathematical idea that three points can determine the plane, we propose a relative position and posture detection method and establishes a detection model
Summary
With the development of automation technology, there are two main methods for detecting and controlling the straightness of mining working face. The first step to improve the automation level of mining working face is still to determine the relative position and posture of the hydraulic support. This will prevent the support from acquiring dangerous postures such rolling and twisting, and in turn establish the basis of the automatic control of the straightness of mining working face. The research on relative position and posture detection lays a foundation for the analysis of the straightness of mining working face and the dangerous posture of the hydraulic support.
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