Abstract
The position and posture of the hydraulic support seriously affect the efficiency of coal mining and the safety of coal production. However, most of the current detection technologies have poor reliability, and the detection methods are difficult to adapt to the complex environment of coal mines. To effectively monitor the hydraulic support, and thereby improve the efficiency of coal mining, we propose a new method to detect the relative position and posture of the hydraulic support. The method is based on the mathematical idea that three points can determine a plane. Firstly, we use angle sensors and displacement sensors to build the detection device, use STM32 microprocessor to collect data, and realize real-time display of the data on the PC. Then, we conduct a single point detection experiment and a plane moving experiment, and combined the particle swarm optimization (PSO) algorithm to optimize the data. Experiment results show that the relative error of the single-point detection can reach 0.53%. Thirdly, we carry out a detection experiment of three points on the plane. Experiment results show that the detection accuracy of the two planes can reach 0.2°. Finally, to test the monitoring effect of the detection device on the hydraulic support, we carry out the relative position and posture detection experiment of the canopy. The experiment results show that the device can effectively detect the posture change of the canopy when the hydraulic support are moving. The method we use is contact measurement, which has high reliability and strong stability. The research on the relative position and posture detection of hydraulic support provides a reliable method to monitor the support working status. It lays the foundation for the intelligent control of the mining working face straightness and the perception of the support posture.
Highlights
EXPERIMENTAL METHOD Combining the structural characteristics of hydraulic support, based on the mathematical idea that three points can determine a plane, we proposed a relative position and posture detection method and established a mathematical model
A detection device based on the combination of the angle sensor and displacement sensor is proposed, and the detection principle of the position and posture of the hydraulic support canopy is deduced
(2) This article uses the optical platform and the prototype of the hydraulic support to detect the relative position and posture, and designs the single-point accuracy-test experiment and the moving plane accuracy-test experiment based on the particle swarm optimization (PSO) algorithm
Summary
The relative position and posture detection system can provide detection data to analyze the straightness of mining working face and the instability of hydraulic support. It provides a platform for the intelligent control of hydraulic support. The position and posture detection of the hydraulic support lays the foundation for the straightness control of mining working face, and has important significance in the judgment of the support state and stability analysis of the support. In the complex environment of coal mines, the direct contact measurement method has higher reliability These researches on positioning technology provide a good idea for us to further improve the relative position and posture detection technology of hydraulic supports. The device has a wide range of applications, can be well adapted to other application scenarios of relative position and posture detection, and has a large expansion space in theoretical and practical applications
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