Research On Pose Monitoring Method Of Hydraulic Support In Unit Roadway Advance Support

Hydraulic support is the key equipment in the roadway support system of coal mining face.In the actual production process,the position and posture of the advance support hydraulic support in the unit tunnel will change due to the surrounding rock deformation and vehicle passage,which will affect the support strength and structural stability of the support,and the large angle tilt will also cause the support to topple,threatening the safety of underground workers;At the same time,the overall shape of the actual working face gateway is often undulating,and the operator can hardly identify the change degree of the support’s position and posture by visual means such as naked eye or camera;Therefore,automatic,accurate,real-time and visual monitoring of the position and posture of the scaffold is extremely urgent.In order to realize the monitoring of the position and posture of the advance support hydraulic support in the unit tunnel,this paper presents a method for monitoring the position and posture of the advance support hydraulic support in the unit tunnel.The main research work of this paper is as follows:(1)Taking ZQ4000 double pillar double expansion unit support as the research object,the support position,layout and structure composition of the unit support in the gateway of the mining face are introduced.(2)The Euler angle is defined as the attitude parameter of the support,and the three-dimensional coordinate in the gateway is the position parameter of the support by analyzing the possible position and attitude state of the unit support in the support process.(3)Based on the angular velocity,distance and angle data collected by the gyroscope,servo motor Pan-Tilt,ultrasonic distance sensor and i GPS measurement platform,combined with the established mathematical model of pose solution,the pose parameters of the support are solved.(4)According to the real size of the unit bracket,the bracket model is established in the upper computer software platform,and the bracket model is updated in real time by using the position and attitude parameters of the bracket to realize the position and attitude status monitoring of the bracket.(5)Under the laboratory conditions,an experimental platform for monitoring the position and attitude of the unit support is built.By changing the position and attitude of the support,the measurement system,the mathematical model of position and attitude solution and the modeling results of the upper computer are tested.