Research On Straightness Measurement Method Of Hydraulic Support Based On Multi-sensor Fusion

As smart manufacturing has brought new impacts on the basic manufacturing and production industries,the intelligent production process has become a new requirement for coal mine production.Equipment intelligent state awareness technology is one of the key technologies to realize intelligent fully mechanized mining face First,as an important support equipment and power supply equipment for the fully mechanized mining face,the hydraulic support has important significance for the intelligent perception of the working status of the hydraulic support,especially posture monitoring.This article mainly studies the method of obtaining the support posture of the top beam and base of the hydraulic support,and establishes the straightness evaluation model of the hydraulic support group to achieve accurate perception of the posture and straightness information of the hydraulic support group.The main research work of the paper is:(1)Aiming at the problem that the monitoring data of the supporting position and posture of the underground hydraulic support is not perfect,by analyzing the movement rules of the three machines in the fully mechanized coal mining face and the offset type of the hydraulic support,the monitoring position and posture model of the hydraulic support is established to realize the support of the hydraulic support.Comprehensive monitoring of posture.(2)Aiming at the problem of low precision of posture monitoring of hydraulic support top beam and base,a multi-sensor fusion-based posture monitoring method is used to achieve accurate posture sensing of hydraulic support top beam and base,and to reduce the hydraulic support The effect of the frame-moving-elevating process on its three-axis posture adopts an adaptive weighted posture data fusion method to achieve more accurate information on the yaw angle and roll angle of the hydraulic support.(3)Aiming at the problem of difficulty in obtaining straightness information of hydraulic supports,a straightness measurement method for hydraulic supports based on DH coordinate method is proposed.The straightness information of hydraulic support groups is obtained by combining a stroke sensor and an angle sensor.On the premise of acquiring the posture and posture data of the bracket,a straightness monitoring method for the hydraulic support based on the nine-axis posture sensor is proposed.It is used to characterize the straightness information of the support by integrating the support posture data to realize the hydraulic pressure.Straightness monitoring of the bracket.(4)In order to verify the accuracy of the proposed hydraulic support posture monitoring and the straightness monitoring accuracy of the hydraulic support group,this paper is based on the intelligent collaborative control experimental platform of the fully mechanized mining face in the laboratory,and takes the double-column shield hydraulic support as the object.Build a hydraulic support posture and straightness monitoring platform,and analyze the hydraulic support posture and straightness monitoring experimentally.