Relative Position And Posture Detection And Online Data Display Technology Of Hydraulic Support

As the key equipment of coal mining face,hydraulic support directly affects the safety of coal mine production.The change of the position and posture of the hydraulic support is an important manifestation of its support process.The coal mining face is supported by hydraulic support groups,and the position and posture changes of the hydraulic supports include the change of the posture of any support itself and the change of the relative position and posture between adjacent supports.The posture of support itself mainly affects the coupling effect between the hydraulic support and the rock,and the bearing capacity of the hydraulic support.The relative position and posture mainly affects the arrangement of the group and the effect of cooperative support.To achieve precise control of the hydraulic support,first of all,accurate detection of the position and posture of the hydraulic support should be achieved.At present,there are more studies on the self-posture detection of the hydraulic support at home and abroad,but there are few studies on the relative position and posture detection.Based on this,this paper carried out the research on the relative position and posture detection and data online display technology of the hydraulic support.First of all,according to the structural characteristics of the hydraulic support,a variety of different relative position and posture detection methods are proposed.Through the analysis of coal mine underground demand,the relative position and posture detection scheme of hydraulic support based on direction angle detection was determined,and a mathematical model was established at the same time.Then,with the help of MATLAB simulink tool to simulate the model,the correctness of the method is determined.Secondly,based on the mathematical model,the hardware structure of the relative position and posture detection device is proposed,which is a combination of the direction angle detection device and the pull-wire sensor;through the design of the mechanical structure of the detection device and the analysis of the selection of sensor elements,the signal acquisition module of relative position and posture was developed based on the STM32 microprocessor,which realized the sensor data collection.Finally,the test prototype of the relative position and posture detection device was completed.Thirdly,using the MATLAB GUI,a hydraulic support signal acquisition system was established on the host computer,which realized the serial communication between the signal acquisition module and the PC,support position and posture data processing,and mathematical model calculation.Further,a relative position and posture detection system composed of a relative position and posture detection device,signal acquisition module and GUI interface was built;on this basis,combined with the single-point detection and three-point plane motion experimental data of the prototype,the minimum resolution distance and detection accuracy of the device are analyzed and optimized based on the particle swarm optimization algorithm.The parameters of the minimum resolution distance,the single point positioning accuracy and the fitting accuracy of the plane to be measured are given,which further verifies the correctness of the detection methods and the feasibility of this detection device.Finally,a hydraulic support data display system based on relative position and posture detection was developed,and the posture change of the canopy of the hydraulic support was detected and analyzed with the help of the three-machine fully mechanized mining simulation experimental platform,and the change process of the center-of-mass of the canopy was obtained;the real-time detection and display of the canopy posture was realized at the same time.The research on the relative position and posture detection of the hydraulic support and the online data display technology is of great significance for enriching and perfecting the detection methods of the hydraulic support,improving the intelligent perception and collaborative control level of the hydraulic support status.