Method of perceiving position and pose of hydraulic support group based on multi-point ranging

Patent metadata

Field	Value
Publication number	US-12196837-B2
Application number	US-202318515444-A
Country	US
Kind code	B2
Filing date	Nov 21, 2023
Priority date	Apr 26, 2023
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

The present disclosure provides a method of perceiving a position and pose of a hydraulic support group based on multi-point ranging and belongs to the field of test or measurement technologies unlisted in other categories. The method uses a hydraulic support group. The hydraulic support group includes multiple juxtaposed hydraulic supports. The method includes: with a plane above a base as a reference plane, establishing a reference coordinate system; perceiving a relative position of the base and a canopy of the hydraulic supports and perceiving a position and pose of a single hydraulic support; when the hydraulic supports have axial offset and roll phenomenon, performing offset amount calculation; based on the perception of the position and pose of single hydraulic supports, performing perception on the position and pose of the hydraulic support group. In the present disclosure, the measurement devices achieve conversion of pure distance information into three-dimensional pose information of an object in time and space by using logical combination of several real-time ranging terminals, leading to simple structure; there is no interference between measurement devices, and there is wireless connection between a signal transmitting device and a signal receiving device, resulting in no rendezvous point and being free from impact of frictional force.

First claim

The invention claimed is:

1. A method of perceiving a position and pose of a hydraulic support group based on multi-point ranging, using the hydraulic support group,
the method comprises:
S1: with a plane above the base as a reference plane, establishing a reference coordinate system {O}, selecting three position points which are not in one straight line on the reference plane and then establishing a coordinate system with the three position points;
S2: perceiving a relative position of the base and the canopy of the hydraulic supports;
S3: perceiving the position and pose of a single hydraulic support;
S4: when the hydraulic supports have axial offset and roll phenomenon, performing offset amount calculation;
S5: based on the perception of the position and pose of single hydraulic support, performing perception on the position and pose of the hydraulic support group;
the step of S4 comprises the following steps: the angles of φ and θ are considered and a dual-column hydraulic support model is used; at this time, elongation amounts of two columns are different and one group of caving shield ranging base station is added into the pose perception of the hydraulic supports;
S3.1: the coordinates of points K, K′, R, R′, W, W′ in a third coordinate system {O 3 } are already known, and the position {right arrow over (r l )}| O 1 of the points in a first coordinate system {O 1 } is calculated, wherein the points K and K′ are at both sides of the connection of the canopy and the column, the points R and R′ are at both sides of the connection of the canopy and the support beam, and the points W and W′ are at both sides of the front end of the canopy;
{right arrow over ( r l )}| O 1 =i| O 1 −O 3 | O 1 =( C O 1 O 3 ) −1 {right arrow over ( r l )}| O 3 =( C O 1 O 3 ) −1 ( i| O 3 −O 3 | O 3 )

wherein i refers to the points K, K′, R, R′, W, W′, and i| O 1 refers to the coordinates of six points in {O 1 }; C O 1 O 3 is a coordinate transformation matrix between {O 3 } and {O 1 }; i| O 3 is the coordinates of four points in {O 3 }; O 3 | O 3 is the coordinate of the point O 3 in {O 3 }, i.e. O 3 | O 3 =(0,0,0); O 3 | O 1 is the coordinate of the point O 3 of {O 3 } in {O 1 };
S3.2: true lengths of two columns of the hydraulic supports are calculated:
the length l KF of the column oil cylinder is:

l
KF

=

(

K
x

-

F
x

)

2

+

(

K
y

-

F
y

)

2

+

(

K
z

-

F
z

)

2

the length l K′F′ of the column oil cylinder is:

l

K
′

⁢

F
′

=

(

K
′

x

-

F
′

x

)

2

+

(

K
′

y

-

F
′

y

)

2

+

(

K
′

z

-

F
′

z

)

2

wherein K x , K y , K z are the coordinate of the point K′ x , K′ y , K′ z are the coordinate of the point K′, F x , F y , F z are the coordinate of the point F, and F′ x , F′ y , F′ z are the coordinate of the point F′;
S3.3: the axial offset amount of the canopy of the hydraulic supports is calculated:
a projection point R R (R Rx , R Ry , 0) of the point R in {O 1 } when no axial offset and roll occurs to the canopy of the hydraulic supports is recorded, and at this time, R Rx is determined by the position of the ranging terminal of the base and the size of the hydraulic supports; when the projection points of the points R and W in {O 1 } are R R and W W : R R (R x , R y , 0), and W W (W x , W y , 0), the axial offset amount of the canopy is l;

l
=

❘
"\[LeftBracketingBar]"

R
x

-

R
Rx

+

W

Assignees

• Univ Shandong Science & Tech
• Shandong Yufei Trans Technology Co Ltd

Inventors

• Li Wenhong
• Zhang Yi
• Meng Fansheng
• Zhu Tianyu
• Tang Hongmei
• Zhu Luqun
• Guo Jianyu
• Zhang Wenlong
• Liu Xixin

Classifications

• G01S2205/01

  specially adapted for specific applications · CPC title

• G01S5/14

  Determining absolute distances from a plurality of spaced points of known location · CPC title

• G01S5/0269

  Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position · CPC title

• G01S5/0284

  Relative positioning · CPC title

• G01S5/0247

  Determining attitude · CPC title