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A New Method for Measuring the Attitude and Straightness of Hydraulic Support Groups Based on Point Clouds

  • Research Article-Mechanical Engineering
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Abstract

This study proposes a measuring method to measure the altitude and straightness of hydraulic support groups based on point clouds to tackle the shortcomings in the current measuring methods for measuring the attitude and straightness of hydraulic support groups. First, we build an experimental platform and use three RGB-D cameras to obtain the point cloud of the hydraulic supports from different angles. Then, we calibrated the depth camera and determined the conversion relationship between the camera coordinate system and the world coordinate system. After point clouds preprocessing, we use the method of SAC-IA combined with ICP to conduct point clouds registration, to obtain the complete point cloud of the hydraulic support groups. We analyzed the geometric attitude of a single hydraulic support point cloud and selected characteristic points on each hydraulic support to solve the straightness. Finally, experimental verification is conducted. We did a comparative experiment between SAC-IA combined with the ICP method and ICP method, which proved that the former can effectively reduce the matching error; moreover, we conducted the hydraulic support groups attitude and straightness measurement experiment and compared it with the measured value of the sensors. We found that the errors are all within the acceptable range. It proves the feasibility of adopting point clouds to measure the attitude and straightness of the hydraulic support groups, which is important to realize the transparency and unmanned measuring of the fully mechanized mining face.

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Acknowledgements

This research was supported by the National Natural Science Foundation of China (Grant No. 52004174), Project funded by China Postdoctoral Science Foundation (No. 2019M651081), the Key Research and Development Program of Shanxi (201903D121141), the Natural Science Foundation of Shanxi Province (201901D211022), and the Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi (No. 2019L0305).

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Authors and Affiliations

  1. College of Mechanical Engineering, Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, No.216 mailbox, HuYu Campus, No.18, Xin Kuang Yuan Road, Tai Yuan, 030024, Shanxi, China

    Binbin Wang, Jiacheng Xie, Xuewen Wang, Shuguang Liu & Yimeng Liu

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  1. Binbin Wang
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  2. Jiacheng Xie
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  3. Xuewen Wang
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  4. Shuguang Liu
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  5. Yimeng Liu
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Correspondence to Xuewen Wang.

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Wang, B., Xie, J., Wang, X. et al. A New Method for Measuring the Attitude and Straightness of Hydraulic Support Groups Based on Point Clouds. Arab J Sci Eng 46, 11739–11757 (2021). https://doi.org/10.1007/s13369-021-05689-2

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