236 Furthermore, building upon this experimental platform, two shield-type hydraulic supports suitable for steeply dipping mining faces were developed based on a prototype from a mining machinery manufacturer, using a geometric similarity ratio of 1:5 (Fig. 2). The hydraulic supports mainly consist of components such as the base, columns, canopy, caving shield, face guard, hydraulic cylinders, support rods, and traction rods. These support models not only retain the basic functions of the prototype but also incorporate features such as pressure relief, side protection, side adjustment, and base lifting. Figure 2 - Hydraulic support of simulation experiment 2.2 Hydraulic Support Attitude Perception The motion analysis of hydraulic supports primarily involves the motion states, trajectories, and other aspects of their individual components. These parts work in coordination to achieve movement functions such as lifting, lowering, and advancing. During motion, the components do not operate as isolated units but rather move synergistically. Therefore, it is necessary to measure and calculate the spatial attitude of each component at every time point. To achieve precise perception and real-time acquisition of hydraulic support attitude, it is required to collect the attitude angles of four key structures: the face guard, canopy, caving shield, and four-bar linkage; as well as the displacement information of three structures: the canopy side guard, caving shield side guard, and base-adjustment beam. The specific collection points are illustrated in Figure 3. The MPU6050 six-axis attitude sensor is employed to collect support attitude angle information. This sensor effectively reduces the accumulated drift error of the gyroscope during static periods and the motion-induced error of the accelerometer during movement, providing higher measurement accuracy and stability in dynamic environments. For hydraulic support displacement measurement, the VL53L0X laser ranging sensor is selected. Its measurement accuracy is unaffected by the target's size, color, or reflectivity, and it effectively minimizes interference from ambient light, ensuring excellent performance in complex environments. Figure 3 - Sensor collection point
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