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固体充填液压支架全位姿测量及虚拟仿真

王裕 史艳楠 王毅颖 齐朋磊 王翰秋

王裕,史艳楠,王毅颖,等. 固体充填液压支架全位姿测量及虚拟仿真[J]. 工矿自动化,2022,48(7):81-89.  doi: 10.13272/j.issn.1671-251x.2022030078
引用本文: 王裕,史艳楠,王毅颖,等. 固体充填液压支架全位姿测量及虚拟仿真[J]. 工矿自动化,2022,48(7):81-89.  doi: 10.13272/j.issn.1671-251x.2022030078
WANG Yu, SHI Yannan, WANG Yiying, et al. Full pose measurement and virtual simulation of solid filling hydraulic support[J]. Journal of Mine Automation,2022,48(7):81-89.  doi: 10.13272/j.issn.1671-251x.2022030078
Citation: WANG Yu, SHI Yannan, WANG Yiying, et al. Full pose measurement and virtual simulation of solid filling hydraulic support[J]. Journal of Mine Automation,2022,48(7):81-89.  doi: 10.13272/j.issn.1671-251x.2022030078

固体充填液压支架全位姿测量及虚拟仿真

doi: 10.13272/j.issn.1671-251x.2022030078
基金项目: 河北省自然科学基金资助项目(E2020402064);河北省创新能力提升计划项目(215676140H);邯郸市科学技术研究与发展计划项目(20312904002)。
详细信息
    作者简介:

    王裕(1997—),男,江苏泰州人,硕士研究生,研究方向为煤矿充填设备虚拟仿真,E-mail:913714687@qq.com

    通讯作者:

    史艳楠(1988—),男,河南焦作人,讲师,博士,硕士研究生导师,主要从事煤炭生态保护开采研究工作,E-mail:shiynchn@163.com

  • 中图分类号: TD355

Full pose measurement and virtual simulation of solid filling hydraulic support

  • 摘要: 针对固体充填液压支架处于复杂地质条件下时空间位姿状态动态变化难以直接识别,现有位姿测量系统存在位姿参数部分缺失的问题,设计了一种固体充填液压支架全位姿测量系统。利用3D Max建模软件建立了固体充填液压支架三维模型,基于固体充填液压支架不同的特征节点,采用多传感器融合测量方法获取反映其空间全位姿的9个参数,即支架底座倾斜角(与水平面夹角)、顶梁姿态角(与水平面夹角)、支架高度、推矸推移距离、护帮板状态、推压密实机构倾角(与后顶梁夹角)、推压密实机构推移距离、支架组护帮板之间的距离、刮板输送机中部槽与支架推矸的夹角。将倾角传感器布置于前顶梁、后顶梁、底座、推压密实机构千斤顶等处,用于测量支架的底座倾斜角和前后顶梁姿态角等,将位移传感器安装在支架的推矸和推压密实机构上,用于测量推移距离等。利用视觉传感器采集图像数据,通过建立单目视觉测量模型及全局坐标系与局部坐标系的转换,分析计算固体充填液压支架组护帮板之间的距离、支架推矸与刮板输送机中部槽之间的角度、护帮板状态和支架高度等。针对现有固体充填液压支架虚拟仿真系统在数据分析、运动关系约束等方面缺乏深入研究的问题,设计了基于 Unity3D 的固体充填液压支架虚拟仿真系统,该系统利用Unity3D实现了支架运动仿真,可实时反映支架运行时的位姿状态变化。基于 Unity3D 的固体充填液压支架虚拟仿真系统与固体充填液压支架全位姿测量系统配套使用,可真实反映固体充填液压支架的运行状态,保证固体充填液压支架仿真的稳定性及数据的可靠性,为固体充填液压支架平稳运行提供了技术支持。

     

  • 图  1  固体充填液压支架三维模型

    Figure  1.  Solid filling hydraulic support 3D model

    图  2  固体充填液压支架全位姿测量系统架构

    Figure  2.  Full pose measurement system architecture ofsolid filling hydraulic support

    图  3  固体充填液压支架全位姿参数

    Figure  3.  Full pose measurement parameters of solid filling hydraulic support

    图  4  全位姿测量传感器布置方案

    Figure  4.  Sensor layout scheme of full pose measurement

    图  5  单目视觉测量模型

    Figure  5.  Monocular vision measurement model

    图  6  固体充填液压支架姿态视觉测量模型

    Figure  6.  Visual measurement model of solid filling hydraulic support's posture

    图  7  顶梁与摄像机空间几何关系

    Figure  7.  Space geometry relationship between roof beam and camera

    图  8  固体充填液压支架虚拟仿真系统架构

    Figure  8.  Architecture of virtual simulation system of solid filling hydraulic support

    图  9  仿真场景

    Figure  9.  Simulation scene

    图  10  推实机构伸缩运动

    Figure  10.  Telescopic movement of the pushing and compacting mechanism

    图  11  护帮板旋转运动

    Figure  11.  Rotation of guard plate

    图  12  状态显示界面

    Figure  12.  Status display interface

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出版历程
  • 收稿日期:  2022-03-24
  • 修回日期:  2022-07-16
  • 网络出版日期:  2022-06-23

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