Volume 48 Issue 7
Aug.  2022
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Article Navigation >  Journal of Mine Automation  > 2022  >  48(7): 81-89
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
shu

Full pose measurement and virtual simulation of solid filling hydraulic support

doi: 10.13272/j.issn.1671-251x.2022030078
  • 1.

    School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China

  • 2.

    Hebei Coal Ecological Protection Mining Industry Technology Research Institute, Handan 056038, China

  • 3.

    Handan Key Laboratory of Intelligent Vehicle, Handan 056038, China

  • 4.

    China Coal Energy Research Institute Co., Ltd., Xi'an 710054, China

  • Received Date: 2022-03-24
  • Rev Recd Date: 2022-07-16
    • Available Online: 2022-06-23
    Abstract
  • The dynamic change of the solid filling hydraulic support's spatial pose state is difficult to directly identify under complex geological conditions. The existing pose measurement system has some missing pose parameters. In order to solve the above problems, a full pose measurement system of the solid filling hydraulic support is designed. The 3D model of the solid filling hydraulic support is established by using 3D Max modeling software. Based on different characteristic nodes of the solid filling hydraulic support, nine parameters reflecting the full spatial pose are obtained by using the multi-sensor fusion measurement method. The nine parameters include the inclination angle of the support base (included angle with the horizontal plane), the attitude angle of the top beam (included angle with the horizontal plane), the support height, the pushing distance, the status of the guard plate, the inclination angle of the pushing and compacting mechanism (included angle with the rear top beam), the pushing distance of the pushing and compacting mechanism, the distance between the guard plates of the support group, and the included angle between scraper conveyor central groove and support pushing gear. The inclination angle sensors are arranged at the front top beam, the rear top beam, the base, and the jack of pushing and compacting mechanism. They are used for measuring the inclination angle of the base of the support, the attitude angles of the front top beam and the rear top beam. The displacement sensors are arranged on the pushing gear and pushing and compacting mechanism of the support. The sensors are used for measuring the pushing distance. The vision sensors are used for collecting image data. The monocular vision measurement model is established. The converting of a global coordinate system into a local coordinate system is obtained. Therefore, the distance between the guard plates of the solid filling hydraulic support set, the angle between the support pushing gear and the center groove of the scrap conveyor, the state of the guard plates and the support height can be analyzed and calculated. The existing virtual simulation system of solid filling hydraulic support lacks in-depth research in data analysis, motion relationship constraints and other aspects. In order to solve these problems, a virtual simulation system of solid filling hydraulic support based on Unity3D is designed. The system realizes the motion simulation of the support by using Unity3D. The system reflects the change of the pose state of the running support in real time. The virtual simulation system of solid filling hydraulic support based on Unity3D is used together with the full pose measurement system of solid filling hydraulic support, which can truly reflect the running state of solid filling hydraulic support, and ensure the stability and the reliability of data of solid filling hydraulic support simulation. The systems can provide technical support for the smooth running of solid filling hydraulic support.

     

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