Research On Full Pose Measurement And Virtual Simulation Of Solid Filling Hydraulic Support

As the key mechanical equipment of coal face,hydraulic support guarantees the safety of mine and personnel.With the popularization of intelligent mining,its degree of intelligence is directly related to the benefit and safety of coal face.At present,the position and pose measurement function of hydraulic support is not comprehensive enough to realize the intelligent control of hydraulic support.It provides a more efficient and reliable guarantee for further improving the pose measurement technology of hydraulic support,realizing the intellectualization of hydraulic support,providing a more reliable guarantee for the safety and green production of coal mine.Taking the solid filling hydraulic support as the research object,this thesis establishes the solid filling hydraulic support full pose parameter measurement model and virtual solid filling hydraulic support model,studies the solid filling hydraulic support full pose parameter multi-sensor fusion solution method,designs the solid filling hydraulic support posture measurement and virtual simulation experiment platform.The posture measurement and real-time monitoring of solid filling hydraulic support are realized.The main research contents of this thesis are as follows:(1)The full pose parameter measurement of solid filling hydraulic support is studied.A multi-sensor fusion measurement method is used to obtain 9 parameters reflecting the spatial pose of solid filling hydraulic support,and the position and pose parameter data optimization of solid filling hydraulic support is studied based on Kalman filter and adaptive weighting algorithm,which realizes the comprehensiveness and accuracy of solid filling hydraulic support data.(2)The virtual simulation system of solid filling hydraulic support is designed.The virtual simulation system of solid filling hydraulic support based on Unity3 D is designed.The system realizes the motion simulation of the support by using Unity3 D,which could reflect the changes of the position and pose state of the support in real time and realize real-time monitoring of the position and pose parameters of the solid filling hydraulic support.(3)An experimental platform for measuring all position and pose parameters of solid filling hydraulic support is established.The software for remote monitoring was created to assess all pose parameters of the solid filling hydraulic support,and an attitude monitoring test was conducted.The results of the test revealed that the supporting height of the solid filling hydraulic support had an average deviation of 0.019 m,the pitch Angle of the top beam had an average error of 0.22°,the pitch Angle of the base had an average error of 0.15°,and the average error of the displacement of pushing gangue is 0.002 m,the average error of the pushing distance of the pushing mechanism is 0.03 m,the average error of the inclination Angle of the pushing mechanism is 0.02°,the distance pose measurement between the sheeting is less than 0.2m,and the average error of the Angle between the intermediate groove and the gangue is 0.086°.The accuracy of the whole pose parameter measurement of solid filling hydraulic support is achieved.