虚实融合的液压支架浮动连接机构位姿监测方法

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中图分类号：TD355.4 文献标志码：A

Abstract：To address theproblem that theFloating Connection Mechanism （FCM）of a hydraulic support cannot directly obtain the pose of its componentsand that the accuracyof the overall pose acquisition is limited， this studyproposedapose monitoring method forthe hydraulic supportFCMbasedon virtual-realintegration.By usingacamera installedon the top beam of the hydraulic support tocolect depth and RGB images of the FCM， thesystem generated three-dimensionalcoordinate informationofthereal point cloudandstored itina specified file.After file conversion，Unityread thecoordinate dataand created corresponding cubes to map thereal point cloud.Digital twins of the hydraulic support，FCM，and scraper conveyor were constructed.Parent-child relationships，physicsengines，andcoliders wereadded in Unity.Avirtualcamera wascreated tocapture the virtual point cloudof the upper surfaceoftheFCMpush rod.The Iterative Closest Point （ICP）algorithm was used to register the virtual point cloud of the push rod's upper surface with the cropped real point cloud to obtain the translation and rotation matrix of the push rod.This matrix was then converted into Unity to drive the movement of the push rod.Under the constraints of the parent-child relationships，physics engines，andcolliders，it further drove the movement of other FCM components，thus achieving pose monitoring of all FCM components. Experimental results showed that the proposed method achieved a monitoring error of less than 3.5cm in FCM displacement， less than 1.1∘ in push rod pitch angle，less than 0.5∘ in push rod deflection angle， and less than 0.8∘ （20号 in connector deflection angle， indicating high accuracy in overall FCM pose monitoring.

Key words： digital twin; virtual-real integration; hydraulic support; floating connection mechanism; pose monitoring; point cloud

0 引言

液压支架浮动连接机构（FloatingConnectionMechanism，FCM）[]是连接综采工作面支护装备与运输装备的关键结构[2]，通常由推移油缸杆、推杆、连接头等部件构成。（剩余9124字）