Intelligent solid backfilling support robot in coal mine and its key technology

Solid backfilling mining technology has matured, but still faces bottlenecks such as low autonomy and insufficient self-adaptive control capabilities, resulting in a low level of intelligence that affects its application effectiveness and promotion scope. The robotization of large-scale coal mine equipment is an inevitable trend in development of the industry, and it is imperative to research coal mine solid intelligent backfilling support robot and achieve breakthroughs in its key technologies. The concept and system composition of coal mine solid intelligent backfilling support robots are proposed, revealing the mechanism of process self-driven operation. A full-category parameter index set is constructed, and a full-category parameter perception method is formed. The full-condition scenario categories are divided, and an accurate representation and real-time output method of pose were established. A method for judging operating states of the whole working condition and self-regulating robotic arm group is formed. A virtual prototype simulation test platform for solid intelligent backfilling support robot is constructed and three working conditions, " downward mining and upward backfilling", " horizontal mining and backfilling" and " upward mining and downward backfilling", are set up for process self-driving simulation. The result of simulation test shows that backfilling support robot can accurately identify interference and calculate target parameters to regulation, and intelligent functions such as the overall operation of the system and the self-driven execution of the process have been verified. In view of the key scientific problems faced by the R&D of the coal mine solid intelligent backfilling support robot, the research framework, R&D ideas and technical routes of the coal mine solid intelligent backfilling support robot and their key technologies are preliminarily constructed. It provides theoretical and technical support for in-depth upgrading of backfilling mining technology and R&D of completely independent intellectual property rights of coal mine solid intelligent backfilling and support robot products in China.