Method for solving spatial pose of hydraulic support based on autonomous AR measurement by inspector

Abstract

With the rise of Industry 5.0, “people-oriented” has become a core concept. However, the current degree of intelligence in coal mines is not high, and the inspector is only limited to simple inspection, but cannot measure the synthesized mining equipment autonomously. Therefore, this paper proposes a method based on the autonomous AR measurement by inspector, which introduces the augmented reality (AR) measurement technology into the synthesized mining face in coal mines. By allowing inspector to wear HoloLens2 devices, while using multi-modal interaction methods to match the reality of the hydraulic support components, accurate measurement of the pose of the hydraulic support, and at the same time fully utilize the “autonomy” of the inspector, in line with the development trend of intelligent inspection. This paper mainly consists of four parts, namely, “key technology of virtual reality matching-virtual reality matching of single support-virtual reality matching between supports-virtual reality matching between supports-verification experiment of matching measurement.” Firstly, the key technology of virtual reality matching is elaborated, the unified coordinate system of hydraulic support group is constructed and the virtual reality matching method of multi-modal control with gesture interaction + voice fine-tuning is proposed. Secondly, it describes the virtual and real matching technology of single hydraulic support, puts forward the method of matching measurement by the feature block of support components with the idea of “local replacing the whole,” and constructs the standard model library of feature block, and at the same time, it applies the box diagram method to the measurement data for fusion processing, so as to improve the accuracy of the data. Then the key technology of virtual-reality matching between supports is discussed, the virtual-reality matching of external components and internal components between supports is investigated, and the verification method of AR matching accuracy based on the intra-intra relationship is proposed. Finally, the accuracy of the AR measurement method was validated under laboratory conditions. The experimental results show that the error of AR measurement of support distance is within 1 mm, and the error of measurement angle is within 0.5°, which confirms the accuracy and feasibility of AR measurement method. It can provide a new method and technical support for the measurement of spatial pose data of hydraulic support group and other comprehensive mining equipment group.