6
The MPU6050 six-axis attitude sensor, which inte-
grates the three-axis accelerometer and the three-axis gyro-
scope, can provide the attitude information of six degrees of
freedom at the same time, and effectively reduce the cumu-
lative error of the gyroscope when it is stationary and the
motion error of the accelerometer when it is moving, so as
to improve the measurement accuracy and stability.
According to the above formula (1)–(4), the collection
position is shown in Figure 5.
The VL53L0X laser ranging sensor with second-gen-
eration FlightSense ™ technology, developed by ST, is used
for displacement acquisition to achieve high precision, low
power consumption and strong anti-interference absolute
distance measurement, and is independent of target size,
color and reflectivity, effectively reducing ambient light
interference. The collection position is shown in Figure 6.
Hydraulic Support Load Information Acquisition
Oil pressure sensor is a kind of fluid pressure sensor, which
is mainly composed of sensor body, measuring diaphragm,
conductive diaphragm, sensitive element and signal proces-
sor. It usually has the characteristics of high precision, high
reliability, fast reaction speed, etc., and can be widely used
in pressure control, safety protection, machine and equip-
ment control of hydraulic systems. The collection position
is shown in Figure 7.
The hydraulic cylinder oil pressure is used to determine
the load at different positions. The relationship between the
load q and the oil pressure P0 is as follows:
q S
P
0 =(5)
S is the area of specific parts of the hydraulic.
Twin Modeling Based on Unity3D
Twin system design needs to model the hydraulic support,
open SolidWorks to create a new part file, create features
combined with the motion attitude analysis of the hydrau-
lic support, and assemble in a “topdown” way. Because the
model built by SolidWorks will lose the structural relation-
ship when opened in Unity 3D, Therefore, it is necessary to
import the model into Maya for model rendering, and then
export the.fBx format file of Maya into Unity3D, which is
usually written in C# or UnityScript. Unity3D will auto-
matically read and display the preview of the model in the
scene.
Function Realization
Click the large Angle hydraulic support twin system to
enter the login page, you can choose ordinary user login
and administrator login. Test a complete motion state of
the hydraulic support, including the lifting frame, lifting
the protection plate, extending the side push jack, extend-
ing the bottom push rod, folding the bottom push rod,
folding the side push jack, folding the protection plate, and
lowering the frame. The individual modules of the twin sys-
tem are examined in this complete state.
Figure 5. Schematic diagram of Angle acquisition position
Figure 6. Schematic diagram of displacement acquisition
position
Figure 7. Schematic diagram of oil pressure collection
position
The MPU6050 six-axis attitude sensor, which inte-
grates the three-axis accelerometer and the three-axis gyro-
scope, can provide the attitude information of six degrees of
freedom at the same time, and effectively reduce the cumu-
lative error of the gyroscope when it is stationary and the
motion error of the accelerometer when it is moving, so as
to improve the measurement accuracy and stability.
According to the above formula (1)–(4), the collection
position is shown in Figure 5.
The VL53L0X laser ranging sensor with second-gen-
eration FlightSense ™ technology, developed by ST, is used
for displacement acquisition to achieve high precision, low
power consumption and strong anti-interference absolute
distance measurement, and is independent of target size,
color and reflectivity, effectively reducing ambient light
interference. The collection position is shown in Figure 6.
Hydraulic Support Load Information Acquisition
Oil pressure sensor is a kind of fluid pressure sensor, which
is mainly composed of sensor body, measuring diaphragm,
conductive diaphragm, sensitive element and signal proces-
sor. It usually has the characteristics of high precision, high
reliability, fast reaction speed, etc., and can be widely used
in pressure control, safety protection, machine and equip-
ment control of hydraulic systems. The collection position
is shown in Figure 7.
The hydraulic cylinder oil pressure is used to determine
the load at different positions. The relationship between the
load q and the oil pressure P0 is as follows:
q S
P
0 =(5)
S is the area of specific parts of the hydraulic.
Twin Modeling Based on Unity3D
Twin system design needs to model the hydraulic support,
open SolidWorks to create a new part file, create features
combined with the motion attitude analysis of the hydrau-
lic support, and assemble in a “topdown” way. Because the
model built by SolidWorks will lose the structural relation-
ship when opened in Unity 3D, Therefore, it is necessary to
import the model into Maya for model rendering, and then
export the.fBx format file of Maya into Unity3D, which is
usually written in C# or UnityScript. Unity3D will auto-
matically read and display the preview of the model in the
scene.
Function Realization
Click the large Angle hydraulic support twin system to
enter the login page, you can choose ordinary user login
and administrator login. Test a complete motion state of
the hydraulic support, including the lifting frame, lifting
the protection plate, extending the side push jack, extend-
ing the bottom push rod, folding the bottom push rod,
folding the side push jack, folding the protection plate, and
lowering the frame. The individual modules of the twin sys-
tem are examined in this complete state.
Figure 5. Schematic diagram of Angle acquisition position
Figure 6. Schematic diagram of displacement acquisition
position
Figure 7. Schematic diagram of oil pressure collection
position