固体充填开采技术已日臻成熟，但存在自主作业程度低、自适调控能力不足等瓶颈，智能化水平偏低，影响其应用效果与推广范围。煤矿大型装备机器人化是行业发展必然趋势，煤矿固体智能充填支护机器人的研究及其关键技术的突破势在必行。定义了煤矿固体智能充填支护机器人的概念并设计了其系统构成，揭示了其工序自驱作业机制与运行逻辑；构建了煤矿固体智能充填支护机器人全工况状态感知、运动学建模与控制方法；构建了全类别参数指标集，形成了全类别参数感知方法；对全工况场景类别进行了划分，建立了位姿精确表征与实时输出方法；形成了全工况场景运行状态判别与机械臂组自调控方法；构建了煤矿固体智能充填支护机器人虚拟样机仿真试验平台，设置了“俯采仰充”“水平采充”“仰采俯充”3种工况进行工序自驱仿真，仿真测试结果表明：充填支护机器人可精准判别干涉并解算出调控目标参数，系统整体运行及工序自驱执行等智能功能得到验证。针对煤矿固体智能充填支护机器人研发面临的关键科学问题，初步构建了煤矿固体智能充填支护机器人及其关键技术的研究框架、研发思路与技术路线，为深度升级充填开采技术、研发我国完全独立自主知识产权的煤矿固体智能充填支护机器人装备产品提供理论及技术支撑。

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.