技术领域technical field
本发明属于悬臂式掘进机培训技术领域，具体涉及一种悬臂式掘进机虚拟培训系统的培训方法。The invention belongs to the technical field of cantilever-type roadheader training, and in particular relates to a training method for a virtual training system of a cantilever-type roadheader.
背景技术Background technique
掘进机是用来掘进矿山巷道、工程隧道、城市地下工程的机械设备，掘进机必须同时具备破碎，装运、自走三个功能，由于悬臂式掘进机属于特种设备，且操作复杂，操作人员需对掘进机的理论、构造提前认识，对掘进机的故障判断以及故障排查有一个迅速的处理，因此需要对操作人员进行安全、有效的培训，而井下作业条件复杂，由于教学条件和现场复杂环境的限制，掘进机培训人员的实际培训和实际操作的方式、方法存在许多缺点。传统的培训方式存在着培训效率低、周期长、理解不到位、员工安全不能完全保障等缺点。因此，结合培训的实际情况需求，依靠虚拟现实技术，开发一种悬臂式掘进机虚拟培训系统的培训方法，可有效的提高培训效果和效率，节约培训资金，保障培训人员的安全，可通过理论学习反复对掘进机全面的学习，通过虚拟拆装学习对掘进机的构造做全面的了解，同时还可以虚拟井下环境，通过手动规程操作训练或自动规程操作训练对掘进机在井下的操作进行培训，功能完备，具有较强的推广意义和应用价值。The roadheader is a mechanical equipment used to dig mine roadways, engineering tunnels, and urban underground projects. The roadheader must have three functions: crushing, shipment, and self-propelled. Since the cantilever type roadheader is a special equipment and the operation is complicated, the operator needs to Know the theory and structure of the roadheader in advance, and quickly deal with the fault judgment and troubleshooting of the roadheader. Therefore, it is necessary to provide safe and effective training for operators, and the underground operation conditions are complex. Due to the teaching conditions and the complex environment on site There are many shortcomings in the way and method of actual training and actual operation of roadheader trainers. Traditional training methods have disadvantages such as low training efficiency, long training cycle, incomplete understanding, and incomplete guarantee of employee safety. Therefore, combined with the actual needs of training and relying on virtual reality technology, a training method for cantilever roadheader virtual training system can be developed, which can effectively improve the training effect and efficiency, save training funds, and ensure the safety of trainers. Learn to repeatedly learn the comprehensive study of the roadheader, and have a comprehensive understanding of the structure of the roadheader through virtual disassembly and assembly learning. At the same time, you can also use the virtual underground environment to train the operation of the roadheader in the mine through manual or automatic procedure training. , with complete functions and strong promotion significance and application value.
发明内容Contents of the invention
本发明所要解决的技术问题在于针对上述现有技术中的不足，提供一种悬臂式掘进机虚拟培训系统的培训方法，培训效率高、周期短、学习理解直观、操作安全，投入成本低，便于推广使用。The technical problem to be solved by the present invention is to provide a training method for the virtual training system of the cantilever roadheader in view of the deficiencies in the above-mentioned prior art, which has high training efficiency, short cycle, intuitive learning and understanding, safe operation, low investment cost, and convenient Promotional use.
为解决上述技术问题，本发明采用的技术方案是：一种悬臂式掘进机虚拟培训系统的培训方法，所述悬臂式掘进机虚拟培训系统包括In order to solve the above technical problems, the technical solution adopted by the present invention is: a training method for a virtual training system of a cantilever roadheader, the virtual training system of a cantilever roadheader includes
悬臂式掘进机操控台，用于监测被培训人员操控培训内容；Cantilever type roadheader control console, used to monitor the training content of the trained personnel;
上位机，用于通过人机界面设置完成被培训人员的培训科目，包括理论学习、虚拟拆装、操控训练、故障扰动、培训考核和数据查询；The upper computer is used to complete the training subjects of the trainees through the man-machine interface setting, including theoretical study, virtual disassembly, control training, fault disturbance, training assessment and data query;
所述悬臂式掘进机操控台包括操作台柜体、安装在所述操作台柜体上的面板和布设在所述操作台柜体内的电子线路板，所述面板上装有由被培训人员手动控制的手动控制总成，所述手动控制总成包括多个均安装在面板上的手动控制件；所述电子线路板上设置有主控器、数据存储单元和显示单元，以及对所述手动控制总成中各手动控制件的手动控制状态进行实时监测的手动控制状态监测装置和对所述手动控制总成中各手动控制件的手动控制时间进行记录的时钟电路，数据存储单元、显示单元、所述手动控制状态监测装置和时钟电路均与主控器连接，所述主控器与上位机连接；The control console of the cantilever type roadheader includes a cabinet body of the console, a panel installed on the cabinet body of the console and an electronic circuit board arranged in the cabinet of the console. A manual control assembly, the manual control assembly includes a plurality of manual control parts installed on the panel; the electronic circuit board is provided with a main controller, a data storage unit and a display unit, and the manual control A manual control state monitoring device for real-time monitoring of the manual control state of each manual control part in the assembly, a clock circuit for recording the manual control time of each manual control part in the manual control assembly, a data storage unit, a display unit, Both the manual control state monitoring device and the clock circuit are connected to a main controller, and the main controller is connected to an upper computer;
所述手动控制件为摇臂升降手柄、截割头伸缩手柄、铲板伸缩手柄、截割头启停手柄、截割头高低速控制手柄、星轮正反转手柄、机身左右转控制手柄、机身前进后退控制手柄、一运马达正反转手柄、后支撑展收手柄、电机启停按钮、掘进机总启停按钮、前后灯开关按钮、警铃启停按钮、电源开关按钮、油泵启停按钮、手动自动控制切换旋钮、掘进机工作面上一视角切换按钮、掘进机工作面下一视角切换按钮和掘进机急停按钮；所述摇臂升降手柄、截割头伸缩手柄、铲板伸缩手柄、截割头启停手柄、截割头高低速控制手柄、星轮正反转手柄、机身左右转控制手柄、机身前进后退控制手柄、一运马达正反转手柄和后支撑展收手柄均为能在面板进行水平摆动的摆动手柄，所述摆动手柄以铰接方式安装在面板上；所述电机启停按钮、掘进机总启停按钮、前后灯开关按钮、警铃启停按钮、电源开关按钮、油泵启停按钮、手动自动控制切换旋钮、掘进机工作面上一视角切换按钮、掘进机工作面下一视角切换按钮和掘进机急停按钮均为手动按钮；The manual control parts are the lifting handle of the rocker arm, the telescopic handle of the cutting head, the telescopic handle of the shovel plate, the start and stop handle of the cutting head, the high and low speed control handle of the cutting head, the positive and negative rotation handle of the star wheel, and the left and right rotation control handle of the fuselage. , Forward and backward control handle of the fuselage, forward and reverse handle of a motor, rear support extension handle, motor start and stop button, roadheader general start and stop button, front and rear light switch buttons, alarm bell start and stop button, power switch button, oil pump Start and stop button, manual and automatic control switching knob, one viewing angle switching button on the working surface of the roadheading machine, one viewing angle switching button on the working surface of the roadheading machine, and emergency stop button of the roadheading machine; the lifting handle of the rocker arm, the telescopic handle of the cutting head, the shovel Board telescopic handle, cutting head start and stop handle, cutting head high and low speed control handle, star wheel forward and reverse handle, fuselage left and right rotation control handle, fuselage forward and backward control handle, motor forward and reverse handle and rear support The retractable handles are swing handles that can swing horizontally on the panel, and the swing handles are hingedly installed on the panel; the motor start-stop button, the roadheader general start-stop button, the front and rear light switch buttons, The button, power switch button, oil pump start and stop button, manual and automatic control switch knob, one-angle switch button on the working face of the roadheader, one-view switch button on the working face of the roadheader, and the emergency stop button of the roadheader are all manual buttons;
所述手动控制状态监测装置包括多个手动控制状态监测单元，所述手动控制状态监测单元的数量与所述手动控制件的数量相同，每个所述手动控制件上均设置有一个所述手动控制状态监测单元；所述手动控制状态监测单元为对所述摆动手柄的手动控制状态进行实时检测的手柄控制状态监测单元和对所述手动按钮的控制状态进行实时检测的按钮控制状态监测单元，所述手柄控制状态监测单元和按钮控制状态监测单元均与主控器连接；所述手柄控制状态监测单元包括对所述摆动手柄的摆动角度进行实时检测的摆动角度检测单元和对所述摆动手柄的摆动方向进行实时检测的摆动方向检测单元，所述按钮控制状态监测单元为对所述手动按钮的上下位移进行实时检测的按钮位移检测单元；The manual control state monitoring device includes a plurality of manual control state monitoring units, the number of the manual control state monitoring units is the same as the number of the manual control parts, each of the manual control parts is provided with a manual A control state monitoring unit; the manual control state monitoring unit is a handle control state monitoring unit for real-time detection of the manual control state of the swing handle and a button control state monitoring unit for real-time detection of the control state of the manual button, Both the handle control state monitoring unit and the button control state monitoring unit are connected to the main controller; the handle control state monitoring unit includes a swing angle detection unit for real-time detection of the swing angle of the swing handle and a control for the swing handle A swing direction detection unit that detects the swing direction in real time, and the button control state monitoring unit is a button displacement detection unit that detects the up and down displacement of the manual button in real time;
其特征在于，该培训方法包括以下步骤：It is characterized in that the training method comprises the following steps:
步骤一、对上位机、主控器和所述手动控制总成进行初始化；Step 1, initializing the upper computer, the main controller and the manual control assembly;
步骤二、在上位机上选择被培训人员的培训科目：当被培训人员进行理论学习时，执行步骤三；当被培训人员进行悬臂式掘进机虚拟拆装学习时，执行步骤四；当被培训人员进行悬臂式掘进机操控训练时，执行步骤五；Step 2. Select the training subject of the trainee on the host computer: when the trainee conducts theoretical study, perform step 3; when the trainee conducts virtual disassembly and assembly learning of the cantilever roadheader, perform step 4; When carrying out the control training of the cantilever roadheader, perform step five;
步骤三、被培训人员理论学习培训，过程如下：Step 3: The theoretical study and training of the trainees, the process is as follows:
步骤301、在上位机上输入理论学习培训作业设计表，所述理论学习培训作业设计表为定时模拟答题模式；Step 301, input the theoretical study and training job design table on the host computer, the theoretical study and training job design table is a timing simulation answering mode;
步骤302、在上位机上按下“开始答题”，开始悬臂式掘进机理论知识与规范考核；Step 302, press "Start Answering Questions" on the host computer to start the theoretical knowledge and standard assessment of the cantilever roadheader;
步骤303、被培训人员对上位机操作界面进行操作，按照理论学习培训作业设计表进行模拟答题操作；Step 303, the trainee operates the operation interface of the upper computer, and performs simulated answering operations according to the theoretical study and training operation design table;
步骤304、定时结束后，被培训人员在上位机操作界面上进行提交操作；Step 304, after the timing is over, the trainee performs the submission operation on the host computer operation interface;
步骤305、培训考核模式下，根据被培训人员的答题操作情况评分；Step 305, in the training assessment mode, score according to the operation of the trainees' answering questions;
步骤306、生成考核报告，被培训人员考核完成后，上位机会在MySQL数据库中调出被培训人员本次培训的所有数据生成一个TXT文件报告；Step 306, generating an assessment report, after the trainee assessment is completed, the host will call out all the data of the trainee's training in the MySQL database to generate a TXT file report;
步骤307、一次或多次循环步骤302至步骤306，完成悬臂式掘进机理论知识与规范考核的学习过程；Step 307, cycle step 302 to step 306 one or more times, and complete the learning process of cantilever roadheader theoretical knowledge and standard assessment;
步骤308、答题模式结束，通过上位机操作界面进行退出；Step 308, the answering mode ends, and exit through the host computer operation interface;
步骤四、悬臂式掘进机虚拟拆装学习，过程如下：Step 4. Virtual disassembly and assembly learning of the cantilever roadheader. The process is as follows:
步骤401、在上位机操作界面上启动虚拟拆装，上位机显示悬臂式掘进机结构的图文信息；Step 401, start the virtual disassembly and assembly on the host computer operation interface, and the host computer displays the graphic information of the structure of the cantilever roadheader;
步骤402、通过与上位机连接的鼠标点击上位机操作界面上需要演示的悬臂式掘进机部件，上位机根据鼠标点击的位置对该部件进行虚拟拆分组装的演示；Step 402, click the cantilever roadheader component to be demonstrated on the operation interface of the host computer through the mouse connected to the host computer, and the host computer performs a virtual disassembly and assembly demonstration of the component according to the position clicked by the mouse;
步骤403、一次或多次循环步骤402，完成悬臂式掘进机各个部件的虚拟拆装学习过程；Step 403, step 402 is repeated one or more times to complete the virtual disassembly and assembly learning process of each component of the cantilever roadheader;
步骤404、虚拟拆装学习结束，通过上位机操作界面进行退出；Step 404, the virtual disassembly and assembly learning is over, and exit through the host computer operation interface;
步骤五、悬臂式掘进机操控训练，过程如下：Step 5, cantilever roadheader control training, the process is as follows:
步骤501、通过上位机选择悬臂式掘进机操控训练模式：当选择自由操控训练模式时，执行步骤502；当选择规程操作训练模式时，执行步骤503；Step 501, select the control training mode of the cantilever roadheader through the host computer: when the free control training mode is selected, perform step 502; when the regulated operation training mode is selected, perform step 503;
步骤502、悬臂式掘进机自由操控训练：上位机向主控器传输自由操控训练作业设计表，并通过显示单元对上位机传送的自由操控训练作业设计表进行同步显示，被培训人员通过显示单元的提示并根据规程和预定作业设计对面板上的所述手动控制总成进行操作，被培训人员手动操控所述手动控制总成过程中，通过所述手动控制状态监测装置对所述手动控制总成中各手动控制件的手动控制状态进行实时监测，当出现错误操作时，主控器控制显示单元图文报错，主控器断开与数据存储单元的连接，自由操控训练结束，通过上位机操作界面进行退出；Step 502, free control training of the cantilever type roadheader: the upper computer transmits the free control training operation design form to the main controller, and synchronously displays the free control training operation design form transmitted by the upper computer through the display unit, and the trained personnel pass the display unit and operate the manual control assembly on the panel according to the regulations and predetermined job design. During the manual operation of the manual control assembly by the trained personnel, the manual control status monitoring device monitors the manual control assembly The manual control status of each manual control part in Chengzhong is monitored in real time. When there is a wrong operation, the main controller controls the display unit to report an error, the main controller disconnects the connection with the data storage unit, and the free control training is over. Exit from the operation interface;
步骤503、悬臂式掘进机规程操作训练：被培训人员通过上位机选择规程操作训练模式，当选择手动规程操作训练模式时，执行步骤504；当选择自动规程操作训练模式时，执行步骤505；Step 503, cantilever-type roadheader program operation training: the trainee selects the program operation training mode through the host computer. When the manual program operation training mode is selected, step 504 is performed; when the automatic program operation training mode is selected, step 505 is performed;
步骤504、悬臂式掘进机手动规程操作训练，过程如下：Step 504, manual operation training of the cantilever roadheader, the process is as follows:
步骤a、上位机向主控器传输手动规程操控训练作业设计表，主控器通过显示单元实时显示虚拟井下环境，对悬臂式掘进机初始位置以及初始状态进行初始化，将悬臂式掘进机的截割头调整至截割起始点位置；Step a. The upper computer transmits the manual procedure control training operation design table to the main controller. The main controller displays the virtual underground environment in real time through the display unit, initializes the initial position and initial state of the cantilever roadheader, and sets Adjust the cutting head to the starting point of cutting;
所述截割起始点位置为虚拟井下环境中巷道起始的中心位置；The position of the cutting start point is the center position of the start of the roadway in the virtual underground environment;
步骤b、在上位机上按下“开始培训”，开始悬臂式掘进机手动规程操作训练；Step b. Press "Start Training" on the host computer to start the manual operation training of the cantilever roadheader;
步骤c、被培训人员对所述悬臂式掘进机操控台的面板进行操作，按照规程和预定作业设计操作悬臂式掘进机进行巷道掘进工作，悬臂式掘进机巷道掘进工作包括操作机身左右转控制手柄和机身前进后退控制手柄调整掘进机位置，操作后支撑展收手柄对掘进机进行支撑，操作摇臂升降手柄调整掘进机截割头高度，操作截割头伸缩手柄和截割头高低速控制手柄模拟掘进操作，操作铲板伸缩手柄、星轮正反转手柄和一运马达正反转手柄对模拟掘进产生的碎块进行运输，通过时钟电路记录各手柄的操作时间，所述手柄控制状态监测单元检测各手柄摆动角度和方向；Step c. The trained personnel operate the panel of the console of the cantilever type roadheader, and operate the cantilever type roadheader according to the regulations and predetermined operation design to carry out roadway excavation work. The handle and the forward and backward control handle of the fuselage adjust the position of the roadheader. After operation, support the retractable handle to support the roadheader. Operate the rocker arm lifting handle to adjust the height of the cutting head of the roadheader. Operate the telescopic handle of the cutting head and the high and low speed of the cutting head. The control handle simulates the excavation operation, operates the shovel telescopic handle, the forward and reverse handle of the star wheel and the forward and reverse handle of a transport motor to transport the fragments generated by the simulated excavation, and records the operating time of each handle through the clock circuit. The state monitoring unit detects the swing angle and direction of each handle;
步骤d、上位机与所述悬臂式掘进机操控台实时交互，通过显示单元显示出截割头截割轨迹；Step d, the upper computer interacts with the console of the cantilever type roadheader in real time, and displays the cutting track of the cutting head through the display unit;
步骤e、数据记录：主控器与数据存储单元实时数据传输，数据存储单元实时数据记录，当出现错误操作时，主控器控制显示单元图文报错；Step e, data recording: real-time data transmission between the main controller and the data storage unit, real-time data recording by the data storage unit, when an error operation occurs, the main controller controls the display unit to report an error;
步骤f、培训考核模式下，根据被培训人员的手动规程操作训练情况评分；Step f, in the training assessment mode, score according to the training situation of the trained personnel's manual operation;
步骤g、生成考核报告，被培训人员考核完成后，上位机会在MySQL数据库中调出被培训人员本次培训的所有数据生成一个TXT文件报告；Step g, generate an assessment report, after the trainee assessment is completed, the host will call out all the training data of the trainee in the MySQL database to generate a TXT file report;
步骤h、手动规程操作训练结束，通过上位机操作界面进行退出；Step h, the manual procedure operation training is over, and exit through the host computer operation interface;
步骤505、悬臂式掘进机自动规程操作训练，过程如下：Step 505, the automatic procedure training of the cantilever roadheader, the process is as follows:
步骤I、上位机向主控器传输自动规程操控训练作业设计表，主控器通过显示单元实时显示虚拟井下环境，对悬臂式掘进机初始位置以及初始状态进行初始化，将悬臂式掘进机的截割头手动调整至截割起始点位置；Step I, the upper computer transmits the automatic procedure control training operation design table to the main controller, and the main controller displays the virtual underground environment in real time through the display unit, initializes the initial position and initial state of the cantilever roadheader, and converts the cantilever type roadheader to the The cutting head is manually adjusted to the starting point of cutting;
步骤II、在上位机上按下“开始培训”，开始悬臂式掘进机手动规程操作训练；Step II, press "start training" on the host computer to start the manual operation training of the cantilever roadheader;
步骤III、被培训人员按照规程和预定作业设计对所述悬臂式掘进机操控台的面板进行操作；Step III, the trained personnel operate the panel of the control console of the cantilever roadheader according to the regulations and predetermined operation design;
步骤IV、在上位机上进行故障扰动，手动操作所述手动控制总成，记录被培训人员应对操作及操作时间；Step IV, perform fault disturbance on the upper computer, manually operate the manual control assembly, and record the trained personnel's response to the operation and operation time;
步骤V、数据记录：主控器与数据存储单元实时数据传输，被培训人员操作情况自动保存在数据存储单元中，当出现错误操作时，主控器控制显示单元图文报错；Step V, data recording: real-time data transmission between the main controller and the data storage unit, and the operation status of the trained personnel is automatically saved in the data storage unit. When an error occurs, the main controller controls the display unit to report an error;
步骤VI、培训考核模式下，根据被培训人员的自动规程操作训练情况评分；Step VI, in the training assessment mode, score according to the training situation of the trained personnel's automatic procedure operation;
步骤VII、生成考核报告，被培训人员考核完成后，上位机会在MySQL数据库中调出被培训人员本次培训的所有数据生成一个TXT文件报告；Step VII, generate assessment report, after the assessment of the trainee is completed, the host will transfer all the data of the trainee's training in the MySQL database to generate a TXT file report;
步骤VIII、自动规程操作训练结束，通过上位机操作界面进行退出。Step VIII, the automatic procedure operation training is over, and exit through the host computer operation interface.
上述的一种悬臂式掘进机虚拟培训系统的培训方法，其特征在于：所述主控器与上位机之间通过有线或无线方式的网络通信进行实时的数据交换。The above-mentioned training method of the virtual training system of the cantilever type roadheader is characterized in that: the real-time data exchange is performed between the main controller and the host computer through wired or wireless network communication.
上述的一种悬臂式掘进机虚拟培训系统的培训方法，其特征在于：步骤502、步骤e和步骤V中主控器设置有操作误差阈值，当主控器检测到被培训人员操作情况不在该误差阈值范围内时，控制显示单元图文报错。The above-mentioned training method for the virtual training system of a cantilever type roadheader is characterized in that: in step 502, step e and step V, the main controller is set with an operation error threshold, and when the main controller detects that the operation situation of the trainee is not within the When the error threshold is within the range, the control display unit will report a graphic error.
上述的一种悬臂式掘进机虚拟培训系统的培训方法，其特征在于：所述电子线路板上还设置有用于采集数字量、模拟量和开关量的多通道数据采集卡，所述手动控制总成中各手动控制件均与所述多通道数据采集卡连接。The above-mentioned training method for the virtual training system of a cantilever type roadheader is characterized in that: the electronic circuit board is also provided with a multi-channel data acquisition card for collecting digital quantities, analog quantities and switch quantities; Each manual control part in the process is connected with the multi-channel data acquisition card.
本发明与现有技术相比具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、本发明可通过模拟答题模式理论学习，反复对掘进机理论知识学习进行考核，通过评分标准判定被培训人员理论学习是否合格；可通过虚拟拆装学习对掘进机的构造以及连接关系做全面的了解；同时还可以虚拟井下环境，通过手动规程操作训练或自动规程操作训练对掘进机在井下的操作进行培训，功能完备，便于推广使用。1. The present invention can repeatedly assess the study of the theoretical knowledge of the roadheader by simulating the theoretical study of the answering mode, and judge whether the theoretical study of the trained personnel is qualified through the scoring standard; the structure of the roadheader and the connection relationship can be comprehensively studied through virtual disassembly and assembly learning. At the same time, the virtual underground environment can also be used to train the operation of the roadheader in the underground through manual or automatic procedure training. The functions are complete and easy to promote and use.
2、本发明的悬臂式掘进机规程操作训练模式下，采用记录个各手柄的操作过程以及对应的操作时间，记录截割头的截割轨迹，通过显示单元可显示巷道断面大小形状；采用主控器设置各手柄操作阈值，当掘进机出现超挖或欠挖时，通过显示单元图文报错，使用效果好。2. Under the operation training mode of the cantilever type roadheader of the present invention, the operation process and corresponding operation time of each handle are recorded, the cutting track of the cutting head is recorded, and the size and shape of the roadway section can be displayed through the display unit; The controller sets the operating threshold of each handle. When the roadheader is over-excavated or under-excavated, an error will be reported through the display unit with graphics and text, and the use effect is good.
3、本发明的悬臂式掘进机自动规程操作训练模式下，通过上位机随机的向主控器进行故障扰动，手动操作所述手动控制总成，记录被培训人员应对操作及操作时间，考核被培训人员对于突发情况的处理结果是否正确，对于突发情况的应变时间是否及时，对掘进机的操作是否熟练，在此过程中，若被培训人员操作有误或操作不到位时，显示单元均会图文报错，并对错误位置进行提示显示。3. In the automatic procedure operation training mode of the cantilever type roadheader of the present invention, the host computer randomly performs fault disturbance to the main controller, manually operates the manual control assembly, and records the operation and operation time of the trained personnel, and the assessment is completed. Whether the trainer’s handling of the emergency is correct, whether the response time to the emergency is timely, and whether the operation of the roadheader is proficient. In the process, if the trained personnel make mistakes or the operation is not in place, the display unit Graphical and textual errors will be reported, and the error location will be prompted and displayed.
4、本发明采用的培训方法培训效率高、周期短、学习理解直观、操作安全，投入成本低。4. The training method adopted by the present invention has high training efficiency, short cycle, intuitive learning and understanding, safe operation and low investment cost.
综上所述，本发明功能完备，培训效率高、学习理解直观、操作安全，使用效果好，便于推广使用。In summary, the present invention has complete functions, high training efficiency, intuitive learning and understanding, safe operation, good use effect, and is convenient for popularization and use.
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.
附图说明Description of drawings
图1为本发明采用的悬臂式掘进机虚拟培训系统的电路原理框图。Fig. 1 is the schematic block diagram of the circuit of the virtual training system of the cantilever type roadheader adopted in the present invention.
图2为本发明采用的悬臂式掘进机虚拟培训系统中面板上手动控制总成的布设位置示意图。Fig. 2 is a schematic diagram of the arrangement position of the manual control assembly on the panel in the virtual training system of the cantilever type roadheader adopted by the present invention.
图3为本发明培训方法的方法流程框图。Fig. 3 is a flow chart of the training method of the present invention.
附图标记说明:Explanation of reference signs:
1—上位机； 2—面板； 3-1—摇臂升降手柄；1—host computer; 2—panel; 3-1—rocker arm lifting handle;
3-2—截割头伸缩手柄； 3-3—铲板伸缩手柄；3-2—Cutting head telescopic handle; 3-3—Shovel plate telescopic handle;
3-4—截割头启停手柄； 3-5—截割头高低速控制手柄；3-4—start-stop handle of cutting head; 3-5—high and low speed control handle of cutting head;
3-6—星轮正反转手柄； 3-7—机身左右转控制手柄；3-6—the forward and reverse handle of the star wheel; 3-7—the left and right rotation control handle of the fuselage;
3-8—机身前进后退控制手柄； 3-9—一运马达正反转手柄；3-8—the forward and backward control handle of the fuselage; 3-9—the forward and reverse handle of the motor;
3-10—后支撑展收手柄； 3-11—电机启停按钮；3-10—rear support extension handle; 3-11—motor start and stop button;
3-12—掘进机总启停按钮； 3-13—前后灯开关按钮；3-12—the main start and stop button of the roadheader; 3-13—the front and rear light switch buttons;
3-14—警铃启停按钮； 3-15—电源开关按钮；3-14—alarm bell start and stop button; 3-15—power switch button;
3-16—油泵启停按钮； 3-17—手动自动控制切换旋钮；3-16—Oil pump start and stop button; 3-17—Manual and automatic control switching knob;
3-18—掘进机工作面上一视角切换按钮；3-18—A viewing angle switching button on the working face of the roadheader;
3-19—掘进机工作面下一视角切换按钮；3-19—the switch button for the next viewing angle on the working face of the roadheader;
3-20—掘进机急停按钮； 4—主控器； 5—时钟电路；3-20—Emergency stop button of roadheader; 4—Master controller; 5—Clock circuit;
6—手柄控制状态监测单元； 6-1—摆动角度检测单元；6—handle control status monitoring unit; 6-1—swing angle detection unit;
6-2—摆动方向检测单元； 7—按钮控制状态监测单元；6-2—Swing direction detection unit; 7—Button control status monitoring unit;
8—数据存储单元； 9—显示单元。8—data storage unit; 9—display unit.
具体实施方式Detailed ways
如图1、图2和图3所示，本发明的悬臂式掘进机虚拟培训系统的培训方法，所述悬臂式掘进机虚拟培训系统包括As shown in Fig. 1, Fig. 2 and Fig. 3, the training method of the cantilever type roadheader virtual training system of the present invention, the cantilever type roadheader virtual training system includes
悬臂式掘进机操控台，用于监测被培训人员操控培训内容；Cantilever type roadheader control console, used to monitor the training content of the trained personnel;
上位机1，用于通过人机界面设置完成被培训人员的培训科目，包括理论学习、虚拟拆装、操控训练、故障扰动、培训考核和数据查询；The upper computer 1 is used to set the training subjects of the trainees through the man-machine interface, including theoretical study, virtual disassembly and assembly, control training, fault disturbance, training assessment and data query;
所述悬臂式掘进机操控台包括操作台柜体、安装在所述操作台柜体上的面板2和布设在所述操作台柜体内的电子线路板，所述面板2上装有由被培训人员手动控制的手动控制总成，所述手动控制总成包括多个均安装在面板2上的手动控制件；所述电子线路板上设置有主控器4、数据存储单元8和显示单元9，以及对所述手动控制总成中各手动控制件的手动控制状态进行实时监测的手动控制状态监测装置和对所述手动控制总成中各手动控制件的手动控制时间进行记录的时钟电路5，数据存储单元8、显示单元9、所述手动控制状态监测装置和时钟电路5均与主控器4连接，所述主控器4与上位机1连接；The control console of the cantilever type roadheader includes a console cabinet, a panel 2 installed on the console cabinet and an electronic circuit board arranged in the console cabinet, the panel 2 is equipped with Manually controlled manual control assembly, the manual control assembly includes a plurality of manual control parts all installed on the panel 2; the electronic circuit board is provided with a main controller 4, a data storage unit 8 and a display unit 9, And a manual control state monitoring device for real-time monitoring of the manual control state of each manual control part in the manual control assembly and a clock circuit 5 for recording the manual control time of each manual control part in the manual control assembly, The data storage unit 8, the display unit 9, the manual control state monitoring device and the clock circuit 5 are all connected to the main controller 4, and the main controller 4 is connected to the upper computer 1;
所述手动控制件为摇臂升降手柄3-1、截割头伸缩手柄3-2、铲板伸缩手柄3-3、截割头启停手柄3-4、截割头高低速控制手柄3-5、星轮正反转手柄3-6、机身左右转控制手柄3-7、机身前进后退控制手柄3-8、一运马达正反转手柄3-9、后支撑展收手柄3-10、电机启停按钮3-11、掘进机总启停按钮3-12、前后灯开关按钮3-13、警铃启停按钮3-14、电源开关按钮3-15、油泵启停按钮3-16、手动自动控制切换旋钮3-17、掘进机工作面上一视角切换按钮3-18、掘进机工作面下一视角切换按钮3-19和掘进机急停按钮3-20；所述摇臂升降手柄3-1、截割头伸缩手柄3-2、铲板伸缩手柄3-3、截割头启停手柄3-4、截割头高低速控制手柄3-5、星轮正反转手柄3-6、机身左右转控制手柄3-7、机身前进后退控制手柄3-8、一运马达正反转手柄3-9和后支撑展收手柄3-10均为能在面板2进行水平摆动的摆动手柄，所述摆动手柄以铰接方式安装在面板2上；所述电机启停按钮3-11、掘进机总启停按钮3-12、前后灯开关按钮3-13、警铃启停按钮3-14、电源开关按钮3-15、油泵启停按钮3-16、手动自动控制切换旋钮3-17、掘进机工作面上一视角切换按钮3-18、掘进机工作面下一视角切换按钮3-19和掘进机急停按钮3-20均为手动按钮；The manual control parts are rocker lifting handle 3-1, cutting head telescopic handle 3-2, shovel plate telescopic handle 3-3, cutting head start-stop handle 3-4, cutting head high and low speed control handle 3- 5. Star wheel forward and reverse handle 3-6, fuselage left and right rotation control handle 3-7, fuselage forward and backward control handle 3-8, first motor forward and reverse handle 3-9, rear support extension handle 3- 10. Motor start and stop button 3-11, roadheader general start and stop button 3-12, front and rear light switch buttons 3-13, alarm bell start and stop button 3-14, power switch button 3-15, oil pump start and stop button 3- 16. Manual and automatic control switching knob 3-17, a viewing angle switching button 3-18 on the working surface of the roadheader, a switching button 3-19 on the next viewing angle on the working surface of the roadheading machine, and an emergency stop button 3-20 of the roadheading machine; the rocker arm Lifting handle 3-1, cutting head telescopic handle 3-2, shovel plate telescopic handle 3-3, cutting head start-stop handle 3-4, cutting head high and low speed control handle 3-5, star wheel forward and reverse handle 3-6, control handle 3-7 for left and right rotation of the fuselage, control handle 3-8 for forward and backward movement of the fuselage, forward and reverse handle 3-9 of a transport motor, and rear support extension and retraction handle 3-10, all of which can be carried out on panel 2 A swing handle that swings horizontally, and the swing handle is hingedly installed on the panel 2; the motor start-stop button 3-11, the roadheader general start-stop button 3-12, the front and rear light switch buttons 3-13, the alarm bell start Stop button 3-14, power switch button 3-15, oil pump start-stop button 3-16, manual and automatic control switching knob 3-17, first viewing angle switching button 3-18 on the working surface of the roadheader, next viewing angle on the working surface of the roadheading machine Both the switch button 3-19 and the roadheader emergency stop button 3-20 are manual buttons;
所述手动控制状态监测装置包括多个手动控制状态监测单元，所述手动控制状态监测单元的数量与所述手动控制件的数量相同，每个所述手动控制件上均设置有一个所述手动控制状态监测单元；所述手动控制状态监测单元为对所述摆动手柄的手动控制状态进行实时检测的手柄控制状态监测单元6和对所述手动按钮的控制状态进行实时检测的按钮控制状态监测单元7，所述手柄控制状态监测单元6和按钮控制状态监测单元7均与主控器4连接；所述手柄控制状态监测单元6包括对所述摆动手柄的摆动角度进行实时检测的摆动角度检测单元6-1和对所述摆动手柄的摆动方向进行实时检测的摆动方向检测单元6-2，所述按钮控制状态监测单元7为对所述手动按钮的上下位移进行实时检测的按钮位移检测单元；The manual control state monitoring device includes a plurality of manual control state monitoring units, the number of the manual control state monitoring units is the same as the number of the manual control parts, each of the manual control parts is provided with a manual Control state monitoring unit; the manual control state monitoring unit is a handle control state monitoring unit 6 for real-time detection of the manual control state of the swing handle and a button control state monitoring unit for real-time detection of the control state of the manual button 7. Both the handle control state monitoring unit 6 and the button control state monitoring unit 7 are connected to the main controller 4; the handle control state monitoring unit 6 includes a swing angle detection unit for real-time detection of the swing angle of the swing handle 6-1 and a swing direction detection unit 6-2 for real-time detection of the swing direction of the swing handle, and the button control state monitoring unit 7 is a button displacement detection unit for real-time detection of the up and down displacement of the manual button;
其特征在于，该培训方法包括以下步骤：It is characterized in that the training method comprises the following steps:
步骤一、对上位机、主控器和所述手动控制总成进行初始化；Step 1, initializing the upper computer, the main controller and the manual control assembly;
实际使用中，所述手动控制总成中电源开关按钮3-15、掘进机总启停按钮3-12、电机启停按钮3-11、前后灯开关按钮3-13、油泵启停按钮3-16均保持开启状态，为培训训练做好预热准备；In actual use, the power switch button 3-15 in the manual control assembly, the main start-stop button 3-12 of the roadheader, the motor start-stop button 3-11, the front and rear light switch buttons 3-13, the oil pump start-stop button 3- 16 are kept open, ready for warm-up training;
本实施例中，悬臂式掘进机虚拟培训系统是在Solid Works软件中根据实物按照一定比例建立，导入到3DS MAX软件中，对掘进机和掘进场景的三维模型进行贴图、渲染、调整零部件的位置，分模块导入Quest 3D软件。In this embodiment, the virtual training system for the cantilever-type roadheader is established in the Solid Works software according to a certain proportion of the actual object, and imported into the 3DS MAX software to map, render, and adjust the components of the three-dimensional model of the roadheader and the excavation scene. Position, imported into Quest 3D software by module.
步骤二、在上位机上选择被培训人员的培训科目：当被培训人员进行理论学习时，执行步骤三；当被培训人员进行悬臂式掘进机虚拟拆装学习时，执行步骤四；当被培训人员进行悬臂式掘进机操控训练时，执行步骤五；Step 2. Select the training subject of the trainee on the host computer: when the trainee conducts theoretical study, perform step 3; when the trainee conducts virtual disassembly and assembly learning of the cantilever roadheader, perform step 4; When carrying out the control training of the cantilever roadheader, perform step five;
根据不同被培训人员的不同需求设置不同的培训科目，当被培训人员处于初级阶段，则选择理论学习；当被培训人员对掘进机的构造不清楚时，则选择虚拟拆装学习；当被培训人员有一定的理论基础且对掘进机的基本结构了解时，则选择悬臂式掘进机操控训练，被培训人员理论学习培训、悬臂式掘进机虚拟拆装学习和悬臂式掘进机操控训练各自独立，可根据实际需要单一的选择培训科目。Different training subjects are set according to the different needs of different trainees. When the trainees are in the primary stage, they choose theoretical learning; when the trainees are not clear about the structure of the roadheader, they choose virtual disassembly and assembly learning; When the personnel have a certain theoretical foundation and understand the basic structure of the roadheader, they can choose the control training of the cantilever roadheader. The theoretical training of the trainees, the virtual disassembly and assembly learning of the cantilever roadheader and the control training of the cantilever roadheader are independent. A single training subject can be selected according to actual needs.
步骤三、被培训人员理论学习培训，过程如下：Step 3: The theoretical study and training of the trainees, the process is as follows:
步骤301、在上位机上输入理论学习培训作业设计表，所述理论学习培训作业设计表为定时模拟答题模式；Step 301, input the theoretical study and training job design table on the host computer, the theoretical study and training job design table is a timing simulation answering mode;
将理论学习培训作业设计表输入进上位机，所述理论学习培训作业设计表为定时模拟答题模式，掘进机理论知识与规范考核是以选择题、填空题、判断题的形式对被培训人员的理论学习进行考核，采用倒计时的模式，在规定的时间内完成各模拟试题，答错或没有答均不计分。The theoretical learning and training job design table is input into the upper computer, and the theoretical learning and training job design table is a timing simulation answering mode. The theoretical knowledge and standard assessment of the roadheader is based on the form of multiple choice questions, fill in the blanks, and judgment questions for the trained personnel. Theoretical learning is assessed, and the countdown mode is used to complete the mock test questions within the specified time. Wrong answers or no answers will not be scored.
步骤302、在上位机上按下“开始答题”，开始悬臂式掘进机理论知识与规范考核；Step 302, press "Start Answering Questions" on the host computer to start the theoretical knowledge and standard assessment of the cantilever roadheader;
步骤303、被培训人员对上位机操作界面进行操作，按照理论学习培训作业设计表进行模拟答题操作；Step 303, the trainee operates the operation interface of the upper computer, and performs simulated answering operations according to the theoretical study and training operation design table;
步骤304、定时结束后，被培训人员在上位机操作界面上进行提交操作；Step 304, after the timing is over, the trainee performs the submission operation on the host computer operation interface;
步骤305、培训考核模式下，根据被培训人员的答题操作情况评分；Step 305, in the training assessment mode, score according to the operation of the trainees' answering questions;
步骤306、生成考核报告，被培训人员考核完成后，上位机1会在MySQL数据库中调出被培训人员本次培训的所有数据生成一个TXT文件报告；Step 306, generating an assessment report, after the assessment of the trained personnel is completed, the upper computer 1 will transfer all the data of the training personnel's current training in the MySQL database to generate a TXT file report;
上位机1根据考核报告查看该被培训人员的学习情况与存在的不足。The upper computer 1 checks the learning situation and deficiencies of the trainee according to the assessment report.
步骤307、一次或多次循环步骤302至步骤306，完成悬臂式掘进机理论知识与规范考核的学习过程；Step 307, cycle step 302 to step 306 one or more times, and complete the learning process of cantilever roadheader theoretical knowledge and standard assessment;
实际操作中，可在上位机内输入不同的题库，供被培训人员调取学习，可反复多次模拟答题操作，成本低，效率高。In actual operation, different question banks can be input into the host computer for the trainees to retrieve and study, and the operation of answering questions can be simulated repeatedly, with low cost and high efficiency.
步骤308、答题模式结束，通过上位机操作界面进行退出；Step 308, the answering mode ends, and exit through the host computer operation interface;
掘进机理论知识学习模块是在非综掘工作面场景处添加一个物体square，在其正前方添加虚拟相机，被培训人员通过点击进入掘进机理论知识学习时触发此相机，系统开始播放学习内容，square物体作为掘进机理论知识教学的播放屏幕，在逻辑程序控制下顺序播放理论教学所需的文档、图片或音频。The learning module of theoretical knowledge of roadheader is to add an object square at the scene of non-mechanized excavation working face, and add a virtual camera directly in front of it. The trainee clicks to enter the theoretical knowledge of roadheader to trigger this camera, and the system starts to play the learning content. The square object is used as the playback screen for the teaching of theoretical knowledge of the roadheader, and the documents, pictures or audio required for theoretical teaching are sequentially played under the control of the logic program.
步骤四、悬臂式掘进机虚拟拆装学习，过程如下：Step 4. Virtual disassembly and assembly learning of the cantilever roadheader. The process is as follows:
步骤401、在上位机操作界面上启动虚拟拆装，上位机显示悬臂式掘进机结构的图文信息；Step 401, start the virtual disassembly and assembly on the host computer operation interface, and the host computer displays the graphic information of the structure of the cantilever roadheader;
使用文档、图片和多媒体手段进行掘进机内部结构、工作原理和操作规程的虚拟拆装，方便教学，通过建立掘进机关键部位的虚拟样机，实现掘进机的内部结构和关键部位的虚拟拆装。Use documents, pictures and multimedia means to carry out virtual disassembly and assembly of the internal structure, working principle and operating procedures of the roadheader, which is convenient for teaching. By establishing a virtual prototype of the key parts of the roadheader, the virtual disassembly of the internal structure and key parts of the roadheader is realized.
步骤402、通过与上位机连接的鼠标点击上位机操作界面上需要演示的悬臂式掘进机部件，上位机根据鼠标点击的位置对该部件进行虚拟拆分组装的演示；Step 402, click the cantilever roadheader component to be demonstrated on the operation interface of the host computer through the mouse connected to the host computer, and the host computer performs a virtual disassembly and assembly demonstration of the component according to the position clicked by the mouse;
步骤403、一次或多次循环步骤402，完成悬臂式掘进机各个部件的虚拟拆装学习过程；Step 403, step 402 is repeated one or more times to complete the virtual disassembly and assembly learning process of each component of the cantilever roadheader;
实际操作中，可在上位机内输入掘进机的内部结构和关键部位的虚拟拆装，根据对应位置，采用鼠标点击选取对象，可反复多次对关键部位虚拟拆装学习，显示直观。In actual operation, the internal structure of the roadheader and the virtual disassembly and assembly of key parts can be input into the host computer. According to the corresponding position, the object can be selected by clicking with the mouse, and the virtual disassembly and assembly of key parts can be learned repeatedly for many times, and the display is intuitive.
步骤404、虚拟拆装学习结束，通过上位机操作界面进行退出；Step 404, the virtual disassembly and assembly learning is over, and exit through the host computer operation interface;
按照掘进机的操作规程，在Quest 3D虚拟平台的ChannelGraph模式下，通过if、trigger等逻辑命令来触发掘进机各部件动作命令，在进入掘进机关键部位虚拟拆装、组合的演示模块，通过鼠标点击屏幕上需要演示的部件，系统内部会利用Detect MouseCollision命令来检测鼠标点击的位置，选择需要触发命令的序号，进而完成掘进机关键部位虚拟拆装、组合的演示，可使得被培训人员对掘进机进行全方位的观察了解。According to the operating procedures of the roadheader, in the ChannelGraph mode of the Quest 3D virtual platform, the action commands of each part of the roadheader are triggered by logic commands such as if and trigger, and the demonstration module of virtual disassembly and assembly of the key parts of the roadheader is entered. Click the parts that need to be demonstrated on the screen, the system will use the Detect MouseCollision command to detect the position of the mouse click, select the serial number that needs to trigger the command, and then complete the virtual disassembly and assembly demonstration of the key parts of the roadheader, so that the trainees can understand the excavation The machine conducts a comprehensive observation and understanding.
步骤五、悬臂式掘进机操控训练，过程如下：Step 5, cantilever roadheader control training, the process is as follows:
步骤501、通过上位机选择悬臂式掘进机操控训练模式：当选择自由操控训练模式时，执行步骤502；当选择规程操作训练模式时，执行步骤503；Step 501, select the control training mode of the cantilever roadheader through the host computer: when the free control training mode is selected, perform step 502; when the regulated operation training mode is selected, perform step 503;
步骤502、悬臂式掘进机自由操控训练：上位机1向主控器4传输自由操控训练作业设计表，并通过显示单元9对上位机1传送的自由操控训练作业设计表进行同步显示，被培训人员通过显示单元9的提示并根据规程和预定作业设计对面板2上的所述手动控制总成进行操作，被培训人员手动操控所述手动控制总成过程中，通过所述手动控制状态监测装置对所述手动控制总成中各手动控制件的手动控制状态进行实时监测，当出现错误操作时，主控器4控制显示单元9图文报错，主控器4断开与数据存储单元8的连接，自由操控训练结束，通过上位机操作界面进行退出；Step 502, free control training of the cantilever type roadheader: the upper computer 1 transmits the free control training operation design form to the main controller 4, and displays the free control training operation design form transmitted by the upper computer 1 through the display unit 9 synchronously, and is trained The personnel operate the manual control assembly on the panel 2 according to the prompts of the display unit 9 and according to the regulations and predetermined operation design. During the manual operation of the manual control assembly by the trained personnel, the manual control status monitoring device Carry out real-time monitoring of the manual control state of each manual control part in the manual control assembly. When a wrong operation occurs, the main controller 4 controls the display unit 9 to report an error, and the main controller 4 is disconnected from the data storage unit 8. Connect, free control training is over, and exit through the host computer operation interface;
本实施例中，步骤502中主控器4设置有操作误差阈值，当主控器4检测到被培训人员操作情况不在该误差阈值范围内时，控制显示单元9图文报错，还可开启警铃启停按钮3-14对错误操作时，图文报错。In this embodiment, in step 502, the main controller 4 is set with an operation error threshold. When the main controller 4 detects that the operation of the trainee is not within the range of the error threshold, the control display unit 9 will report a graphic error, and the alarm can also be turned on. When the bell start-stop button 3-14 is wrongly operated, a graphic error will be reported.
悬臂式掘进机自由操控训练作为操控训练的教学演示工具，可根据被培训人员时间随机的模拟培训，随时跳出操控训练，实现灵活便捷。Cantilever roadheader free control training is used as a teaching and demonstration tool for control training. It can jump out of control training at any time according to the simulated training at random time of the trainees, achieving flexibility and convenience.
步骤503、悬臂式掘进机规程操作训练：被培训人员通过上位机1选择规程操作训练模式，当选择手动规程操作训练模式时，执行步骤504；当选择自动规程操作训练模式时，执行步骤505；Step 503, cantilever-type roadheader program operation training: the trainee selects the program operation training mode through the host computer 1, when the manual program operation training mode is selected, step 504 is performed; when the automatic program operation training mode is selected, step 505 is performed;
步骤504、悬臂式掘进机手动规程操作训练，过程如下：Step 504, manual operation training of the cantilever roadheader, the process is as follows:
步骤a、上位机1向主控器4传输手动规程操控训练作业设计表，主控器4通过显示单元9实时显示虚拟井下环境，对悬臂式掘进机初始位置以及初始状态进行初始化，将悬臂式掘进机的截割头调整至截割起始点位置；Step a, the upper computer 1 transmits the manual procedure control training operation design table to the main controller 4, and the main controller 4 displays the virtual underground environment in real time through the display unit 9, initializes the initial position and initial state of the cantilever roadheader, and sets the cantilever type The cutting head of the roadheader is adjusted to the starting point of cutting;
在预先搭建的煤矿巷道虚拟环境中，使用悬臂式掘进机操控台手动操控掘进机，将截割头调整至截割起始点位置，设置截割起始点位置六个自由度方向的误差阈值，自主规划截割轨迹，操控掘进机进行巷道掘进工作，截割头轨迹会实时进行存储。In the pre-built virtual environment of coal mine roadway, use the cantilever-type roadheader console to manually control the roadheader, adjust the cutting head to the position of the cutting start point, and set the error threshold in the direction of six degrees of freedom at the cutting start point. Plan the cutting trajectory, control the roadheader to excavate the roadway, and the trajectory of the cutting head will be stored in real time.
所述截割起始点位置为虚拟井下环境中巷道起始的中心位置；The position of the cutting start point is the center position of the start of the roadway in the virtual underground environment;
步骤b、在上位机1上按下“开始培训”，开始悬臂式掘进机手动规程操作训练；Step b, press "start training" on the host computer 1 to start the manual operation training of the cantilever roadheader;
步骤c、被培训人员对所述悬臂式掘进机操控台的面板2进行操作，按照规程和预定作业设计操作悬臂式掘进机进行巷道掘进工作，悬臂式掘进机巷道掘进工作包括操作机身左右转控制手柄3-7和机身前进后退控制手柄3-8调整掘进机位置，操作后支撑展收手柄3-10对掘进机进行支撑，操作摇臂升降手柄3-1调整掘进机截割头高度，操作截割头伸缩手柄3-2和截割头高低速控制手柄3-5模拟掘进操作，操作铲板伸缩手柄3-3、星轮正反转手柄3-6和一运马达正反转手柄3-9对模拟掘进产生的碎块进行运输，通过时钟电路5记录各手柄的操作时间，所述手柄控制状态监测单元6检测各手柄摆动角度和方向；Step c. The trained personnel operate the panel 2 of the control console of the cantilever type roadheader, and operate the cantilever type roadheader according to the regulations and predetermined operation design to carry out roadway excavation work. The roadway excavation work of the cantilever type roadheader includes operating the machine body to turn left The control handle 3-7 and the forward and backward control handle 3-8 of the fuselage adjust the position of the roadheader. After operation, the support extension and retraction handle 3-10 supports the roadheader, and the rocker arm lift handle 3-1 is used to adjust the height of the cutting head of the roadheader. , operate cutting head telescopic handle 3-2 and cutting head high and low speed control handle 3-5 to simulate tunneling operation, operate shovel telescopic handle 3-3, star wheel forward and reverse handle 3-6 and a motor forward and reverse The handles 3-9 transport the fragments generated by the simulated excavation, and record the operating time of each handle through the clock circuit 5, and the handle control state monitoring unit 6 detects the swing angle and direction of each handle;
步骤d、上位机1与所述悬臂式掘进机操控台实时交互，通过显示单元9显示出截割头截割轨迹；Step d, the upper computer 1 interacts with the console of the cantilever type roadheader in real time, and displays the cutting track of the cutting head through the display unit 9;
悬臂式掘进机手动规程操作训练是根据随机出现的不同煤矿煤层赋予情况与断面大小形状，被培训人员根据巷道规格在系统的标记、说明文字等提示和掘进机操控流程提示下，根据截割头控制方法使得截割头调整至截割起始点位置，再按照预定截割路线手动操控掘进机进行巷道掘进工作。The manual operation training of the cantilever roadheader is based on the situation and the size and shape of the cross-section of different coal seams that randomly appear. The control method enables the cutting head to be adjusted to the position of the cutting start point, and then the roadheader is manually controlled according to the predetermined cutting route to carry out roadway excavation work.
步骤e、数据记录：主控器4与数据存储单元8实时数据传输，数据存储单元8实时数据记录，当出现错误操作时，主控器4控制显示单元9图文报错；Step e, data recording: the main controller 4 and the data storage unit 8 transmit data in real time, and the data storage unit 8 records the data in real time. When an error operation occurs, the main controller 4 controls the display unit 9 to report an error message;
本实施例中，步骤e中主控器4设置有操作误差阈值，当主控器4检测到被培训人员操作情况不在该误差阈值范围内时，控制显示单元9图文报错，还可开启警铃启停按钮3-14对错误操作时，图文报错。In this embodiment, in step e, the main controller 4 is provided with an operation error threshold. When the main controller 4 detects that the operation of the trainee is not within the range of the error threshold, the control display unit 9 will report a graphic error, and the alarm can also be turned on. When the bell start-stop button 3-14 is wrongly operated, a graphic error will be reported.
步骤f、培训考核模式下，根据被培训人员的手动规程操作训练情况评分；Step f, in the training assessment mode, score according to the training situation of the trained personnel's manual operation;
步骤g、生成考核报告，被培训人员考核完成后，上位机1会在MySQL数据库中调出被培训人员本次培训的所有数据生成一个TXT文件报告；Step g, generate an assessment report, after the assessment of the trained personnel is completed, the upper computer 1 will transfer all the data of the training of the trained personnel in the MySQL database to generate a TXT file report;
上位机1根据考核报告查看该被培训人员的手动规程操作训练情况与存在的不足。The host computer 1 checks the trainee's manual operation training situation and existing deficiencies according to the assessment report.
步骤h、手动规程操作训练结束，通过上位机操作界面进行退出；Step h, the manual procedure operation training is over, and exit through the host computer operation interface;
步骤505、悬臂式掘进机自动规程操作训练，过程如下：Step 505, the automatic procedure training of the cantilever roadheader, the process is as follows:
步骤I、上位机1向主控器4传输自动规程操控训练作业设计表，主控器4通过显示单元9实时显示虚拟井下环境，对悬臂式掘进机初始位置以及初始状态进行初始化，将悬臂式掘进机的截割头手动调整至截割起始点位置；Step 1. The upper computer 1 transmits the automatic procedure control training operation design table to the main controller 4, and the main controller 4 displays the virtual underground environment in real time through the display unit 9, initializes the initial position and the initial state of the cantilever type roadheader, and the cantilever type The cutting head of the roadheader is manually adjusted to the starting point of cutting;
步骤II、在上位机1上按下“开始培训”，开始悬臂式掘进机手动规程操作训练；Step II, press "start training" on the host computer 1 to start the manual operation training of the cantilever roadheader;
步骤III、被培训人员按照规程和预定作业设计对所述悬臂式掘进机操控台的面板2进行操作；Step III, the trained personnel operate the panel 2 of the console of the cantilever type roadheader according to the regulations and predetermined operation design;
步骤IV、在上位机1上进行故障扰动，手动操作所述手动控制总成，记录被培训人员应对操作及操作时间；Step IV, perform fault disturbance on the upper computer 1, manually operate the manual control assembly, and record the trained personnel's response to the operation and operation time;
通过上位机1随机的向主控器4进行故障扰动，被培训人员应首先操作手动自动控制切换旋钮3-17，手动操作所述手动控制总成，记录被培训人员应对操作及操作时间，考核被培训人员对于突发情况的处理结果是否正确，对于突发情况的应变时间是否及时，对掘进机的操作是否熟练，在此过程中，若被培训人员操作有误或操作不到位时，显示单元均会图文报错，并对错误位置进行提示显示。Through the upper computer 1 to randomly disturb the main controller 4, the trainees should first operate the manual and automatic control switch knob 3-17, manually operate the manual control assembly, record the trainees' response to the operation and the operation time, and perform the assessment Whether the results of the trained personnel's handling of emergencies are correct, whether the emergency response time is timely, and whether they are proficient in the operation of the roadheader. In the process, if the trained personnel make mistakes or do not operate properly, the display Each unit will report an error with graphics and text, and prompt and display the error location.
步骤V、数据记录：主控器4与数据存储单元8实时数据传输，被培训人员操作情况自动保存在数据存储单元8中，当出现错误操作时，主控器4控制显示单元9图文报错；Step V, data recording: real-time data transmission between the main controller 4 and the data storage unit 8, and the operation status of the trained personnel is automatically saved in the data storage unit 8. When a wrong operation occurs, the main controller 4 controls the display unit 9 to report a graphic error ;
本实施例中，步骤V中主控器4设置有操作误差阈值，当主控器4检测到被培训人员操作情况不在该误差阈值范围内时，控制显示单元9图文报错，还可开启警铃启停按钮3-14对错误操作时，图文报错。In this embodiment, in step V, the main controller 4 is provided with an operation error threshold. When the main controller 4 detects that the operation of the trainee is not within the range of the error threshold, the control display unit 9 will report a graphic error, and the alarm can also be turned on. When the bell start-stop button 3-14 is wrongly operated, a graphic error will be reported.
步骤VI、培训考核模式下，根据被培训人员的自动规程操作训练情况评分；Step VI, in the training assessment mode, score according to the training situation of the trained personnel's automatic procedure operation;
步骤VII、生成考核报告，被培训人员考核完成后，上位机1会在MySQL数据库中调出被培训人员本次培训的所有数据生成一个TXT文件报告；Step VII, generate assessment report, after the assessment of the trained personnel is completed, the upper computer 1 will transfer all the data of the training personnel in the MySQL database to generate a TXT file report;
上位机1根据考核报告查看该被培训人员的自动规程操作训练情况与存在的不足。The upper computer 1 checks the trainee's automatic procedure operation training situation and existing deficiencies according to the assessment report.
步骤VIII、自动规程操作训练结束，通过上位机操作界面进行退出。Step VIII, the automatic procedure operation training is over, and exit through the host computer operation interface.
本实施例中，所述主控器4与上位机1之间通过有线或无线方式的网络通信进行实时的数据交换。In this embodiment, real-time data exchange is performed between the main controller 4 and the host computer 1 through wired or wireless network communication.
本实施例中，所述电子线路板上还设置有用于采集数字量、模拟量和开关量的多通道数据采集卡，所述手动控制总成中各手动控制件均与所述多通道数据采集卡连接。In this embodiment, the electronic circuit board is also provided with a multi-channel data acquisition card for collecting digital quantities, analog quantities and switch quantities, and each manual control part in the manual control assembly is connected with the multi-channel data acquisition card. card connection.
以上所述，仅是本发明的较佳实施例，并非对本发明作任何限制，凡是根据本发明技术实质对以上实施例所作的任何简单修改、变更以及等效结构变化，均仍属于本发明技术方案的保护范围内。The above are only preferred embodiments of the present invention, and do not limit the present invention in any way. All simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical essence of the present invention still belong to the technical aspects of the present invention. within the scope of protection of the scheme.
| Application Number | Priority Date | Filing Date | Title |
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| CN201611088154.6ACN106355972B (en) | 2016-11-30 | 2016-11-30 | A kind of Training Methodology of boom-type roadheader virtual reality |
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| CN201611088154.6ACN106355972B (en) | 2016-11-30 | 2016-11-30 | A kind of Training Methodology of boom-type roadheader virtual reality |
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