CN109783962B - Fully-mechanized coal mining equipment collaborative propulsion simulation method based on virtual reality physical engine - Google Patents
Fully-mechanized coal mining equipment collaborative propulsion simulation method based on virtual reality physical engineDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种在虚拟环境下建立数字化综采工作面的实现方法，尤其是一种在虚拟现实仿真引擎Unity3d下建立一种与真实综采工作面装备及地理环境完全一致的装备协同推进的方法与系统。The present invention relates to a realization method of establishing a digital fully mechanized mining face in a virtual environment, in particular to a method of establishing a coordinated advancement of equipment that is completely consistent with the real fully mechanized mining face equipment and geographical environment under the virtual reality simulation engine Unity3d methods and systems.
背景技术Background technique
用虚拟现实技术去清晰展现和模拟井下综采工作面装备的运行工况已成为研究热点，主要研究方法是将综采装备与煤层全部数字化展示出来，然后进行相关行为编译，进而进行仿真，当前关于数字化煤层建模方面的研究，主要是对煤矿的地质数据进行处理，使其可视化显示，并未将实际的综采装备运行的真实工况展现出来。Using virtual reality technology to clearly display and simulate the operating conditions of underground fully mechanized mining face equipment has become a research hotspot. The main research method is to digitally display all fully mechanized mining equipment and coal seams, then compile relevant behaviors, and then perform simulations. Currently The research on digital coal seam modeling is mainly to process the geological data of coal mines to make them visualized, and does not show the real working conditions of the actual fully mechanized mining equipment.
现有技术中，王金华在《The Recent Technological Development ofIntelligent Mining in China》文章中提出了实时3D虚拟工作面智能控制系统的技术构想，包括以地质数据库、扫描路径和3D射线重构的3D虚拟工作面模型，实时GIS更新模型指导工作面的运行路径、截割路径和装备运行状态，以及以记忆截割和滚筒自动调高为主的工作面智能控制技术。In the prior art, Wang Jinhua put forward the technical idea of the real-time 3D virtual working face intelligent control system in the article "The Recent Technological Development of Intelligent Mining in China", including the 3D virtual working face reconstructed with geological database, scanning path and 3D rays Model, real-time GIS update model guides the running path, cutting path and equipment running status of the working face, as well as the intelligent control technology of the working face mainly based on memory cutting and automatic height adjustment of the drum.
申请号为201510774205.X的“一种基于地理信息系统的综采设备数字样机分析系统与方法”，该发明包括地质数据库、开采方案构建模块、地质环境分析模块、数字样机分析模块以及设备性能评估模块；还包括一种利用该系统分析方法：根据地质数据库建立矿区地理信息系统；将各煤层开采方案转换为地质环境中综采设备的推进路径及坐标数据，将截割工艺方案转换为综采设备运行参数，并将所述综采设备运行参数与推进路径及坐标关联；沿着推进路径提取局部地理环境信息及关联的设备运行参数，转换为载荷及边界条件施加于综采设备的数字三维模型进行运行仿真及性能分析，进行综合性能评估；该发明根据复杂的地质环境对综采设备的性能进行全面可靠、有效的分析并对综采设备进行性能评估及预警。Application No. 201510774205.X "A system and method for digital prototype analysis of fully mechanized mining equipment based on geographic information system", the invention includes geological database, mining plan building module, geological environment analysis module, digital prototype analysis module and equipment performance evaluation Module; also includes an analysis method using the system: establish a mining area geographic information system according to the geological database; convert each coal seam mining plan into the advancing path and coordinate data of the fully mechanized mining equipment in the geological environment, and convert the cutting process plan into fully mechanized mining Equipment operation parameters, and associate the operation parameters of the fully mechanized mining equipment with the propulsion path and coordinates; extract the local geographic environment information and associated equipment operation parameters along the propulsion path, and convert them into digital 3D data of loads and boundary conditions applied to the fully mechanized mining equipment The model performs operation simulation and performance analysis, and comprehensive performance evaluation; the invention conducts comprehensive, reliable and effective analysis on the performance of fully mechanized mining equipment according to the complex geological environment, and performs performance evaluation and early warning of fully mechanized mining equipment.
申请号为201711010586.X的“一种基于透明工作面的采煤方法和系统”，该发明提供一种基于透明工作面的采煤方法，通过煤层震波CT检测、巷探、钻探等技术手段，构建工作面智能化开采模型；在采煤机机身安装高精度惯性导航系统获得采煤机的三维空间绝对定位和行进轨迹，结合工作面光纤微震信号和采煤机微震信息，拟合修正三维信息系统；实现采煤机滚筒基于截割模板的智能化控制和液压支架的智能化直线度控制；通过三维虚拟现实系统将工作面的情况实时反映到地面调度指挥中心，实现工作面少人或无人化开采，提高煤矿的智能化开采水平。Application No. 201711010586.X "A Coal Mining Method and System Based on a Transparent Working Face". Construct an intelligent mining model of the working face; install a high-precision inertial navigation system on the shearer body to obtain the absolute positioning and trajectory of the shearer in three-dimensional space, and combine the optical fiber microseismic signal of the working face and the microseismic information of the shearer to fit and correct the three-dimensional Information system; realize the intelligent control of the shearer drum based on the cutting template and the intelligent straightness control of the hydraulic support; use the 3D virtual reality system to reflect the situation of the working face to the ground dispatching command center in real time, so as to realize that the working face has fewer people or Unmanned mining improves the intelligent mining level of coal mines.
但是上述方法的缺陷在于：1）完成在水平理想底板条件下的初步仿真，此种情况下，不需考虑刮板输送机在起伏的底板上铺设、液压支架群的真实布置、采煤机在刮板输送机上的真实行走和截割曲线真实的复现与有效分析；2）没有完整设备与地理环境在虚拟现实环境下的表达方法，主要是通过推进路径及坐标数据对综采装备运行进行定位，计算机实时运算压力大，不能进行仿真，导致虚拟呈现出的装备运行状态与实际差距过大，远远尚未达到与实际工作面运行状态实时对应，让虚拟工作面失去了意义；因此，亟待需要一种新的虚拟仿真方法。However, the disadvantages of the above method are: 1) to complete the preliminary simulation under the condition of horizontal ideal floor, in this case, it is not necessary to consider the laying of scraper conveyor on the undulating floor, the actual The real reproduction and effective analysis of the real walking and cutting curves on the scraper conveyor; 2) There is no expression method for the complete equipment and geographical environment in the virtual reality environment, and the operation of the fully mechanized mining equipment is mainly carried out through the propulsion path and coordinate data. Positioning, computer real-time computing pressure is high, and simulation cannot be performed, resulting in a large gap between the virtual equipment operating status and the actual status, which is far from reaching the real-time correspondence with the actual operating status of the working face, making the virtual working face meaningless; therefore, it is urgently needed A new approach to virtual simulation is needed.
发明内容Contents of the invention
本发明要解决的具体技术问题是如何在虚拟环境下建立一种与真实综采工作面装备及地理环境完全一致的装备协同推进的方法，并提供一种基于虚拟现实物理引擎的综采装备协同推进仿真方法。The specific technical problem to be solved by the present invention is how to establish a method for synergistic advancement of fully mechanized mining equipment in a virtual environment that is completely consistent with the real fully mechanized mining face equipment and geographical environment, and to provide a fully mechanized mining equipment synergy based on a virtual reality physical engine. Advancing simulation methods.
本发明所采取的技术措施方案如下。The technical measure scheme that the present invention takes is as follows.
一种基于虚拟现实物理引擎的综采装备协同推进仿真方法是将虚拟综采装备经模型刚体化修补后，与虚拟煤层进行虚拟接触，进而模拟装备井下运行关键信息，完成模拟实际煤层环境下综采装备协同采煤与煤体清晰展现的情况；所述虚拟煤层包括虚拟固有煤层和虚拟实时更新煤层，虚拟固有煤层是以井下地质探测数据点为基础通过逆向重构方法按照循环点和装备点构造出来，虚拟实时更新煤层是通过实时记录采煤机前后滚筒截割轨迹在Unity3d软件中进行MESH网格碰撞体重构，通过控制固有煤层信息和虚拟实时更新煤层属性的有无和显示，实时更新虚拟煤层数据信息，为虚拟装备进行接触反作用，真实再现井下煤层环境下装备自适应推进过程，本方法替代以往坐标点定位虚拟装备进行虚拟仿真的方法，为透明开采和精准开采提供理论基础。A virtual reality physics engine-based simulation method for fully mechanized mining equipment collaborative advancement is to make virtual contact with the virtual coal seam after the virtual fully mechanized mining equipment has been repaired with a rigid model, and then simulate the key information of the equipment's underground operation to complete the simulation of the actual coal seam environment. Coal mining equipment collaborative coal mining and coal body clearly displayed; the virtual coal seam includes virtual natural coal seam and virtual real-time update coal seam, the virtual natural coal seam is based on underground geological detection data points through reverse reconstruction method according to circulation points and equipment points Constructed, the virtual real-time update of the coal seam is through the real-time recording of the cutting track of the front and rear drums of the shearer, and the MESH grid collision weight reconstruction is carried out in the Unity3d software. Update the virtual coal seam data information, perform contact reaction for the virtual equipment, and truly reproduce the adaptive advancement process of the equipment in the underground coal seam environment. This method replaces the previous method of coordinate point positioning virtual equipment for virtual simulation, and provides a theoretical basis for transparent and precise mining.
所述虚拟装备主要包括虚拟采煤机、虚拟刮板输送机和虚拟液压支架，其中三种虚拟装备相互作用并分别与虚拟煤层进行接触，进而确定虚拟装备运行特征。The virtual equipment mainly includes a virtual coal shearer, a virtual scraper conveyor and a virtual hydraulic support, wherein the three virtual equipment interact and respectively contact with the virtual coal seam, and then determine the operating characteristics of the virtual equipment.
上述虚拟采煤机和虚拟刮板输送机的仿真方法为现有技术；The simulation method of above-mentioned virtual shearer and virtual scraper conveyor is prior art;
上述虚拟采煤机和虚拟煤层的仿真是虚拟采煤机往复行走对虚拟煤层截割，实时记录顶底板截割点，存入XML数据点中，Mesh网络实时读取顶底板点生成截割曲线，与上一循环的点进行连接进行Mesh网络的构造，并实时更新虚拟煤层模型；The simulation of the above-mentioned virtual shearer and virtual coal seam is that the virtual coal shearer reciprocates and cuts the virtual coal seam, records the cutting points of the roof and floor in real time, and stores them in the XML data points, and the Mesh network reads the roof and floor points in real time to generate a cutting curve , connect with the points of the previous cycle to construct the Mesh network, and update the virtual coal seam model in real time;
上述虚拟刮板输送机和虚拟煤层的仿真是在每个虚拟中部槽底部修补一个与底部形状完全一致的刚体组件，使其具备刚体接触属性，与虚拟煤层进行接触。每个虚拟中部槽和相应中部槽后用Unity3d软件中的铰链进行连接，并调整连接参数，使整体刮板输送机可以与虚拟煤层底板进行充分接触，自适应地铺设在底板上，为虚拟采煤机提供运行轨道。The above simulation of the virtual scraper conveyor and the virtual coal seam is to repair a rigid body component that is completely consistent with the bottom shape at the bottom of each virtual middle trough, so that it has the rigid body contact property and contacts the virtual coal seam. Each virtual middle trough and the corresponding middle trough are connected with the hinges in the Unity3d software, and the connection parameters are adjusted so that the overall scraper conveyor can fully contact the virtual coal seam floor and be laid on the bottom plate adaptively, providing a solid foundation for the virtual coal seam. The coal machine provides the running track.
上述虚拟液压支架和虚拟煤层的仿真是在每个虚拟液压支架底座位置添加一个与底座形状完全一致刚体组件，与虚拟煤层底板进行接触。适应底板后，再对虚拟液压支架顶梁和虚拟煤层顶板进行接触分析，使其能够支撑顶板。The above simulation of the virtual hydraulic support and the virtual coal seam is to add a rigid body component that is completely consistent with the shape of the base at the base position of each virtual hydraulic support, and make contact with the virtual coal seam floor. After adapting to the bottom plate, the contact analysis of the virtual hydraulic support top beam and the virtual coal seam roof is carried out so that it can support the roof.
上述虚拟液压支架与周围相邻的虚拟液压支架的仿真是在每一个虚拟液压支架从底板到顶板内的工作空间添加一个虚拟Cube碰撞体，在运行模拟过程中，虚拟液压支架与周围相邻的液压支架出现干涉等方式立即触发报警脚本，发出相应指令。The simulation of the above-mentioned virtual hydraulic support and the adjacent virtual hydraulic support is to add a virtual Cube collision body in the working space of each virtual hydraulic support from the bottom plate to the top plate. During the running simulation process, the virtual hydraulic support and the surrounding adjacent The interference of the hydraulic support will immediately trigger the alarm script and issue corresponding instructions.
上述虚拟刮板输送机和虚拟液压支架间的仿真，主要是通过虚拟液压支架推移机构进行连接，利用推移机构结构解析的结果，编入后台程序，使虚拟刮板输送机和虚拟液压支架在不同的虚拟煤层条件下其能够自适应推进。The above-mentioned simulation between the virtual scraper conveyor and the virtual hydraulic support is mainly connected through the moving mechanism of the virtual hydraulic support, and the results of the analysis of the structure of the moving mechanism are used to program the background program, so that the virtual scraper conveyor and the virtual hydraulic support are in different positions. Under the condition of virtual coal seam, it can advance adaptively.
所述虚拟煤层包括虚拟固有煤层和虚拟实时更新煤层。The virtual coal seam includes a virtual inherent coal seam and a virtual real-time updated coal seam.
上述虚拟固有煤层是以井下地质探测数据点为基础通过逆向重构方法按照各循环和各装备点分别构造出的多个虚拟煤层数据网格，进而联合起来组成虚拟固有煤层。地质探测数据点为主要包括震波CT探测、地质钻孔探测、工作面巷道揭露等多源数据驱动的煤层特征点数据，构建分层的虚拟煤层三维空间点云数据，利用逆向工程重构技术ImageWave按照每刀、每循环，构建出虚拟煤层数据网格，分别经过格式转换（UG导出stl文件进入3DMAX转换为fbx格式文件进入Unity3d中），各个文件连接拼接成虚拟煤层。The above-mentioned virtual inherent coal seam is a plurality of virtual coal seam data grids respectively constructed by reverse reconstruction method according to each cycle and each equipment point based on underground geological detection data points, and then combined to form a virtual inherent coal seam. Geological exploration data points mainly include coal seam feature point data driven by multi-source data such as seismic wave CT detection, geological drilling detection, working face roadway exposure, etc., construct layered virtual coal seam three-dimensional space point cloud data, and use reverse engineering reconstruction technology ImageWave According to each knife and each cycle, a virtual coal seam data grid is constructed, and after format conversion (UG exports stl files into 3DMAX and converts them into fbx format files into Unity3d), each file is connected and spliced into a virtual coal seam.
上述固有虚拟煤层包括虚拟顶板、虚拟底板和虚拟煤体三部分。其中虚拟底板和虚拟底板加入MESH组件碰撞体模块。虚拟煤体根据采煤机截割循环逐渐消隐。The inherent virtual coal seam includes three parts: virtual roof, virtual floor and virtual coal body. Among them, the virtual base plate and the virtual base plate are added to the collision body module of the MESH component. The virtual coal body gradually disappears according to the cutting cycle of the shearer.
所述虚拟实时更新煤层是每当采煤机截割过程中，前滚筒截割顶板和后滚筒截割底板曲线进行实时记录，并通过LineRender软件构建新的MESH网格，将对应编号的虚拟固有煤层的编号变为隐藏并不起作用，实时构造新的虚拟顶板和虚拟底板，虚拟刮板输送机和虚拟液压支架均会随着新的虚拟顶板和虚拟底板自动适应，自动推进，自动运行。The virtual real-time update of the coal seam is to record the curves of the top plate cut by the front drum and the bottom plate cut by the rear drum in real time during the cutting process of the shearer, and a new MESH grid is constructed by the LineRender software, and the corresponding numbered virtual inherent The number of the coal seam becomes hidden and does not work. A new virtual roof and virtual floor are constructed in real time. The virtual scraper conveyor and virtual hydraulic support will automatically adapt, advance and operate automatically with the new virtual roof and virtual floor.
所述虚拟煤层的更新方法是并通过实时记录采煤机前后滚筒截割轨迹在Unity3d软件中进行Mesh网格碰撞体重构，通过控制固有煤层信息和Mesh网格点的有无和显示，实时更新煤层数据信息。The update method of the virtual coal seam is to carry out Mesh grid collision weight reconstruction in Unity3d software by recording the cutting track of the front and rear drums of the shearer in real time, and by controlling the existence and display of inherent coal seam information and Mesh grid points, real-time Update coal seam data information.
所述虚拟装备挂载相应脚本后，就可自主仿真综采装备与煤层时刻推进的状态。After the corresponding script is mounted on the virtual equipment, it can autonomously simulate the status of fully mechanized mining equipment and coal seam advancement at all times.
本发明上述所提供一种基于虚拟现实物理引擎的综采装备协同推进仿真方法的技术方案，与现有技术相比，具有如下的有益效果。Compared with the prior art, the technical scheme of the simulation method for fully mechanized mining equipment collaborative propulsion based on the virtual reality physics engine provided by the present invention has the following beneficial effects.
本方法在综采虚拟仿真过程中引入虚拟现实物理引擎，可以将虚拟装备与虚拟煤层进行接触进而来模拟实际装备在煤层上的运行信息，可以提供高精度的煤层接触信息，可以替代坐标推进的方法，完成三维空间虚拟煤层环境下的高仿真推进，完整地再现整个综采工作面运行流程。This method introduces a virtual reality physical engine in the virtual simulation process of fully mechanized mining, which can contact the virtual equipment with the virtual coal seam to simulate the operation information of the actual equipment on the coal seam, can provide high-precision coal seam contact information, and can replace the coordinate propulsion method, complete the high-simulation advancement in the three-dimensional space virtual coal seam environment, and completely reproduce the operation process of the entire fully mechanized mining face.
本方法将装备截割的状态，煤层的状态均能实时更新，完整地展现了煤层的状态。This method can update the cutting state of the equipment and the state of the coal seam in real time, completely showing the state of the coal seam.
附图说明Description of drawings
图1 是本发明系统方法组成部分与实现仿真方法图。Fig. 1 is a diagram of the system method components and the realization simulation method of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明具体实施方式做出进一步的说明。The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
如附图1所示，实施本发明上述所提供的基于虚拟现实物理引擎的综采装备协同推进仿真方法，该仿真方法是将虚拟综采装备经过模型刚体化修补后，与虚拟煤层进行虚拟接触，进而模拟装备井下运行关键信息，完成模拟实际煤层环境下综采装备协同采煤与煤体清晰展现的情况。所述虚拟煤层包括虚拟固有煤层和虚拟实时更新煤层，虚拟固有煤层是以井下地质探测数据点为基础通过逆向重构方法按照循环点和装备点构造出来的，虚拟实时更新煤层是通过实时记录采煤机前后滚筒截割轨迹在Unity3d软件中进行MESH网格碰撞体重构，通过控制固有煤层信息和虚拟实时更新煤层属性的有无和显示，实时更新虚拟煤层数据信息，为虚拟装备进行接触反作用，真实再现井下煤层环境下装备自适应推进过程。本方法替代以往坐标点定位虚拟装备进行虚拟仿真的方法，为透明开采和精准开采提供理论基础。As shown in accompanying drawing 1, implement the above-mentioned fully mechanized mining equipment collaborative propulsion simulation method based on the virtual reality physical engine provided by the present invention, the simulation method is to carry out virtual contact with the virtual coal seam after the virtual fully mechanized mining equipment has undergone model rigid body repair , and then simulate the key information of the underground operation of the equipment, and complete the simulation of the coordinated coal mining of the fully mechanized mining equipment and the clear display of the coal body in the actual coal seam environment. The virtual coal seam includes a virtual inherent coal seam and a virtual real-time update coal seam. The virtual inherent coal seam is constructed on the basis of underground geological detection data points through a reverse reconstruction method according to circulation points and equipment points. The virtual real-time update coal seam is obtained through real-time recording mining. The cutting trajectory of the front and rear drums of the coal machine is reconstructed in the MESH grid collision weight in the Unity3d software. By controlling the inherent coal seam information and virtual real-time update of the existence and display of the coal seam attributes, the virtual coal seam data information is updated in real time, and the contact reaction is performed for the virtual equipment. , to truly reproduce the self-adaptive propulsion process of the equipment in the underground coal seam environment. This method replaces the previous method of coordinate point positioning virtual equipment for virtual simulation, and provides a theoretical basis for transparent mining and precise mining.
其中的虚拟装备主要包括虚拟采煤机、虚拟刮板输送机和虚拟液压支架，其中三种虚拟装备相互作用并分别与虚拟煤层进行接触，进而确定虚拟装备运行特征。The virtual equipment mainly includes virtual shearer, virtual scraper conveyor and virtual hydraulic support, among which three kinds of virtual equipment interact and contact with virtual coal seam respectively, so as to determine the operating characteristics of virtual equipment.
其中的虚拟采煤机和虚拟刮板输送机的仿真方法为现有技术；Among them, the simulation methods of the virtual shearer and the virtual scraper conveyor are prior art;
其中的虚拟采煤机和虚拟煤层的仿真是虚拟采煤机往复行走对虚拟煤层截割，实时记录顶底板截割点，存入XML数据点中，Mesh网络实时读取顶底板点生成截割曲线，与上一循环的点进行连接进行Mesh网络的构造，并实时更新虚拟煤层模型；Among them, the simulation of the virtual coal shearer and the virtual coal seam is that the virtual coal shearer reciprocates and cuts the virtual coal seam, records the cutting points of the roof and floor in real time, and stores them in the XML data points, and the Mesh network reads the roof and floor points in real time to generate the cutting The curve is connected with the points of the previous cycle to construct the Mesh network and update the virtual coal seam model in real time;
其中的虚拟刮板输送机和虚拟煤层的仿真是在每个虚拟中部槽底部修补一个与底部形状完全一致的刚体组件，使其具备刚体接触属性，与虚拟煤层进行接触。每个虚拟中部槽和相应中部槽后用Unity3d软件中的铰链进行连接，并调整连接参数，使整体刮板输送机可以与虚拟煤层底板进行充分接触，自适应地铺设在底板上，为虚拟采煤机提供运行轨道。The simulation of the virtual scraper conveyor and the virtual coal seam is to repair a rigid body component that is exactly the same shape as the bottom of each virtual middle tank, so that it has the property of rigid body contact and contacts with the virtual coal seam. Each virtual middle trough and the corresponding middle trough are connected with the hinges in the Unity3d software, and the connection parameters are adjusted so that the overall scraper conveyor can fully contact the virtual coal seam floor and be laid on the bottom plate adaptively, providing a solid foundation for the virtual coal seam. The coal machine provides the running track.
其中的虚拟液压支架和虚拟煤层的仿真是在每个虚拟液压支架底座位置添加一个与底座形状完全一致刚体组件，与虚拟煤层底板进行接触。适应底板后，再对虚拟液压支架顶梁和虚拟煤层顶板进行接触分析，使其能够支撑顶板；The simulation of the virtual hydraulic support and the virtual coal seam is to add a rigid body component that is completely consistent with the shape of the base at the base position of each virtual hydraulic support, and make contact with the virtual coal seam floor. After adapting to the bottom plate, the contact analysis of the virtual hydraulic support top beam and the virtual coal seam roof is carried out so that it can support the roof;
以液压支架为例进行相关说明：在液压支架底座模型上添加与底座形态完全一致的刚体、碰撞组件➞液压支架顶、底板与曲面关键点解析➞进行液压支架底板与曲面底板姿态解析计算➞液压支架顶梁与顶板曲面姿态解析➞计算液压支架顶梁与顶板的接触点和角度，根据顶板高度推算进行四连杆联动的后连杆角度➞液压支架移架时对顶、底板的自适应调节。Take the hydraulic support as an example to explain: add rigid bodies and collision components that are exactly the same as the base shape on the base model of the hydraulic support ➞ analyze the key points of the hydraulic support top, bottom plate and curved surface ➞ perform analytical calculation of the posture of the hydraulic support bottom plate and the curved surface bottom plate ➞ hydraulic pressure Analysis of the posture of the top beam of the support and the top plate ➞ Calculate the contact point and angle between the top beam and the top plate of the hydraulic support, and calculate the rear link angle of the four-link linkage according to the height of the top plate ➞ Adaptive adjustment of the top and bottom plates when the hydraulic support is moved .
其中的虚拟液压支架与周围相邻的虚拟液压支架的仿真是在每一个虚拟液压支架从底板到顶板内的工作空间添加一个虚拟Cube碰撞体，在运行模拟过程中，虚拟液压支架与周围相邻的液压支架出现干涉等方式立即触发报警脚本，发出相应指令；The simulation of the virtual hydraulic support adjacent to the surrounding virtual hydraulic support is to add a virtual Cube collision body in the working space of each virtual hydraulic support from the bottom plate to the top plate. During the simulation process, the virtual hydraulic support is adjacent to the surrounding If there is interference in the hydraulic support, the alarm script will be triggered immediately and the corresponding command will be issued;
其中的虚拟刮板输送机和虚拟液压支架间的仿真，主要是通过虚拟液压支架推移机构进行连接，利用推移机构结构解析的结果，编入后台程序，使虚拟刮板输送机和虚拟液压支架在不同的虚拟煤层条件下其能够自适应推进。Among them, the simulation between the virtual scraper conveyor and the virtual hydraulic support is mainly connected through the virtual hydraulic support pushing mechanism, and the results of the structural analysis of the pushing mechanism are used to program the background program, so that the virtual scraper conveyor and the virtual hydraulic support are in the same position. It can advance adaptively under different virtual coal seam conditions.
其中的虚拟煤层包括虚拟固有煤层和虚拟实时更新煤层。The virtual coal seam includes virtual inherent coal seam and virtual real-time update coal seam.
其中的虚拟固有煤层是以井下地质探测数据点为基础通过逆向重构方法按照各循环和各装备点分别构造出的多个虚拟煤层数据网格，进而联合起来组成虚拟固有煤层。地质探测数据点为主要包括震波CT探测、地质钻孔探测、工作面巷道揭露等多源数据驱动的煤层特征点数据，构建分层的虚拟煤层三维空间点云数据，利用逆向工程重构技术ImageWave按照每刀、每循环，构建出虚拟煤层数据网格，分别经过格式转换（UG导出stl文件进入3DMAX转换为fbx格式文件进入Unity3d中），各个文件连接拼接成虚拟煤层。Among them, the virtual natural coal seam is a plurality of virtual coal seam data grids that are constructed based on the underground geological exploration data points through the reverse reconstruction method according to each cycle and each equipment point, and then combined to form a virtual natural coal seam. Geological exploration data points mainly include coal seam feature point data driven by multi-source data such as seismic wave CT detection, geological drilling detection, working face roadway exposure, etc., construct layered virtual coal seam three-dimensional space point cloud data, and use reverse engineering reconstruction technology ImageWave According to each knife and each cycle, a virtual coal seam data grid is constructed, and after format conversion (UG exports stl files into 3DMAX and converts them into fbx format files into Unity3d), each file is connected and spliced into a virtual coal seam.
其中的固有虚拟煤层包括虚拟顶板、虚拟底板和虚拟煤体三部分。其中虚拟底板和虚拟底板加入MESH组件碰撞体模块。虚拟煤体根据采煤机截割循环逐渐消隐。The inherent virtual coal seam includes three parts: virtual roof, virtual floor and virtual coal body. Among them, the virtual base plate and the virtual base plate are added to the collision body module of the MESH component. The virtual coal body gradually disappears according to the cutting cycle of the shearer.
其中的虚拟实时更新煤层是每当采煤机截割过程中，前滚筒截割顶板和后滚筒截割底板曲线进行实时记录，并通过LineRender软件构建新的MESH网格，将对应编号的虚拟固有煤层的编号变为隐藏并不起作用，实时构造新的虚拟顶板和虚拟底板，虚拟刮板输送机和虚拟液压支架均会随着新的虚拟顶板和虚拟底板自动适应，自动推进，自动运行。The virtual real-time update of the coal seam is to record the curves of the top plate cut by the front drum and the bottom plate cut by the rear drum in real time during the cutting process of the shearer, and a new MESH grid is constructed by the LineRender software, and the corresponding numbered virtual inherent The number of the coal seam becomes hidden and does not work. A new virtual roof and virtual floor are constructed in real time. The virtual scraper conveyor and virtual hydraulic support will automatically adapt, advance and operate automatically with the new virtual roof and virtual floor.
其中的虚拟煤层的更新方法是并通过实时记录采煤机前后滚筒截割轨迹在Unity3d软件中进行Mesh网格碰撞体重构，通过控制固有煤层信息和Mesh网格点的有无和显示，实时更新煤层数据信息。The update method of the virtual coal seam is to reconstruct the Mesh grid collision weight in the Unity3d software by recording the cutting trajectory of the front and rear drums of the shearer in real time, and by controlling the presence and display of the inherent coal seam information and Mesh grid points, real-time Update coal seam data information.
其中的虚拟装备挂载相应脚本后，就可自主仿真综采装备与煤层时刻推进的状态。After the corresponding script is mounted on the virtual equipment, it can independently simulate the status of fully mechanized mining equipment and coal seam advancement at all times.
本发明仅仅是通过Unity3d软件中的刚体接触碰撞模块以及逆向重构软件重构煤层进行方案的说明优选方案，并不用以限制本发明，凡是依据本发明的技术实质对以上实施例所做的任何细微修改、等同替换和改进，均应包含在本发明技术方案的保护范围之内。The present invention is only through the rigid body contact collision module in the Unity3d software and the description and optimization scheme of the scheme of reconstructing the coal seam by the reverse reconstruction software, and is not intended to limit the present invention. Minor modifications, equivalent replacements and improvements shall all be included within the scope of protection of the technical solution of the present invention.
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