CN113051756B - Virtual-real fusion coal mining machine memory cutting test system and method - Google Patents
Virtual-real fusion coal mining machine memory cutting test system and methodDownload PDFInfo
- Publication number
- CN113051756B CN113051756BCN202110311017.9ACN202110311017ACN113051756BCN 113051756 BCN113051756 BCN 113051756BCN 202110311017 ACN202110311017 ACN 202110311017ACN 113051756 BCN113051756 BCN 113051756B
- Authority
- CN
- China
- Prior art keywords
- virtual
- real
- mining machine
- coal mining
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及性能测试拟技术领域，具体为一种虚实融合的采煤机记忆截割试验系统和方法。The invention relates to the technical field of performance test simulation, in particular to a virtual-real fusion shearer memory cutting test system and method.
背景技术Background technique
在综采工作面中，采煤机作为核心设备，其自动化程度严重制约着矿井的生产效益。如何全面、快速、准确地获取采煤机的各项运行参数，并通过信息融合处理实现对运行姿态实时、精确地控制是实现整个工作面自动化的关键。在获取到采煤机全部运行参数的基础上，如果能将采煤机的各项信息实时反映到一套模型系统中，将会极大地提高采煤机的智能控制可视化程度，方便进一步的理论研究或者试验操作。In the fully mechanized mining face, the shearer is the core equipment, and its automation degree seriously restricts the production efficiency of the mine. How to obtain the operating parameters of the shearer comprehensively, quickly and accurately, and realize the real-time and accurate control of the operating attitude through information fusion processing is the key to realize the automation of the entire working face. On the basis of obtaining all the operating parameters of the shearer, if the information of the shearer can be reflected into a model system in real time, it will greatly improve the visualization of the intelligent control of the shearer and facilitate further theoretical analysis. Research or experimental operations.
目前，由于当前煤岩识别技术仍然没有得到工业应用，综采工作面普遍采用记忆截割加人工干预的方法作为采煤过程长期运行的主流模式，所以采煤机的记忆截割技术也逐渐成熟起来。在多种理论方案中，虚拟现实技术可以构建出一个类似于全景的真实的综采工作面三维场景以及虚拟装备，模拟采煤过程以及相关设备的运行，表现出快速反映、准确直观的应用潜力，对于综采三机装备的相对位姿状态监测、判断，对于保证煤矿生产过程中各装备动作的正确性以及提高综采工作面安全高效及智能化水平具有重要意义。At present, since the current coal and rock identification technology has not been applied in industry, the method of memory cutting and manual intervention is generally adopted in the fully mechanized mining face as the mainstream mode of long-term operation of the coal mining process, so the memory cutting technology of the shearer is gradually mature. stand up. In a variety of theoretical schemes, virtual reality technology can build a real three-dimensional scene of fully mechanized mining face and virtual equipment similar to the panorama, simulate the coal mining process and the operation of related equipment, and show the application potential of rapid reflection, accurate and intuitive , It is of great significance to monitor and judge the relative posture state of the three-machine fully mechanized mining equipment, to ensure the correctness of each equipment action in the coal mine production process and to improve the safety, efficiency and intelligence of the fully mechanized mining face.
现有技术中，公开号为201620402537.5的“一种实现多信息融合的采煤机智能控制的实验系统”实用新型专利，包括数据采集系统、电脑人机交互界面、机载控制器和运动执行机构，能够在实验室条件下对多信息融合的采煤机的智能控制方法进行验证。公开号为201611034015.5的“一种虚拟采煤机记忆截割方法研究”发明专利，将采煤机工况参数实时驱动采煤机虚拟样机，并绘制不同地质条件的综采工作面，实现采煤工作状态的“真实再现”。In the prior art, the utility model patent with the publication number of 201620402537.5 for "an experimental system for realizing intelligent control of shearers with multi-information fusion" includes a data acquisition system, a computer human-computer interaction interface, an on-board controller and a motion actuator , which can verify the intelligent control method of the multi-information fusion shearer under laboratory conditions. The invention patent of "Research on a Virtual Shearer Memory Cutting Method" with the publication number of 201611034015.5, drives the shearer virtual prototype in real time with the shearer working condition parameters, and draws the fully mechanized mining face with different geological conditions to realize coal mining A "true representation" of the working state.
但是上述方法的缺陷在于只是提出试验方法并进行了简单验证，实验结果无法与生产实际有效结合，缺少一种对记忆截割技术进行可视化分析，并且能够快速方便地测试采煤机控制器性能，验证记忆截割效果的试验系统方案。However, the shortcomings of the above methods are that they only propose experimental methods and perform simple verifications. The experimental results cannot be effectively combined with the actual production. There is a lack of a visual analysis of the memory cutting technology, and the performance of the shearer controller can be quickly and easily tested. Experimental system scheme to verify the effect of memory truncation.
发明内容SUMMARY OF THE INVENTION
本发明克服了现有技术存在的不足，提供一种在虚拟现实环境下进行采煤机记忆截割试验的系统方案。本方案解决了当前测试记忆截割只能在井下实际环境中、测试过程耗费巨大人力物力、实际井下环境风险因素多、危险系数高、测试困难以及可行性小等诸多问题。The invention overcomes the deficiencies in the prior art, and provides a system scheme for carrying out a shearer memory cutting test in a virtual reality environment. This solution solves many problems such as the current test memory cutting can only be performed in the actual underground environment, the testing process consumes huge manpower and material resources, the actual underground environment has many risk factors, high risk factors, difficult testing and low feasibility.
为了解决上述技术问题，本发明提供了如下技术方案：一种虚实融合的采煤机记忆截割试验系统，包括：虚拟测试场景、虚实交互系统和试验测试台；In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a virtual-real integrated shearer memory cutting test system, including: a virtual test scene, a virtual-real interaction system and a test test bench;
虚拟测试场景根据实际受试采煤机所应用的不同井下环境构建，包括虚拟煤层底板、虚拟装备和场景显示装置，虚拟装备包括虚拟刮板输送机和虚拟采煤机；虚实交互系统包括物理数据模块、虚实交互模块和虚拟数据模块；试验测试台设置于水平地面上，包括与所测试采煤机控制器相匹配的采煤机、各类传感器、调节架和支撑架；The virtual test scene is constructed according to different underground environments used by the actual tested shearer, including virtual coal seam floor, virtual equipment and scene display device. The virtual equipment includes virtual scraper conveyor and virtual shearer; the virtual-real interaction system includes physical data module, virtual-real interaction module and virtual data module; the test bench is set on the level ground, including the shearer matching the tested shearer controller, various sensors, adjustment frames and support frames;
采煤机通过调节架安装在支撑架上，进行空转和采高调节；调节架由支撑架、俯仰角推杆和横滚角推杆组成，俯仰角推杆和横滚角推杆在虚拟采煤机数据的控制下可以对采煤机的俯仰角和横滚角进行实时调节，模拟采煤机在井下实际工作环境运行时的姿态变化；采煤机上加装传感器，类型至少包括牵引部轴编码器、摇臂倾角传感器和捷联惯导；The shearer is installed on the support frame through the adjustment frame to adjust the idling and mining height; the adjustment frame is composed of the support frame, the pitch angle push rod and the roll angle push rod. The pitch angle push rod and the roll angle push rod are in the virtual mining. Under the control of the coal machine data, the pitch angle and roll angle of the shearer can be adjusted in real time, simulating the attitude change of the shearer in the actual working environment underground; Encoder, rocker arm inclination sensor and strapdown inertial navigation;
其中，所述虚拟煤层底板模型基于地质探测数据和真实井下有经验的采煤机司机的操作数据，获得相应煤层走势变化的规律，根据相似设计方法得到煤层数据点；底板模型模拟真实井下煤层顶底板倾斜状态；虚拟采煤机和虚拟刮板输送机基于受试采煤机及其配合的刮板输送机的几何外形尺寸构建；Wherein, the virtual coal seam floor model is based on the geological detection data and the operation data of real underground experienced shearer drivers to obtain the corresponding coal seam trend change law, and the coal seam data points are obtained according to the similar design method; the floor model simulates the real underground coal seam roof The inclined state of the bottom plate; the virtual shearer and the virtual scraper conveyor are constructed based on the geometrical dimensions of the tested shearer and its matching scraper conveyor;
场景显示包括采煤机截割曲线生成面板和数据显示面板；其中，采煤机截割曲线生成面板用于绘制采煤机滚筒截割轨迹，在虚拟采煤机运行过程中实时显示截割曲线，实现整个割煤过程的可视化；数据显示面板用于将虚拟采煤机运行速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角与传感器变量联系并显示出来，实现对受试采煤机位姿信息的实时显示监控；The scene display includes a shearer cutting curve generation panel and a data display panel; among them, the shearer cutting curve generation panel is used to draw the shearer drum cutting trajectory, and the cutting curve is displayed in real time during the virtual shearer operation. , to realize the visualization of the entire coal cutting process; the data display panel is used to connect and display the virtual shearer running speed, left and right rocker arm angles, left and right drum heights, body pitch angle, roll angle and sensor variables to realize Real-time display and monitoring of the position and attitude information of the trial shearer;
物理数据模块用于接收虚实交互模块中采煤机实时机身倾角信息，控制试验测试台调节架俯仰角推杆和横滚角推杆的运动，实时模拟出采煤机在井下真实环境中工作的姿态变化；所述虚实交互模块用于与物理数据模块和虚拟数据模块进行数据交互，实时数据与控制指令通过虚实交互模块在物理数据模块与虚拟数据模块之间传输，将实时数据发送至虚拟数据模块，驱动虚拟采煤机动作并显示；虚拟数据模块用于接收到受试采煤机的实时位姿、运行速度，传输至虚拟测试场景，驱动虚拟采煤机动作并进行实时显示。The physical data module is used to receive the real-time body inclination information of the shearer in the virtual-real interaction module, control the movement of the pitch angle push rod and the roll angle push rod of the test bench adjustment frame, and simulate the shearer working in the real underground environment in real time. The attitude changes; the virtual-real interaction module is used for data interaction with the physical data module and the virtual data module, the real-time data and control instructions are transmitted between the physical data module and the virtual data module through the virtual-real interaction module, and the real-time data is sent to the virtual data module. The data module is used to drive and display the action of the virtual shearer; the virtual data module is used to receive the real-time pose and running speed of the tested shearer, transmit it to the virtual test scene, drive the action of the virtual shearer and display it in real time.
其中，在虚拟煤层底板模型上添加刚体及碰撞体组件，模拟真实煤层底板对刮板输送机的支持作用；所述虚拟采煤机和虚拟刮板输送机根据实际受试的型号及几何外形尺寸在UG软件中进行1:1建模，建模完成后将模型导入至3D MAX软件将模型格式转换为Fbx格式，最后将采煤机和刮板输送机各部件Fbx格式模型导入至Unity 3D，完成虚拟测试场景内采煤机和刮板输送机模型的构建；Among them, rigid body and collision body components are added to the virtual coal seam floor model to simulate the supporting effect of the real coal seam floor on the scraper conveyor; the virtual shearer and virtual scraper conveyor are based on the actual tested models and geometric dimensions. Perform 1:1 modeling in UG software. After modeling, import the model into 3D MAX software to convert the model format to Fbx format. Finally, import the Fbx format model of each part of the shearer and scraper conveyor into Unity 3D. Complete the construction of the shearer and scraper conveyor models in the virtual test scene;
根据测试需要，编写C#脚本实现对虚拟采煤机行走、加速减速、左右摇臂升降、滚筒旋转动作的控制；为虚拟刮板输送机添加控制脚本，使其自适应地平铺在高低起伏的煤层底板上；According to the test needs, write C# scripts to realize the control of the virtual shearer's walking, acceleration and deceleration, left and right rocker arm lifting, and drum rotation; add control scripts for the virtual scraper conveyor, so that it can be adaptively tiled in the undulating coal seam on the bottom plate;
根据测试需要，为虚拟采煤机编写C#程序并预留俯仰角、横滚角的姿态驱动变量，将姿态变量与实际受试采煤机的实时位置、姿态数据量通过虚实交互系统进行关联；具体为：测试时通过设置于受试采煤机上装设的传感器获取受试采煤机的实时位姿数据，通过虚实交互模块传输至虚拟数据模块，将受试采煤机的实时位姿数据进行处理后赋值给虚拟采煤机对应的姿态驱动变量，驱动虚拟采煤机同步进行位置姿态的动作；According to the test needs, write a C# program for the virtual shearer and reserve the attitude driving variables of the pitch angle and roll angle, and associate the attitude variables with the real-time position and attitude data of the actual tested shearer through the virtual-real interaction system; Specifically: during the test, the real-time pose data of the tested shearer is obtained through the sensors installed on the tested shearer, and the real-time pose data of the tested shearer is transmitted to the virtual data module through the virtual-real interaction module. After processing, it is assigned to the corresponding attitude drive variable of the virtual shearer, and the virtual shearer is driven to perform the position and attitude actions synchronously;
在虚拟采煤机和虚拟刮板输送机中添加刚体和碰撞体组件，模拟真实采煤机与煤层和刮板输送机的相互作用，使虚拟刮板输送机能够自适应地平铺在高低起伏的煤层底板上，虚拟采煤机滑靴安放在虚拟刮板输送机溜槽铲煤板上，机身与刮板输送机平行。Add rigid body and collision body components to the virtual shearer and virtual scraper conveyor to simulate the interaction between the real shearer and the coal seam and scraper conveyor, so that the virtual scraper conveyor can be adaptively tiled in the undulating terrain On the coal seam floor, the virtual shearer shoe is placed on the virtual scraper conveyor chute coal shoveling plate, and the fuselage is parallel to the scraper conveyor.
其中，物理数据模块接收采煤机上安装的传感器采集的受试采煤机的实时位姿、运行速度数据并发送给虚实交互模块，虚实交互模块将实时数据发送至虚拟数据模块驱动虚拟采煤机动作并显示；同时，物理数据模块接收虚实交互模块中采煤机实时机身倾角信息，控制试验测试台调节架俯仰角推杆和横滚角推杆的运动，实时模拟出采煤机在井下真实环境中工作的姿态变化；Among them, the physical data module receives the real-time pose and running speed data of the tested shearer collected by the sensors installed on the shearer and sends it to the virtual-real interaction module, and the virtual-real interaction module sends the real-time data to the virtual data module to drive the virtual shearer Action and display; at the same time, the physical data module receives the real-time body inclination information of the shearer in the virtual-real interaction module, controls the movement of the pitch angle push rod and roll angle push rod of the test bench adjustment frame, and simulates the shearer in real time in the underground. Posture changes of work in the real environment;
所述虚拟数据模块与虚实交互模块、虚拟测试场景进行数据联通和信息交换；采煤机安装的传感器采集受试采煤机的实时位姿、运行速度数据并传输至物理数据模块，物理数据模块将实时数据通过虚实交互模块传输至虚拟数据模块，虚拟数据模块接收到受试采煤机的实时位姿、运行速度后，将其传输至虚拟测试场景，驱动虚拟采煤机动作并进行实时显示。The virtual data module performs data communication and information exchange with the virtual-real interaction module and the virtual test scene; the sensors installed on the shearer collect the real-time pose and running speed data of the tested shearer and transmit them to the physical data module, and the physical data module The real-time data is transmitted to the virtual data module through the virtual-real interaction module. After the virtual data module receives the real-time pose and running speed of the tested shearer, it transmits it to the virtual test scene to drive the action of the virtual shearer and display it in real time. .
其中，牵引部轴编码器用于测量采煤机牵引电机的转速，计算出采煤机的速度；所述摇臂倾角传感器用于测量左右摇臂的角度，计算出滚筒的采高数据；所述捷联惯导用于测量采煤机机身俯仰角、横滚角及实时空间三维坐标。Among them, the shaft encoder of the traction part is used to measure the rotational speed of the traction motor of the shearer to calculate the speed of the shearer; the rocker arm inclination sensor is used to measure the angle of the left and right rocker arms and calculate the mining height data of the drum; the Strapdown inertial navigation is used to measure the pitch angle, roll angle and real-time space three-dimensional coordinates of the shearer fuselage.
为了解决上述技术问题，本发明提供了如下技术方案：一种虚实融合的采煤机记忆截割试验方法，利用如前述技术方案所述的虚实融合的采煤机记忆截割试验系统进行试验，包括以下步骤：In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a virtual-reality fusion shearer memory cutting test method, using the virtual-reality fusion shearer memory cutting test system as described in the foregoing technical solution for testing, Include the following steps:
步骤1：构建虚拟测试场景；根据受试采煤机所处的煤层，采集井下采煤机司机的操作数据和地质探测数据，建立虚拟煤层底板模型；构建虚拟采煤机和虚拟刮板输送机，根据实际采煤机和刮板输送机型号及几何外形尺寸在UG软件中进行1:1建模，建模完成后将模型导入至3D MAX软件将模型格式转换为Fbx格式，将各部件Fbx格式模型导入至Unity3D，完成虚拟测试场景内装备模型的搭建；Step 1: Build a virtual test scene; according to the coal seam where the tested shearer is located, collect the operation data and geological detection data of the underground shearer driver, and establish a virtual coal seam floor model; build a virtual shearer and a virtual scraper conveyor , according to the actual shearer and scraper conveyor model and geometric dimensions, 1:1 modeling is carried out in UG software. After the modeling is completed, the model is imported into 3D MAX software to convert the model format to Fbx format, and each component The Fbx format model is imported into Unity3D to complete the construction of the equipment model in the virtual test scene;
虚拟测试场景搭建好后，分别创建并添加采煤机和刮板输送机脚本组件来控制物体运动，根据测试需要，编写C#脚本实现对虚拟采煤机行走、加速减速、左右摇臂升降、滚筒旋转动作的控制；After the virtual test scene is built, create and add shearer and scraper conveyor script components respectively to control the movement of objects. According to the test needs, write C# scripts to realize the virtual shearer walking, acceleration and deceleration, left and right rocker arm lifting, roller control of rotation;
在虚拟采煤机和虚拟刮板输送机关键部件处添加刚体和碰撞体组件，模拟真实采煤机与煤层和刮板输送机的相互作用，使虚拟刮板输送机能够自适应地平铺在高低起伏的煤层底板上，使虚拟采煤机滑靴能够安放在虚拟刮板输送机溜槽铲煤板上，机身与刮板输送机平行；Add rigid body and collision body components at key components of virtual shearer and virtual scraper conveyor to simulate the interaction between real shearer and coal seam and scraper conveyor, so that virtual scraper conveyor can be tiled at high and low levels adaptively On the undulating coal seam floor, the virtual shearer sliding shoes can be placed on the virtual scraper conveyor chute coal shoveling plate, and the body is parallel to the scraper conveyor;
根据测试需要，为虚拟采煤机编写C#程序并预留俯仰角、横滚角姿态驱动变量，将姿态变量与受试采煤机的实时位置、姿态数据量通过虚实交互系统进行关联；测试时，传感器获取受试采煤机的实时位姿数据，通过物理数据模块将实时数据由虚实交互模块传输至虚拟数据模块，虚拟数据模块将受试采煤机的实时位姿数据进行处理后赋值给虚拟采煤机对应的姿态驱动变量，驱动虚拟采煤机同步进行位置姿态的动作；According to the test needs, write a C# program for the virtual shearer and reserve the pitch angle and roll angle attitude drive variables, and associate the attitude variables with the real-time position and attitude data of the tested shearer through the virtual-real interaction system; , the sensor obtains the real-time pose data of the tested shearer, transmits the real-time data from the virtual-real interaction module to the virtual data module through the physical data module, and the virtual data module processes the real-time pose data of the tested shearer and assigns it to The attitude driving variable corresponding to the virtual shearer drives the virtual shearer to synchronously perform the position and attitude actions;
在OnGUI方法中，通过字符串编写创建数据显示面板，将虚拟采煤机运行速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角与传感器变量联系并显示出来，实现对采煤机位姿信息的实时显示监控；In the OnGUI method, a data display panel is created by writing strings, and the virtual shearer running speed, left and right rocker arm angles, left and right drum heights, fuselage pitch angle, roll angle and sensor variables are linked and displayed, so as to realize the comparison of mining machine. Real-time display and monitoring of coal machine pose information;
步骤2：安装试验测试台；根据测试综采工作面所运行的采煤机以及受试采煤机控制器的要求选择相应型号的采煤机安装在试验测试台上的调节架上，试验测试台设置于水平地面上；Step 2: Install the test bench; according to the requirements of the shearer running on the fully mechanized mining face and the controller of the tested shearer, select the shearer of the corresponding model and install it on the adjustment frame on the test bench, and test the The platform is set on the level ground;
采煤机被调节架架起，在台架上空转和进行采高调节，在采煤机关键位置上安装相应的传感器；在采煤机牵引部电机轴上安装轴编码器，用于测量采煤机牵引电机的转速；在左右摇臂中部安装倾角传感器，用于测量左右摇臂的角度；在采煤机机身上部安装捷联惯导，用于测量采煤机机身俯仰角、横滚角及实时空间三维坐标；同时在采煤机上安装需要测试的控制器；The shearer is set up by the adjustment frame, idle on the bench and adjust the mining height, and install the corresponding sensor on the key position of the shearer; The rotation speed of the traction motor of the coal machine; the inclination sensor is installed in the middle of the left and right rocker arms to measure the angle of the left and right rocker arms; Rolling angle and three-dimensional coordinates in real-time space; at the same time, the controller that needs to be tested is installed on the shearer;
步骤3：开始测试；采集井下实际生产过程中的十刀数据集，根据数据集前五刀数据对采煤机控制器进行示范刀训练；根据数据集操作采煤机牵引电机运行和进行左右摇臂的采高调节，采煤机上传感器的信号通过虚实交互通道传送到虚拟测试场景中，驱动虚拟采煤机在虚拟煤层底板上运行；虚拟测试场景中的画面实时显示虚拟采煤机的运行状态并显示截割曲线，同时虚拟采煤机在虚拟煤层底板上运行产生的倾角变化信息通过虚实交互系统传送到试验测试台调节架中，控制俯仰角推杆和横滚角推杆运动，实时模拟出采煤机在井下真实环境中工作的姿态变化；数据显示面板实时显示当前虚拟采煤机运行的位置、速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角信息供工人操作参考；Step 3: Start the test; collect the ten-knife data set in the actual production process underground, and perform demonstration knife training on the shearer controller according to the data of the first five knives in the data set; operate the shearer traction motor to run and perform left and right swing according to the data set The mining height of the arm is adjusted, and the signals of the sensors on the shearer are transmitted to the virtual test scene through the virtual-real interaction channel, and the virtual shearer is driven to run on the virtual coal seam floor; the picture in the virtual test scene displays the running status of the virtual shearer in real time. The cutting curve is displayed, and the inclination angle change information generated by the virtual shearer running on the virtual coal seam floor is transmitted to the test bench adjustment frame through the virtual-real interaction system to control the movement of the pitch angle push rod and roll angle push rod, and simulate in real time. The attitude change of the shearer working in the real underground environment; the data display panel displays the current position, speed, left and right rocker arm angle, left and right drum height, body pitch angle, and roll angle information of the current virtual shearer in real time for workers. Operational reference;
采煤机控制器基于示范刀的数据，自主预测生成下一刀的数据，通过工人操作的前五刀数据生成第六刀数据，根据第二刀和第六刀的数据生成第七刀的数据，以此类推完成五刀预测刀数据；采煤机控制器在自主预测过程中获取虚拟采煤机的位置信息，预测刀数据驱动虚拟采煤机在虚拟测试场景中运行，虚拟测试场景显示截割曲线，数据显示面板显示实时位姿信息，同时驱动实际采煤机在试验测试台上运行，显示记忆截割的效果；Based on the data of the demonstration knife, the shearer controller independently predicts and generates the data of the next knife, generates the data of the sixth knife through the data of the first five knifes operated by the workers, and generates the data of the seventh knife according to the data of the second knife and the sixth knife. By analogy, the five-knife prediction knife data is completed; the shearer controller obtains the position information of the virtual shearer in the process of autonomous prediction, and the prediction knife data drives the virtual shearer to run in the virtual test scene, and the virtual test scene shows the cutting curve, the data display panel displays real-time pose information, and drives the actual shearer to run on the test bench to display the effect of memory cutting;
步骤4：结束测试；Unity软件导出采煤机控制器自主预测的五刀数据，将预测刀的数据集通过MATLAB软件与井下工人实际操作的后五刀数据集进行对比，得出采煤机控制器记忆截割的效果分析。Step 4: End the test; Unity software exports the five-knife data independently predicted by the shearer controller, and compares the predicted knife data set with the last five-knife data set actually operated by the underground workers through MATLAB software to obtain the shearer control Analysis of the effect of device memory truncation.
本发明所提供的一种虚实融合的采煤机记忆截割试验系统和方法，与现有技术相比，具有以下有益效果：Compared with the prior art, a shearer memory cutting test system and method integrating virtual and real provided by the present invention has the following beneficial effects:
1、本发明构建煤层底板模型基于地质探测数据和真实井下有经验的采煤机司机的操作数据，获得相应煤层走势变化的规律，再根据相似设计方法得到煤层数据点。构建采煤机、刮板输送机模型时完全参照实际设备的几何外观和动作流程，因此对在虚拟测试场景中测试具有较高的可信度。根据所研究煤矿的煤层条件及所使用的采煤机型号不同，研究人员可进行相应修改，快速构建虚拟测试场景进而完成特定煤层条件下对特定型号的采煤机控制器性能的测试；1. The present invention builds a coal seam floor model based on geological detection data and the operation data of real underground experienced shearer drivers, obtains the law of corresponding coal seam trend changes, and then obtains coal seam data points according to a similar design method. When constructing models of shearers and scraper conveyors, the geometric appearance and action flow of actual equipment are completely referenced, so they have high reliability for testing in virtual test scenarios. According to the coal seam conditions of the studied coal mine and the different models of shearers used, researchers can make corresponding modifications to quickly build a virtual test scene to complete the performance test of a specific model of shearer controller under specific coal seam conditions;
2、本发明结合虚拟现实技术和记忆截割技术对采煤机控制器性能进行测试，试验人员不用在真实的井下环境实际操作采煤机即可对采煤机控制器进行试验，本测试系统及测试方法可以有效保证研究人员进行相关测试试验时的人身安全，解决了当前测试记忆截割只能在井下实际环境中、测试过程耗费巨大人力物力、实际井下环境风险因素多、危险系数高、测试困难以及可行性小等诸多问题。此外，本测试系统及方法还具有很强的重复性；2. The invention combines virtual reality technology and memory cutting technology to test the performance of the shearer controller. The tester can test the shearer controller without actually operating the shearer in a real underground environment. This test system And the test method can effectively ensure the personal safety of researchers when conducting relevant test experiments, and solve the problem that the current test memory cutting can only be performed in the actual underground environment, the testing process consumes huge manpower and material resources, the actual underground environment has many risk factors, high risk factors, and high risk factors. There are many problems such as difficulty in testing and small feasibility. In addition, the test system and method also have strong repeatability;
3、本发明借助虚拟现实显示技术实现测试过程中采煤机位姿状态的三维画面及相关数据的实时直观显示，研究人员可对测试过程中采煤机动作和位姿状态进行全景、直观观察；此外，基于Unity 3d的软件支持，研究人员可根据测试需要在虚拟测试场景内通过添加脚本等方式获取更多种类的测试数据，方便研究人员完善试验并进行相关扩展分析；3. The present invention realizes the real-time visual display of the three-dimensional picture of the shearer's posture and related data during the test process by means of the virtual reality display technology, and the researchers can conduct a panoramic and intuitive observation of the shearer's action and posture during the test process. ; In addition, based on the software support of Unity 3d, researchers can obtain more types of test data by adding scripts in the virtual test scene according to the test needs, which is convenient for researchers to improve the test and carry out related extended analysis;
4、本发明可将采煤机自主预测的记忆截割数据与人工截割数据进行对比。通过进行量化对比，例如对两者截割曲线的接近程度和两种情况下的安全程度进行打分和评价，来测试采煤机控制器的性能和验证记忆截割的效果。4. The present invention can compare the memory cutting data independently predicted by the shearer with the manual cutting data. Through quantitative comparison, such as scoring and evaluating the closeness of the two cutting curves and the safety degree under the two conditions, the performance of the shearer controller is tested and the effect of memory cutting is verified.
附图说明Description of drawings
下面将结合附图及实施例对本发明作进一步说明，附图中：The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:
图1是本发明提供的一种虚实融合的采煤机记忆截割试验系统的结构示意图。Figure 1 is a schematic structural diagram of a shearer memory cutting test system provided by the present invention.
图2是本发明提供的一种虚实融合的采煤机记忆截割试验系统的原理示意图。FIG. 2 is a schematic diagram of the principle of a shearer memory cutting test system provided by the present invention.
图3是本发明提供的一种虚实融合的采煤机记忆截割试验系统的试验测试台安装示意图。Fig. 3 is a schematic diagram of the installation of a test bench of a shearer memory cutting test system provided by the present invention.
图4是本发明提供的一种虚实融合的采煤机记忆截割试验方法的逻辑示意图。FIG. 4 is a logical schematic diagram of a shearer memory cutting test method provided by the present invention.
具体实施方式Detailed ways
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图详细说明本发明的具体实施方式。In order to have a clearer understanding of the technical features, objects and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
如图1和图2所示，本发明提供了一种虚实融合的采煤机记忆截割试验系统，包括：虚拟测试场景、虚实交互系统和试验测试台；As shown in FIG. 1 and FIG. 2 , the present invention provides a virtual-real integrated shearer memory cutting test system, including: a virtual test scene, a virtual-real interaction system and a test test bench;
虚拟测试场景根据实际受试采煤机所应用的不同井下环境构建，包括虚拟煤层底板、虚拟装备和场景显示装置，虚拟装备包括虚拟刮板输送机和虚拟采煤机；虚实交互系统包括物理数据模块、虚实交互模块和虚拟数据模块；试验测试台设置于水平地面上，包括与所测试采煤机控制器相匹配的采煤机、各类传感器、调节架和支撑架；The virtual test scene is constructed according to different underground environments used by the actual tested shearer, including virtual coal seam floor, virtual equipment and scene display device. The virtual equipment includes virtual scraper conveyor and virtual shearer; the virtual-real interaction system includes physical data module, virtual-real interaction module and virtual data module; the test bench is set on the level ground, including the shearer matching the tested shearer controller, various sensors, adjustment frames and support frames;
采煤机根据所应用的综采工作面工作要求有所不同，采煤机通过调节架安装在支撑架上，进行空转和采高调节；调节架由支撑架、俯仰角推杆和横滚角推杆组成，俯仰角推杆和横滚角推杆在虚拟采煤机数据的控制下可以对采煤机的俯仰角和横滚角进行实时调节，模拟采煤机在井下实际工作环境运行时的姿态变化；采煤机上加装传感器，类型至少包括牵引部轴编码器、摇臂倾角传感器和捷联惯导；The shearer is different according to the working requirements of the fully mechanized mining face used. The shearer is installed on the support frame through the adjusting frame to perform idling and mining height adjustment; the adjusting frame is composed of the support frame, the pitch angle push rod and the roll angle. Composed of push rod, pitch angle push rod and roll angle push rod can adjust the pitch angle and roll angle of the shearer in real time under the control of the virtual shearer data, simulating the operation of the shearer in the actual working environment of the mine The attitude change of the shearer; the sensors are installed on the shearer, and the types include at least the shaft encoder of the traction part, the rocker arm inclination sensor and the strapdown inertial navigation;
其中，虚拟煤层底板模型根据地质探测数据和真实井下有经验的采煤机司机的操作数据，获得相应煤层走势变化的规律，再根据相似设计方法得到煤层数据点；底板模型高低起伏，具有一定倾角，模拟真实井下煤层顶底板倾斜状态。底板模型模拟真实井下煤层顶底板倾斜状态；虚拟采煤机和虚拟刮板输送机基于受试采煤机及其配合的刮板输送机的几何外形尺寸构建；Among them, the virtual coal seam floor model obtains the trend change rule of the corresponding coal seam according to the geological detection data and the operation data of the real underground shearer driver, and then obtains the coal seam data points according to the similar design method; the floor model fluctuates in height and has a certain inclination angle , simulating the tilted state of the roof and floor of the real underground coal seam. The floor model simulates the inclined state of the roof and floor of the real underground coal seam; the virtual shearer and the virtual scraper conveyor are constructed based on the geometrical dimensions of the tested shearer and its matching scraper conveyor;
场景显示包括采煤机截割曲线生成面板和数据显示面板；其中，采煤机截割曲线生成面板用于在虚拟测试场景中利用LineRender组件绘制采煤机滚筒截割轨迹，在虚拟采煤机运行过程中实时显示截割曲线，实现整个割煤过程的可视化；数据显示面板是Unity内的一个GUI系统，通过编写脚本代码将虚拟采煤机运行速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角与传感器变量联系并显示出来，实现对受试采煤机位姿信息的实时显示监控；The scene display includes a shearer cutting curve generation panel and a data display panel; wherein, the shearer cutting curve generation panel is used to draw the shearer drum cutting trajectory by using the LineRender component in the virtual test scene, and in the virtual shearer The cutting curve is displayed in real time during the operation to realize the visualization of the entire coal cutting process; the data display panel is a GUI system in Unity. The body pitch angle, roll angle and sensor variables are connected and displayed to realize real-time display and monitoring of the tested shearer's position and attitude information;
物理数据模块用于接收虚实交互模块中采煤机实时机身倾角信息，控制试验测试台调节架俯仰角推杆和横滚角推杆的运动，实时模拟出采煤机在井下真实环境中工作的姿态变化；所述虚实交互模块用于与物理数据模块和虚拟数据模块进行数据交互，实时数据与控制指令通过虚实交互模块在物理数据模块与虚拟数据模块之间传输，将实时数据发送至虚拟数据模块，驱动虚拟采煤机动作并显示；虚拟数据模块用于接收到受试采煤机的实时位姿、运行速度，传输至虚拟测试场景，驱动虚拟采煤机动作并进行实时显示。The physical data module is used to receive the real-time body inclination information of the shearer in the virtual-real interaction module, control the movement of the pitch angle push rod and the roll angle push rod of the test bench adjustment frame, and simulate the shearer working in the real underground environment in real time. The attitude changes; the virtual-real interaction module is used for data interaction with the physical data module and the virtual data module, the real-time data and control instructions are transmitted between the physical data module and the virtual data module through the virtual-real interaction module, and the real-time data is sent to the virtual data module. The data module is used to drive and display the action of the virtual shearer; the virtual data module is used to receive the real-time pose and running speed of the tested shearer, transmit it to the virtual test scene, drive the action of the virtual shearer and display it in real time.
其中，在虚拟煤层底板模型上添加刚体及碰撞体组件，模拟真实煤层底板对刮板输送机的支持作用；所述虚拟采煤机和虚拟刮板输送机根据实际受试的型号及几何外形尺寸在UG软件中进行1:1建模，建模完成后将模型导入至3D MAX软件将模型格式转换为Fbx格式，最后将采煤机和刮板输送机各部件Fbx格式模型导入至Unity 3D，完成虚拟测试场景内采煤机和刮板输送机模型的构建；Among them, rigid body and collision body components are added to the virtual coal seam floor model to simulate the supporting effect of the real coal seam floor on the scraper conveyor; the virtual shearer and virtual scraper conveyor are based on the actual tested models and geometric dimensions. Perform 1:1 modeling in UG software. After modeling, import the model into 3D MAX software to convert the model format to Fbx format. Finally, import the Fbx format model of each part of the shearer and scraper conveyor into Unity 3D. Complete the construction of the shearer and scraper conveyor models in the virtual test scene;
根据测试需要，编写C#脚本实现对虚拟采煤机行走、加速减速、左右摇臂升降、滚筒旋转动作的控制；为虚拟刮板输送机添加控制脚本，使其自适应地平铺在高低起伏的煤层底板上；According to the test needs, write C# scripts to realize the control of the virtual shearer's walking, acceleration and deceleration, left and right rocker arm lifting, and drum rotation; add control scripts for the virtual scraper conveyor, so that it can be adaptively tiled in the undulating coal seam on the bottom plate;
根据测试需要，为虚拟采煤机编写C#程序并预留俯仰角、横滚角的姿态驱动变量，将姿态变量与实际受试采煤机的实时位置、姿态数据量通过虚实交互系统进行关联；具体为：测试时通过设置于受试采煤机上装设的传感器获取受试采煤机的实时位姿数据，通过虚实交互模块传输至虚拟数据模块，将受试采煤机的实时位姿数据进行处理后赋值给虚拟采煤机对应的姿态驱动变量，驱动虚拟采煤机同步进行位置姿态的动作；According to the test needs, write a C# program for the virtual shearer and reserve the attitude driving variables of the pitch angle and roll angle, and associate the attitude variables with the real-time position and attitude data of the actual tested shearer through the virtual-real interaction system; Specifically: during the test, the real-time pose data of the tested shearer is obtained through the sensors installed on the tested shearer, and the real-time pose data of the tested shearer is transmitted to the virtual data module through the virtual-real interaction module. After processing, it is assigned to the corresponding attitude drive variable of the virtual shearer, and the virtual shearer is driven to perform the position and attitude actions synchronously;
在虚拟采煤机和虚拟刮板输送机中添加刚体和碰撞体组件，模拟真实采煤机与煤层和刮板输送机的相互作用，使虚拟刮板输送机能够自适应地平铺在高低起伏的煤层底板上，虚拟采煤机滑靴安放在虚拟刮板输送机溜槽铲煤板上，机身与刮板输送机平行。Add rigid body and collision body components to the virtual shearer and virtual scraper conveyor to simulate the interaction between the real shearer and the coal seam and scraper conveyor, so that the virtual scraper conveyor can be adaptively tiled in the undulating terrain On the coal seam floor, the virtual shearer shoe is placed on the virtual scraper conveyor chute coal shoveling plate, and the fuselage is parallel to the scraper conveyor.
其中，物理数据模块接收采煤机上安装的传感器采集的受试采煤机的实时位姿、运行速度数据并发送给虚实交互模块，虚实交互模块将实时数据发送至虚拟数据模块驱动虚拟采煤机动作并显示；同时，物理数据模块接收虚实交互模块中采煤机实时机身倾角信息，控制试验测试台调节架俯仰角推杆和横滚角推杆的运动，实时模拟出采煤机在井下真实环境中工作的姿态变化；Among them, the physical data module receives the real-time pose and running speed data of the tested shearer collected by the sensors installed on the shearer and sends it to the virtual-real interaction module, and the virtual-real interaction module sends the real-time data to the virtual data module to drive the virtual shearer Action and display; at the same time, the physical data module receives the real-time body inclination information of the shearer in the virtual-real interaction module, controls the movement of the pitch angle push rod and roll angle push rod of the test bench adjustment frame, and simulates the shearer in real time in the underground. Posture changes of work in the real environment;
所述虚拟数据模块与虚实交互模块、虚拟测试场景进行数据联通和信息交换；采煤机安装的传感器采集受试采煤机的实时位姿、运行速度数据并传输至物理数据模块，物理数据模块将实时数据通过虚实交互模块传输至虚拟数据模块，虚拟数据模块接收到受试采煤机的实时位姿、运行速度后，将其传输至虚拟测试场景，驱动虚拟采煤机动作并进行实时显示。The virtual data module performs data communication and information exchange with the virtual-real interaction module and the virtual test scene; the sensors installed on the shearer collect the real-time pose and running speed data of the tested shearer and transmit them to the physical data module, and the physical data module The real-time data is transmitted to the virtual data module through the virtual-real interaction module. After the virtual data module receives the real-time pose and running speed of the tested shearer, it transmits it to the virtual test scene to drive the action of the virtual shearer and display it in real time. .
在采煤机关键位置上安装相应的传感器，其安装位置如图3所示。牵引部轴编码器用于测量采煤机牵引电机的转速，计算出采煤机的速度；所述摇臂倾角传感器用于测量左右摇臂的角度，计算出滚筒的采高数据；所述捷联惯导用于测量采煤机机身俯仰角、横滚角及实时空间三维坐标。Install the corresponding sensor on the key position of the shearer, and its installation position is shown in Figure 3. The shaft encoder of the traction part is used to measure the rotation speed of the traction motor of the shearer and calculate the speed of the shearer; the rocker arm inclination sensor is used to measure the angle of the left and right rocker arms and calculate the mining height data of the drum; the strapdown Inertial navigation is used to measure the pitch angle, roll angle and real-time space three-dimensional coordinates of the shearer fuselage.
如图4所示，本发明提供了一种虚实融合的采煤机记忆截割试验方法，利用如前述技术方案所述的虚实融合的采煤机记忆截割试验系统进行试验，包括步骤：As shown in FIG. 4 , the present invention provides a shearer memory cutting test method of virtual-real fusion, using the virtual-reality fusion shearer memory cutting test system as described in the foregoing technical solution to carry out the test, including the steps:
步骤1：构建虚拟测试场景；根据受试采煤机所处的煤层，采集井下采煤机司机的操作数据和地质探测数据，建立虚拟煤层底板模型；构建虚拟采煤机和虚拟刮板输送机，根据实际采煤机和刮板输送机型号及几何外形尺寸在UG软件中进行1:1建模，建模完成后将模型导入至3D MAX软件将模型格式转换为Fbx格式，将各部件Fbx格式模型导入至Unity3D，完成虚拟测试场景内装备模型的搭建；Step 1: Build a virtual test scene; according to the coal seam where the tested shearer is located, collect the operation data and geological detection data of the underground shearer driver, and establish a virtual coal seam floor model; build a virtual shearer and a virtual scraper conveyor , according to the actual shearer and scraper conveyor model and geometric dimensions, 1:1 modeling is carried out in UG software. After the modeling is completed, the model is imported into 3D MAX software to convert the model format to Fbx format, and each component The Fbx format model is imported into Unity3D to complete the construction of the equipment model in the virtual test scene;
获取受试采煤机所处的煤层的钻孔数据、实测数据等地质探测数据，结合真实井下有经验的采煤机司机的操作数据得到初步的煤层数据点。对获得的煤层数据点进行Kriging 法插值处理，得到大量煤层底板模型所需的数据点，对插值后的数据进行Delaunay 三角剖分，并在 Unity3D 中利用 C#脚本建立 TIN 网并进行渲染，建立虚拟煤层底板模型。Obtain the geological exploration data such as drilling data and measured data of the coal seam where the tested shearer is located, and obtain preliminary coal seam data points by combining the operation data of the actual underground experienced shearer driver. Perform Kriging interpolation on the obtained coal seam data points to obtain a large number of data points required for the coal seam floor model, perform Delaunay triangulation on the interpolated data, and use C# script in Unity3D to build a TIN network and render it to create a virtual Coal seam floor model.
虚拟测试场景搭建好后，分别创建并添加采煤机和刮板输送机脚本组件来控制物体运动，根据测试需要，编写C#脚本实现对虚拟采煤机行走、加速减速、左右摇臂升降、滚筒旋转动作的控制；After the virtual test scene is built, create and add shearer and scraper conveyor script components respectively to control the movement of objects. According to the test needs, write C# scripts to realize the virtual shearer walking, acceleration and deceleration, left and right rocker arm lifting, roller control of rotation;
在虚拟采煤机和虚拟刮板输送机关键部件处添加刚体和碰撞体组件，模拟真实采煤机与煤层和刮板输送机的相互作用，使虚拟刮板输送机能够自适应地平铺在高低起伏的煤层底板上，使虚拟采煤机滑靴能够安放在虚拟刮板输送机溜槽铲煤板上，机身与刮板输送机平行；Add rigid body and collision body components at key components of virtual shearer and virtual scraper conveyor to simulate the interaction between real shearer and coal seam and scraper conveyor, so that virtual scraper conveyor can be tiled at high and low levels adaptively On the undulating coal seam floor, the virtual shearer sliding shoes can be placed on the virtual scraper conveyor chute coal shoveling plate, and the body is parallel to the scraper conveyor;
根据测试需要，为虚拟采煤机编写C#程序并预留俯仰角、横滚角姿态驱动变量，将姿态变量与受试采煤机的实时位置、姿态数据量通过虚实交互系统进行关联；测试时，传感器获取受试采煤机的实时位姿数据，通过物理数据模块将实时数据由虚实交互模块传输至虚拟数据模块，虚拟数据模块将受试采煤机的实时位姿数据进行处理后赋值给虚拟采煤机对应的姿态驱动变量，驱动虚拟采煤机同步进行位置姿态的动作；According to the test needs, write a C# program for the virtual shearer and reserve the pitch angle and roll angle attitude drive variables, and associate the attitude variables with the real-time position and attitude data of the tested shearer through the virtual-real interaction system; , the sensor obtains the real-time pose data of the tested shearer, transmits the real-time data from the virtual-real interaction module to the virtual data module through the physical data module, and the virtual data module processes the real-time pose data of the tested shearer and assigns it to The attitude driving variable corresponding to the virtual shearer drives the virtual shearer to synchronously perform the position and attitude actions;
在OnGUI方法中，通过字符串编写创建数据显示面板，将虚拟采煤机运行速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角与传感器变量联系并显示出来，实现对采煤机位姿信息的实时显示监控；In the OnGUI method, a data display panel is created by writing strings, and the virtual shearer running speed, left and right rocker arm angles, left and right drum heights, fuselage pitch angle, roll angle and sensor variables are linked and displayed, so as to realize the comparison of mining machine. Real-time display and monitoring of coal machine pose information;
虚拟采煤机建立的模块包括机身、摇臂、滚筒、牵引部、调高油缸、导向滑靴等，对机身内部的电动机、减速箱、液压单元等进行简化。虚拟刮板输送机主要展现其自适应地平铺在高低不平的虚拟煤层上以及对虚拟采煤机的支撑作用，不展现运煤场景，故主要建立机头部、机尾部及中部槽，对刮板链进行简化。The modules established by the virtual shearer include fuselage, rocker arm, drum, traction part, height-adjusting oil cylinder, guiding slipper, etc., and simplify the motor, reduction box, hydraulic unit, etc. inside the fuselage. The virtual scraper conveyor mainly shows its adaptive tiling on the uneven virtual coal seam and its supporting role for the virtual shearer. It does not show the coal transportation scene. The plate chain is simplified.
为了保证虚拟采煤机单机运动的准确性，在导入模型前对其进行修补，采煤机构件之间的运动都可以分解为平移与旋转两种，构件之间连接的旋转点一般通过销轴连接，所以对模型进行修补，在相对运动的关键点添加销轴。具体添加销轴如下：采煤机添加左（右）摇臂销轴、左（右）滚筒销轴、左（右）调高油缸销轴、左（右）活塞销轴。刮板输送机在相邻两节中部槽上添加连接销轴。In order to ensure the accuracy of the motion of a single virtual shearer, it is repaired before importing the model. The motion between the components of the shearer can be decomposed into two types: translation and rotation. connected, so patch the model and add pins at the key points of relative motion. The specific adding pins are as follows: the shearer adds the left (right) rocker arm pin, the left (right) roller pin, the left (right) height-adjusting oil cylinder pin, and the left (right) piston pin. The scraper conveyor adds connecting pins to the middle grooves of two adjacent sections.
在UG中建立的模型导出为 stl格式，此格式无法被 Unity 3d软件识别，选择通过3D Max软件转化为中间格式FBX格式，导出文件到项目工程资源文件夹，Unity会立即刷新该资源，并将变化应用于整个项目。在转化过程中，要保证三维模型的相对位置不变，并且保证具有相对运动关系的零部件在虚拟软件中仍能正常运动。The model created in UG is exported to stl format, which cannot be recognized by Unity 3d software. Choose to convert it to the intermediate format FBX format through 3D Max software, and export the file to the project project resource folder. Unity will immediately refresh the resource and put Changes apply to the entire project. During the conversion process, it is necessary to ensure that the relative position of the 3D model remains unchanged, and that the components with relative motion relationship can still move normally in the virtual software.
Unity3D可以在 Hierarchy(层级)视图中很方便地建立父子关系，通过分析采煤机的运动情况，建立其父子关系。采煤机零部件运动的相对影响关系如下：机身左右移动，采煤机上所有零部件跟随运动；摇臂绕摇臂销轴旋转，实现上升与下降，对应的滚筒随摇臂升降；调高油缸与摇臂协同运动，调高油缸绕调高油缸销轴旋转，活塞伴随其旋转，同时活塞相对调高油缸沿直线运动。Unity3D can easily establish a parent-child relationship in the Hierarchy view, and establish its parent-child relationship by analyzing the movement of the shearer. The relative influence of the movement of the parts of the shearer is as follows: the body moves left and right, and all the parts on the shearer follow the movement; the rocker arm rotates around the rocker arm pin shaft to achieve rising and falling, and the corresponding drum moves up and down with the rocker arm; The oil cylinder and the rocker arm move together, the height-adjusting oil cylinder rotates around the pin shaft of the height-adjusting oil cylinder, the piston rotates with it, and the piston moves in a straight line relative to the height-adjusting oil cylinder.
刮板输送机由大量中部槽连接而成，为了便利简洁地搭建虚拟场景，对这些群体性的物体创建预设体，直接多次调用，再安放其位置即可。The scraper conveyor is connected by a large number of middle grooves. In order to conveniently and concisely build a virtual scene, create a preset body for these group objects, call them multiple times, and then place their positions.
按照综采工作面实际生产情况在虚拟场景中安放实例物体的位置。Unity 可以根据自身需要选择坐标系，选择在世界坐标系中安放“三机”，每个实例物体的 Inspector 视图中 Transform 组件包含位置坐标、旋转、缩放等信息，便于物体的安放。According to the actual production situation of the fully mechanized mining face, the position of the instance object is placed in the virtual scene. Unity can choose a coordinate system according to its own needs, and choose to place the "three machines" in the world coordinate system. The Transform component in the Inspector view of each instance object contains information such as position coordinates, rotation, and scaling, which is convenient for the placement of objects.
虚拟测试场景已搭建好，分别创建并添加采煤机和刮板输送机脚本组件来控制物体运动，根据测试需要，编写C#脚本实现对虚拟采煤机行走、加速减速、左右摇臂升降、滚筒旋转等动作的控制。The virtual test scene has been built. Create and add shearer and scraper conveyor script components to control the movement of objects. According to the test needs, write C# scripts to realize the virtual shearer walking, acceleration and deceleration, left and right rocker arm lifting, roller Controls such as rotation.
在虚拟采煤机和虚拟刮板输送机关键部件处添加刚体和碰撞体组件，模拟真实采煤机与煤层和刮板输送机的相互作用，使虚拟刮板输送机能够自适应地平铺在高低起伏的煤层底板上，使虚拟采煤机滑靴能够安放在虚拟刮板输送机溜槽铲煤板上，机身与刮板输送机平行。Add rigid body and collision body components at key components of virtual shearer and virtual scraper conveyor to simulate the interaction between real shearer and coal seam and scraper conveyor, so that virtual scraper conveyor can be tiled at high and low levels adaptively On the undulating coal seam floor, the virtual shearer sliding shoe can be placed on the virtual scraper conveyor chute coal shoveling board, and the fuselage is parallel to the scraper conveyor.
根据测试需要，为虚拟采煤机编写C#程序并预留俯仰角、横滚角等姿态驱动变量，将姿态变量与受试采煤机的实时位置、姿态数据量通过虚实交互系统进行关联。具体为测试时各传感器获取受试采煤机的实时位姿数据，通过物理数据模块将实时数据由虚实交互模块传输至虚拟数据模块，虚拟数据模块将受试采煤机的实时位姿数据进行处理后赋值给虚拟采煤机对应的姿态驱动变量，驱动虚拟采煤机同步进行位置姿态的动作。According to the test needs, write a C# program for the virtual shearer and reserve attitude driving variables such as pitch angle and roll angle, and associate the attitude variables with the real-time position and attitude data of the tested shearer through the virtual-real interaction system. Specifically, each sensor obtains the real-time pose data of the tested shearer during the test, transmits the real-time data from the virtual-real interaction module to the virtual data module through the physical data module, and the virtual data module performs the real-time pose data of the tested shearer. After processing, it is assigned to the corresponding attitude drive variable of the virtual shearer, and the virtual shearer is driven to perform the position and attitude actions synchronously.
Unity 内置了一套完整的GUI系统，提供了从布局、控件到皮肤的一整套 GUI 解决方案。GUI界面的制作需要使用GUI类，全部通过编写脚本代码来实现。Unity has a built-in complete GUI system, providing a complete set of GUI solutions from layouts, controls to skins. The production of GUI interface requires the use of GUI classes, which are all realized by writing script code.
在OnGUI方法中，通过字符串编写，将虚拟采煤机运行速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角与传感器变量联系并显示出来，实现对受试采煤机位姿信息的实时显示监控。In the OnGUI method, the running speed of the virtual shearer, the left and right rocker arm angles, the left and right drum heights, the body pitch angle, and the roll angle are linked and displayed with the sensor variables through the writing of strings, so as to realize the comparison of the tested shearer. Real-time display monitoring of pose information.
步骤2：安装试验测试台；根据测试综采工作面所运行的采煤机以及受试采煤机控制器的要求选择相应型号的采煤机安装在试验测试台上的调节架上，试验测试台设置于水平地面上；Step 2: Install the test bench; according to the requirements of the shearer running on the fully mechanized mining face and the controller of the tested shearer, select the shearer of the corresponding model and install it on the adjustment frame on the test bench, and test the The platform is set on the level ground;
采煤机被调节架架起，在台架上空转和进行采高调节，在采煤机关键位置上安装相应的传感器；在采煤机牵引部电机轴上安装轴编码器，用于测量采煤机牵引电机的转速；在左右摇臂中部安装倾角传感器，用于测量左右摇臂的角度；在采煤机机身上部安装捷联惯导，用于测量采煤机机身俯仰角、横滚角及实时空间三维坐标；同时在采煤机上安装需要测试的控制器；The shearer is set up by the adjustment frame, idle on the bench and adjust the mining height, and install the corresponding sensor on the key position of the shearer; The rotation speed of the traction motor of the coal machine; the inclination sensor is installed in the middle of the left and right rocker arms to measure the angle of the left and right rocker arms; Rolling angle and three-dimensional coordinates in real-time space; at the same time, the controller that needs to be tested is installed on the shearer;
步骤3：开始测试；采集井下实际生产过程中的十刀数据集，根据数据集前五刀数据对采煤机控制器进行示范刀训练；根据数据集操作采煤机牵引电机运行和进行左右摇臂的采高调节，采煤机上传感器的信号通过虚实交互通道传送到虚拟测试场景中，驱动虚拟采煤机在虚拟煤层底板上运行；虚拟测试场景中的画面实时显示虚拟采煤机的运行状态并显示截割曲线，同时虚拟采煤机在虚拟煤层底板上运行产生的倾角变化信息通过虚实交互系统传送到试验测试台调节架中，控制俯仰角推杆和横滚角推杆运动，实时模拟出采煤机在井下真实环境中工作的姿态变化；数据显示面板实时显示当前虚拟采煤机运行的位置、速度、左右摇臂角度、左右滚筒高度、机身俯仰角、横滚角信息供工人操作参考；Step 3: Start the test; collect the ten-knife data set in the actual production process underground, and perform demonstration knife training on the shearer controller according to the data of the first five knives in the data set; operate the shearer traction motor to run and perform left and right swing according to the data set The mining height of the arm is adjusted, and the signals of the sensors on the shearer are transmitted to the virtual test scene through the virtual-real interaction channel, and the virtual shearer is driven to run on the virtual coal seam floor; the picture in the virtual test scene displays the running status of the virtual shearer in real time. The cutting curve is displayed, and the inclination angle change information generated by the virtual shearer running on the virtual coal seam floor is transmitted to the test bench adjustment frame through the virtual-real interaction system to control the movement of the pitch angle push rod and roll angle push rod, and simulate in real time. The attitude change of the shearer working in the real underground environment; the data display panel displays the current position, speed, left and right rocker arm angle, left and right drum height, body pitch angle, and roll angle information of the current virtual shearer in real time for workers. Operational reference;
采煤机控制器基于示范刀的数据，自主预测生成下一刀的数据，通过工人操作的前五刀数据生成第六刀数据，根据第二刀和第六刀的数据生成第七刀的数据，以此类推完成五刀预测刀数据；采煤机控制器在自主预测过程中获取虚拟采煤机的位置信息，预测刀数据驱动虚拟采煤机在虚拟测试场景中运行，虚拟测试场景显示截割曲线，数据显示面板显示实时位姿信息，同时驱动实际采煤机在试验测试台上运行，显示记忆截割的效果；Based on the data of the demonstration knife, the shearer controller independently predicts and generates the data of the next knife, generates the data of the sixth knife through the data of the first five knifes operated by the workers, and generates the data of the seventh knife according to the data of the second knife and the sixth knife. By analogy, the five-knife prediction knife data is completed; the shearer controller obtains the position information of the virtual shearer in the process of autonomous prediction, and the prediction knife data drives the virtual shearer to run in the virtual test scene, and the virtual test scene shows the cutting curve, the data display panel displays real-time pose information, and drives the actual shearer to run on the test bench to display the effect of memory cutting;
步骤4：结束测试；Unity软件导出采煤机控制器自主预测的五刀数据，将预测刀的数据集通过MATLAB软件与井下工人实际操作的后五刀数据集进行对比，得出采煤机控制器记忆截割的效果分析。Step 4: End the test; Unity software exports the five-knife data independently predicted by the shearer controller, and compares the predicted knife data set with the last five-knife data set actually operated by the underground workers through MATLAB software to obtain the shearer control Analysis of the effect of device memory truncation.
以上仅为本发明较佳的实施方式，本发明所属领域的技术人员还能够对上述实施方式进行变更和修改，因此，本发明并不局限于上述的具体实施方式，凡是本领域技术人员在本发明的基础上所做的任何显而易见的改进、替换或变型均属于本发明的保护范围。The above are only preferred embodiments of the present invention, and those skilled in the art can also make changes and modifications to the above-mentioned embodiments. Therefore, the present invention is not limited to the above-mentioned specific embodiments. Any obvious improvement, substitution or modification made on the basis of the invention belongs to the protection scope of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110311017.9ACN113051756B (en) | 2021-03-24 | 2021-03-24 | Virtual-real fusion coal mining machine memory cutting test system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110311017.9ACN113051756B (en) | 2021-03-24 | 2021-03-24 | Virtual-real fusion coal mining machine memory cutting test system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113051756A CN113051756A (en) | 2021-06-29 |
| CN113051756Btrue CN113051756B (en) | 2022-08-23 |
Family
ID=76515089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110311017.9AActiveCN113051756B (en) | 2021-03-24 | 2021-03-24 | Virtual-real fusion coal mining machine memory cutting test system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113051756B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114970073B (en)* | 2021-12-10 | 2024-04-02 | 太原理工大学 | A virtual and real fusion positioning system for coal shearers based on lidar |
| CN115454035B (en)* | 2022-10-09 | 2025-07-25 | 天地上海采掘装备科技有限公司 | Testing system and method of working face straightness control system device based on inertial navigation |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103835719A (en)* | 2014-02-27 | 2014-06-04 | 中国矿业大学 | Self-adaptive cutting method for coal mining machine based on virtual trajectory control |
| CN104134377A (en)* | 2014-07-15 | 2014-11-05 | 河南理工大学 | Coal mining technology virtual simulation experiment teaching instrument |
| CN105807711A (en)* | 2016-05-05 | 2016-07-27 | 河南理工大学 | Experiment system of coal mining machine intelligent control for achieving multi-information fusion |
| CN106101650A (en)* | 2016-08-01 | 2016-11-09 | 魏立科 | A kind of manless working face coal-winning machine and immersion remote control method thereof |
| CN106407624A (en)* | 2016-11-23 | 2017-02-15 | 太原理工大学 | Memory cutting method of virtual coal cutter |
| CN109214076A (en)* | 2018-08-28 | 2019-01-15 | 太原理工大学 | A kind of virtual planing method supporting fully-mechanized mining working geographical environment and equipment |
| CN109268010A (en)* | 2018-09-22 | 2019-01-25 | 太原理工大学 | A kind of long-range inspection interference method of virtual reality Mechanized |
| CN109783962A (en)* | 2019-01-23 | 2019-05-21 | 太原理工大学 | Simulation method of cooperative propulsion of fully mechanized mining equipment based on virtual reality physics engine |
| CN111968470A (en)* | 2020-09-02 | 2020-11-20 | 济南大学 | Pass-through interactive experimental method and system for virtual-real fusion |
| CN112392485A (en)* | 2020-11-12 | 2021-02-23 | 临沂矿业集团菏泽煤电有限公司 | Transparent digital twin self-adaptive mining system and method for fully mechanized coal mining face |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8249902B2 (en)* | 2008-02-29 | 2012-08-21 | Solarcity Corporation | Methods of processing information in solar energy system |
| US7778738B2 (en)* | 2009-02-11 | 2010-08-17 | Accenture Global Services Gmbh | Method and system for reducing feeder circuit loss using demand response |
- 2021
- 2021-03-24CNCN202110311017.9Apatent/CN113051756B/enactiveActive
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103835719A (en)* | 2014-02-27 | 2014-06-04 | 中国矿业大学 | Self-adaptive cutting method for coal mining machine based on virtual trajectory control |
| CN104134377A (en)* | 2014-07-15 | 2014-11-05 | 河南理工大学 | Coal mining technology virtual simulation experiment teaching instrument |
| CN105807711A (en)* | 2016-05-05 | 2016-07-27 | 河南理工大学 | Experiment system of coal mining machine intelligent control for achieving multi-information fusion |
| CN106101650A (en)* | 2016-08-01 | 2016-11-09 | 魏立科 | A kind of manless working face coal-winning machine and immersion remote control method thereof |
| CN106407624A (en)* | 2016-11-23 | 2017-02-15 | 太原理工大学 | Memory cutting method of virtual coal cutter |
| CN109214076A (en)* | 2018-08-28 | 2019-01-15 | 太原理工大学 | A kind of virtual planing method supporting fully-mechanized mining working geographical environment and equipment |
| CN109268010A (en)* | 2018-09-22 | 2019-01-25 | 太原理工大学 | A kind of long-range inspection interference method of virtual reality Mechanized |
| CN109783962A (en)* | 2019-01-23 | 2019-05-21 | 太原理工大学 | Simulation method of cooperative propulsion of fully mechanized mining equipment based on virtual reality physics engine |
| CN111968470A (en)* | 2020-09-02 | 2020-11-20 | 济南大学 | Pass-through interactive experimental method and system for virtual-real fusion |
| CN112392485A (en)* | 2020-11-12 | 2021-02-23 | 临沂矿业集团菏泽煤电有限公司 | Transparent digital twin self-adaptive mining system and method for fully mechanized coal mining face |
Non-Patent Citations (2)
| Title |
|---|
| VR环境下综采工作面"三机"监测与动态规划方法研究;谢嘉成;《中国优秀博硕士学位论文全文数据库(博士)工程科技Ⅰ辑》;20181015(第10期);B021-9* |
| 智能化综采工作面实时虚拟监测方法与关键技术;王学文 等;《煤炭学报》;20200630;第45卷(第6期);1984-1996* |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113051756A (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7591167B2 (en) | Twin modeling assimilation system and method for mine stress field in the whole space-time mining process | |
| WO2021184614A1 (en) | Intelligent decision control method and system for fully-mechanized mining equipment used for working surface under complex condition | |
| CN109214076B (en) | A virtual planning method for supporting the geographical environment and equipment of fully mechanized mining face | |
| CN107066313B (en) | Fully mechanized coal mining face virtual monitoring method based on local area network cooperation | |
| CN114004103B (en) | Collaborative operation test platform capable of supporting foundation research of digital twin fully mechanized mining face | |
| CN114329936B (en) | Virtual fully-mechanized production system deduction method based on multi-agent deep reinforcement learning | |
| CN112392485A (en) | Transparent digital twin self-adaptive mining system and method for fully mechanized coal mining face | |
| CN108694258B (en) | Drilling underground virtual simulation method and system for construction scheme rehearsal optimization | |
| CN113128109B (en) | Test and evaluation method for intelligent fully-mechanized mining robot production system | |
| CN106407624A (en) | Memory cutting method of virtual coal cutter | |
| CN113051756B (en) | Virtual-real fusion coal mining machine memory cutting test system and method | |
| CN112883559A (en) | Planning cutting method and device based on big data system, storage medium and electronic device | |
| CN112945160A (en) | Virtual-real fused relative pose test platform and test method between hydraulic supports | |
| CN109685878B (en) | Tunnel boring machine display method and system based on three-dimensional model | |
| CN111140231B (en) | Coal seam roof and floor path virtual planning method for space-time kinematics of fully mechanized mining equipment | |
| CN106652637A (en) | Virtual training system and method for collaborative operation of shield tunneling machine | |
| CN113124797B (en) | Hydraulic support group pose simulation system based on adjustable bottom plate | |
| CN113935084B (en) | Intelligent construction methods, systems and complete sets of intelligent construction equipment based on BIM models | |
| Shi et al. | An operation optimization method of a fully mechanized coal mining face based on semi-physical virtual simulation | |
| CN112666845A (en) | Simulation test system and simulation test method for fully mechanized coal mining face | |
| CN109469484A (en) | Automation coal-mining method based on host computer planning | |
| CN117291959A (en) | Working face integral working space virtual reconstruction method based on laser SLAM | |
| CN109783962B (en) | Fully-mechanized coal mining equipment collaborative propulsion simulation method based on virtual reality physical engine | |
| CN115616987B (en) | A method for constructing a digital twin system of mining equipment based on mixed reality | |
| CN115329922A (en) | Multifunctional quadruped robot digital twin system in coal mine and its operation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |