CN103775118A - Reproduction system and method for hydraulic support working gestures based on holographic laser projection - Google Patents
Reproduction system and method for hydraulic support working gestures based on holographic laser projection Download PDFInfo
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Abstract
The invention discloses a reproduction system for hydraulic support working gestures based on holographic laser projection. The reproduction system comprises an underground physical layer, a ground data layer and a ground system layer. Meanwhile, the invention discloses a reproduction method for the hydraulic support working gestures based on holographic laser projection. According to the reproduction method, the underground physical layer describes information of working gestures of hydraulic supports on a whole working face, data acquisition cards are used for collecting converted information and then transmitting the information to the ground data layer, after processing and storing are performed, instructions and parameters are transmitted to the ground system layer for adjusting and displaying a model, and the information of hydraulic support gestures, fault information and action information of the support of the whole fully-mechanized mining working face are all collected and stored in the ground data layer, so that using of the ground system layer and system operation and maintenance in the future are facilitated. A three-dimensional hydraulic support real action model with dynamic and static combination can really reproduce the working gestures of the hydraulic supports on the fully-mechanized mining working face through displaying of a multi-channel holographic laser projection.
Description
Technical field
The present invention relates to a kind of playback system and method thereof of the hydraulic support operating attitude based on line holographic projections, belong to the automation control system field of mining equipment.
Background technology
The control system of mining equipment, especially hydraulic support electrohydraulic control system, the requirement at it aspect intelligent is more and more higher.Can hydraulic support be being played the part of very important role in coal mine fully-mechanized mining Intelligent integral equipment, understand in real time hydraulic support operating attitude and status pole earth effect and monitoring and the control performance of control system.
But, with regard to current each colliery research state, there are not the method and system to hydraulic support operating attitude and state true reappearance in real time, cause in the time carrying out the Real-Time Monitoring of hydraulic support, operating attitude that cannot true reappearance hydraulic support, this intellectuality control for fully-mechanized mining working obviously can bring certain adverse effect with monitoring.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of playback system and method thereof of the hydraulic support operating attitude based on line holographic projections, the operating attitude that it can reproduce hydraulic support in real time really, improves the intelligent performance of equipping of fully-mechanized mining working greatly.
The present invention for the technical scheme that solves its technical problem and adopt is: a kind of playback system of the hydraulic support operating attitude based on line holographic projections, and described playback system is made up of down-hole physical layer, ground data layer and ground system layer; Described down-hole physical layer comprises coal-winning machine, scratch board conveyor, hydraulic support and the data collecting card corresponding with hydraulic support quantity; Described ground data layer comprises support attitude information storehouse, support fault message storehouse and support maneuver library; Described ground system layer is made up of hologram image synthesis system and multichannel holographic projection system;
Obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are all installed on described every hydraulic support, obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are electrically connected with data collecting card respectively, described data collecting card and the communication connection of ground data layer; The hologram image synthesis system communication connection of described ground data layer and ground system layer, described hologram image synthesis system is connected with multichannel holographic projection system signal.
Described down-hole physical layer is the Data Source of native system, the information of the operating attitude of hydraulic support on whole work plane has been described, coal-winning machine location infrared remote receiver, hydraulic cylinder displacement transducer, cylinder pressure sensor, obliquity sensor and gyroscope, and pass through described data collecting card by hydraulic cylinder displacement transducer, hydraulic support operating attitude information and conversion that cylinder pressure sensor and obliquity sensor collect, obtain digital information, then by the communication bus of described down-hole physical layer, by the communication after described data collecting card Collect conversion to ground data layer, described digital information is classified and storage, so that next step data processing, simultaneously can be for system operation and maintenance.
In described ground data layer, the attitude information of all hydraulic support of whole fully-mechanized mining working is stored in support attitude information storehouse, comprise the digital value from obliquity sensor, the shift value of each hydraulic cylinder, the force value of each hydraulic cylinder, the current hydraulic support signal of coal-winning machine infrared signal, force value, shift value and the gyrostatic complete information data of each hydraulic cylinder received; Support fault message storehouse, mainly comes from the internal fault information of hydraulic bracket controller and master controller, according to described fault message, determines whether the action of current hydraulic support is reported to the police and processed and revise; Support maneuver library comes from the controller of support to the real-time action processing of support, and the action of each support is corresponding to first concrete control order and control parameter, and according to these orders and parameter, ground system layer carries out adjustment and the demonstration of model.
Described hologram image synthesis system is made up of hydraulic support 3D parameterized model, the holographic 3D model of hydraulic support digitlization, controller, action manager and action interference unit, described hydraulic support 3D parameterized model is connected with the holographic 3D model of hydraulic support digitlization, the holographic 3D model of described hydraulic support digitlization is connected with controller, described action interference unit is connected in work manager, and described action manager is connected with the holographic 3D model of hydraulic support digitlization.
The input data of described hologram image synthesis system, from each database of ground data layer, are output as the digitized holographic 3D model of hydraulic support.
Described multichannel holographic projection system is line holographic projections instrument group, multichannel holographic projection system can be stitched together polylith holographic projection screen and show that more grand 3D scene shows, for the large-scale 3D scene of whole fully-mechanized mining working, need multichannel holographic projection system, controller sends in line holographic projections instrument group holographic the hydraulic support digitlization of hologram image synthesis system 3D model data in order to showing, by each passage projection screen content is carried out to Fusion Edges, can perfectly each channel content be stitched together, true reappearance fully-mechanized mining working 3D scene, its true reappearance performance further improves.
A reproducting method for hydraulic support operating attitude based on line holographic projections, described playback system comprises the following steps:
(1) fully-mechanized mining working information, conversion classification being put into ground data layer stores; (2) action interference unit is classified the data message in ground data layer and ranking;
(3) action interference unit is sent the classification obtaining in step (2) and ranking into neutral net and is carried out networking and training, draws fit weight and the threshold value of actual conditions, and forms stable neutral net;
(4) action interference unit takes out the order of current hydraulic support real-time action and the parameter information that collect from ground data layer, calculates, and obtain interference strength through neutral net;
(5) interference strength obtaining in step (4) is submitted to described action manager by action interference unit, described action manager is according to real-time action order and the parameter information of current hydraulic support, select in hydraulic support action, and give working value or the action sequence of standard;
(6) working value of standard or action sequence are added the interference strength from described action interference unit by action manager, draws final working value or action sequence;
(7) hologram image synthesis system is by according to the working value of action manager or action sequence, information in reference ground data Layer, hydraulic support 3D parameterized model is moved to adjustment, simultaneously, hydraulic support 3D parameterized model after adjusting is carried out to holographic process, form the holographic 3D model of final hydraulic support digitlization;
(8) holographic the hydraulic support digitlization of formation 3D model is sent to multichannel holographic projection system by hologram image synthesis system, in the source data controller of line holographic projections instrument group, with to be shown;
(9) through the work of last each step, line holographic projections instrument group just can be reproduced in the operating attitude of coal-winning machine hydraulic support in coal mining process in real time.
Described action interference unit mainly comprises the classification assessing in step (2): base plate operating mode grade, roof pressure grade, scrapper conveyor are passed interference, work plane inclination angle, hydraulic power unit performance and hydraulic valve performance.
Described action interference unit also produces a random factor.
Described hologram image synthesis system is analyzed the data of ground data layer, sort out and ranking, result is multiplied by random factor to be sent into neutral net and carries out networking and training, obtain the most at last an interference strength, described interference strength is using as the Main Basis that hydraulic support 3D parameterized model standardization working value is revised.Then, the hydraulic support 3D parameterized model after adjusting is carried out to hologram image and process with synthetic, send into the controller of line holographic projections instrument group, so that the use of multichannel holographic projection system.
The invention has the beneficial effects as follows: by the Hydraulic Support Posture information of whole fully-mechanized mining working, the action message of fault message and support, all gathers and be stored in ground data layer, has facilitated the use of ground system layer and system operation and maintenance in the future.Parameterized 3D model is introduced to interference strength, the True Data information of ground data layer, the true action model of the three-dimensional hydraulic support that generation is association of activity and inertia, through the demonstration of multichannel holographic projection system, the operating attitude of hydraulic support that can true reappearance fully-mechanized mining working.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is the flow chart of hydraulic support operating attitude reproducting method of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and concrete embodiment, the present invention will be further elaborated.
As depicted in figs. 1 and 2, a kind of playback system of the hydraulic support operating attitude based on line holographic projections, described playback system is made up of down-hole physical layer, ground data layer and ground system layer; Described down-hole physical layer comprises coal-winning machine, scratch board conveyor, hydraulic support and the data collecting card corresponding with hydraulic support quantity; Described ground data layer comprises support attitude information storehouse, support fault message storehouse and support maneuver library; Described ground system layer is made up of hologram image synthesis system and multichannel holographic projection system;
Obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are all installed on described every hydraulic support, obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are electrically connected with data collecting card respectively, described data collecting card and the communication connection of ground data layer; The hologram image synthesis system communication connection of described ground data layer and ground system layer, described hologram image synthesis system is connected with multichannel holographic projection system signal.
Described down-hole physical layer is the Data Source of native system, the information of the operating attitude of hydraulic support on whole work plane has been described, coal-winning machine location infrared remote receiver, hydraulic cylinder displacement transducer, cylinder pressure sensor, obliquity sensor and gyroscope, and pass through described data collecting card by hydraulic cylinder displacement transducer, hydraulic support operating attitude information and conversion that cylinder pressure sensor and obliquity sensor collect, obtain digital information, then by the communication bus of described down-hole physical layer, by the communication after described data collecting card Collect conversion to ground data layer, described digital information is classified and storage, so that next step data processing, simultaneously can be for system operation and maintenance.
In described ground data layer, the attitude information of all hydraulic support of whole fully-mechanized mining working is stored in support attitude information storehouse, comprise the digital value from obliquity sensor, the shift value of each hydraulic cylinder, the force value of each hydraulic cylinder, the current hydraulic support signal of coal-winning machine infrared signal, force value, shift value and the gyrostatic complete information data of each hydraulic cylinder received; Support fault message storehouse, mainly comes from the internal fault information of hydraulic bracket controller and master controller, according to described fault message, determines whether the action of current hydraulic support is reported to the police and processed and revise; Support maneuver library comes from the controller of support to the real-time action processing of support, and the action of each support is corresponding to first concrete control order and control parameter, and according to these orders and parameter, ground system layer carries out adjustment and the demonstration of model.
Described hologram image synthesis system is made up of hydraulic support 3D parameterized model, the holographic 3D model of hydraulic support digitlization, controller, action manager and action interference unit, described hydraulic support 3D parameterized model is connected with the holographic 3D model of hydraulic support digitlization, the holographic 3D model of described hydraulic support digitlization is connected with controller, described action interference unit is connected in work manager, and described action manager is connected with the holographic 3D model of hydraulic support digitlization.
The input data of described hologram image synthesis system, from each database of ground data layer, are output as the digitized holographic 3D model of hydraulic support.
Described multichannel holographic projection system is line holographic projections instrument group, multichannel holographic projection system can be stitched together polylith holographic projection screen and show that more grand 3D scene shows, for the large-scale 3D scene of whole fully-mechanized mining working, need multichannel holographic projection system, controller sends in line holographic projections instrument group holographic the hydraulic support digitlization of hologram image synthesis system 3D model data in order to showing, by each passage projection screen content is carried out to Fusion Edges, can perfectly each channel content be stitched together, true reappearance fully-mechanized mining working 3D scene, its true reappearance performance further improves.
A reproducting method for hydraulic support operating attitude based on line holographic projections, described playback system comprises the following steps:
(1) action message of the attitude information of the hydraulic support of fully-mechanized mining working, support fault message and support being carried out gathers, analog signal is converted to digital information through data collecting card, and by digital information process communication bus, the database, the classification that transfer to ground data layer are put into database and are stored;
Described data collecting card is divided into the data that gather and change attitude information, the fault message of support and the action message of support of support.
The attitude information of support, mainly comprise force value, the hydraulic support of shift value, each hydraulic cylinder of each hydraulic cylinder inclination angle value, receive bracket signal and the gyroscope 3-axis acceleration value of the hydraulic support of coal-winning machine infrared signal.
The fault message of support comprises all fault messages of setting in hydraulic bracket controller and the fault message of data collecting card.
The action that the working value of support comprises is mainly: pushing and sliding, draw slip, fall post, setting prop, move frame, stretch plate, receive plate, the beam that finishes up, stretch tail boom, stretch side guard board, receive side guard board, stretch face guard, receive face guard, receive balance jack, stretch balance jack, automatic sequence interlock etc.
The relevant information of attitude of support is stored in described support attitude information storehouse, and the information that support fault is relevant is stored in the fault message storehouse of support, and the real-time action information of support is stored in support maneuver library.
(2) action interference unit is classified the data message in ground data layer and ranking;
(3) action interference unit is sent the classification obtaining in step (2) and ranking into neutral net and is carried out networking and training, draws fit weight and the threshold value of actual conditions, and forms stable neutral net;
(4) action interference unit takes out the order of current hydraulic support real-time action and the parameter information that collect from ground data layer, calculates, and obtain interference strength through neutral net;
(5) interference strength obtaining in step (4) is submitted to described action manager by action interference unit, described action manager is according to real-time action order and the parameter information of current hydraulic support, select in hydraulic support action, and give working value or the action sequence of standard;
(6) working value of standard or action sequence are added the interference strength from described action interference unit by action manager, draws final working value or action sequence;
(7) hologram image synthesis system is by according to the working value of action manager or action sequence, information in reference ground data Layer, hydraulic support 3D parameterized model is moved to adjustment, simultaneously, hydraulic support 3D parameterized model after adjusting is carried out to holographic process, form the holographic 3D model of final hydraulic support digitlization;
(8) holographic the hydraulic support digitlization of formation 3D model is sent to multichannel holographic projection system by hologram image synthesis system, in the source data controller of line holographic projections instrument group, with to be shown;
(9) through the work of last each step, line holographic projections instrument group just can be reproduced in the operating attitude of coal-winning machine hydraulic support in coal mining process in real time.
Described action interference unit mainly comprises the classification assessing in step (2): base plate operating mode grade, roof pressure grade, scrapper conveyor are passed interference, work plane inclination angle, hydraulic power unit performance and hydraulic valve performance.
Described action interference unit also produces a random factor.
Described hydraulic support 3D parameterized model comprises the three dimensions geometrical structure parameter of hydraulic support, constraint of kinematic pair Relation Parameters and physical function parameter corresponding to each component.The core of action interference unit is a neural network computing device, by the support relevant action from described ground data layer and attitude information and a upper random factor, builds a stable network, exports an interference strength value.Interference strength value is admitted in action manager, incites somebody to action according to interference strength, and the standard operation value of action is adjusted.
Illustrate, when hydraulic support carries out pushing and sliding, it is each 100mm of passing that its standard is passed travel settings, but due to floor undulation operating mode, top board in operating pressure and current hydraulic power unit can offer current hydraulic support hydraulic pressure etc. all in changing, therefore the passing stroke value finally obtaining does not reach 100mm, in order to simulate this process, standard operation value corresponding hydraulic support 3D parameterized model is added to an interference strength value, just can perfectly represent the operating attitude of hydraulic support.
By the Hydraulic Support Posture information of whole fully-mechanized mining working, the action message of fault message and support, all gathers and is stored in ground data layer, has facilitated the use of ground system layer and system operation and maintenance in the future.Parameterized 3D model is introduced to interference strength, the True Data information of ground data layer, the true action model of the three-dimensional hydraulic support that generation is association of activity and inertia, through the demonstration of multichannel holographic projection system, the operating attitude of hydraulic support that can true reappearance fully-mechanized mining working.
Claims (6)
1. a playback system for the hydraulic support operating attitude based on line holographic projections, is characterized in that: described playback system is made up of down-hole physical layer, ground data layer and ground system layer; Described down-hole physical layer comprises coal-winning machine, scratch board conveyor, hydraulic support and the data collecting card corresponding with hydraulic support quantity; Described ground data layer comprises support attitude information storehouse, support fault message storehouse and support maneuver library; Described ground system layer is made up of hologram image synthesis system and multichannel holographic projection system;
Obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are all installed on described every hydraulic support, obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are connected with data collecting card respectively, described data collecting card and the communication connection of ground data layer; The hologram image synthesis system communication connection of described ground data layer and ground system layer, described hologram image synthesis system is connected with multichannel holographic projection system signal.
2. the playback system of the hydraulic support operating attitude based on line holographic projections according to claim 1, it is characterized in that: described hologram image synthesis system is by hydraulic support 3D parameterized model, the holographic 3D model of hydraulic support digitlization, controller, action manager and action interference unit composition, described hydraulic support 3D parameterized model is connected with the holographic 3D model of hydraulic support digitlization, the holographic 3D model of described hydraulic support digitlization is connected with controller, described action interference unit is connected in work manager, described action manager is connected with the holographic 3D model of hydraulic support digitlization.
3. the playback system of the hydraulic support operating attitude based on line holographic projections according to claim 1 and 2, is characterized in that: described multichannel holographic projection system is line holographic projections instrument group.
4. a reproducting method for the hydraulic support operating attitude based on line holographic projections, is characterized in that: described playback system comprises the following steps:
(1) fully-mechanized mining working information, conversion classification being put into ground data layer stores;
(2) action interference unit is classified the data message in ground data layer and ranking;
(3) action interference unit is sent the classification obtaining in step (2) and ranking into neutral net and is carried out networking and training, draws weight and the threshold value of closing to reality situation, and forms stable neutral net;
(4) action interference unit takes out the order of current hydraulic support real-time action and the parameter information that collect from ground data layer, calculates, and obtain interference strength through neutral net;
(5) interference strength obtaining in step (4) is submitted to described action manager by action interference unit, described action manager is according to real-time action order and the parameter information of current hydraulic support, select in hydraulic support action, and give working value or the action sequence of standard;
(6) working value of standard or action sequence are added the interference strength from described action interference unit by action manager, draws final working value or action sequence;
(7) hologram image synthesis system is by according to the working value of action manager or action sequence, information in reference ground data Layer, hydraulic support 3D parameterized model is moved to adjustment, simultaneously, hydraulic support 3D parameterized model after adjusting is carried out to holographic process, form the holographic 3D model of final hydraulic support digitlization;
(8) holographic the hydraulic support digitlization of formation 3D model is sent to multichannel holographic projection system by hologram image synthesis system, in the source data controller of line holographic projections instrument group, with to be shown;
(9) through the work of last each step, line holographic projections instrument group just can be reproduced in the operating attitude of coal-winning machine hydraulic support in coal mining process in real time.
5. the reproducting method of the hydraulic support operating attitude based on line holographic projections according to claim 4, it is characterized in that: described action interference unit comprises the classification assessing in step (2): base plate operating mode grade, roof pressure grade, scrapper conveyor are passed interference, work plane inclination angle, hydraulic power unit performance and hydraulic valve performance.
6. the reproducting method of the hydraulic support operating attitude based on line holographic projections according to claim 5, is characterized in that: described action interference unit also produces a random factor.
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