CN103775118B - 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 in it is intelligent is more and more higher.Can hydraulic support plays very important role in coal mine fully-mechanized mining Intelligent integral equipment, understand the Inspect and control performance that hydraulic support operating attitude and status pole earth effect control system in real time.
But, with regard to current each colliery research state, not existing can in real time to the method and system of hydraulic support operating attitude and state true reappearance, cause when carrying out the Real-Time Monitoring of hydraulic support, cannot the operating attitude of true reappearance hydraulic support, this intelligentized control method 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, it can reproduce the operating attitude of hydraulic support in real time really, improves the performance of fully-mechanized mining working intellectuality equipment greatly.
The present invention in order to the technical scheme solving 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;
Hydraulic support described in every platform is all provided with obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor, obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are electrically connected with data collecting card respectively, and described data collecting card and ground data layer communicate to connect; The hologram image synthesis system of described ground data layer and ground system layer communicates to connect, and 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, describe the information of the operating attitude of hydraulic support on whole work plane, coal-winning machine location infrared remote receiver, hydraulic cylinder displacement transducer, cylinder pressure sensor, obliquity sensor and gyroscope, and by described data collecting card by hydraulic cylinder displacement transducer, the hydraulic support operating attitude information that cylinder pressure sensor and obliquity sensor collect and conversion, obtain digital information, then by the communication bus of described down-hole physical layer, by the information transmission after described data collecting card Collect conversion to ground data layer, described digital information is carried out classifying and stores, so that next step data processing, simultaneously can for Dynamic System and maintenance.
In described ground data layer, the attitude information of all hydraulic support of whole fully-mechanized mining working stores by 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, current hydraulic support signal, the force value of each hydraulic cylinder, shift value and the gyrostatic complete information data receiving coal-winning machine infrared signal; 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 carried out to alert process and revised; Support maneuver library comes from the real-time action process of controller to support of support, and the action of each support corresponds to first concrete control order and controling parameters, and according to these order and parameter, ground system layer carries out adjustment and the display 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 action 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, export as the digitized holographic 3D model of hydraulic support.
Described multichannel holographic projection system is holographic projector group, polylith holographic projection screen can be stitched together and show more grand 3D scene display by multichannel holographic projection system, for the large-scale 3D scene of whole fully-mechanized mining working, need multichannel holographic projection system, holographic for the hydraulic support digitlization of hologram image synthesis system 3D model data is sent in holographic projector group in order to display by controller, by carrying out Fusion Edges to each channel projection screen content, perfectly each channel content can be stitched together, true reappearance fully-mechanized mining working 3D scene, its true reappearance performance improves further.
Based on a reproducting method for the hydraulic support operating attitude of line holographic projections, utilize above-mentioned playback system, described reproducting method comprises the following steps:
(1) by fully-mechanized mining working information, conversion sort out and put into ground data layer and store;
(2) data message in ground data layer carries out classifying and ranking by action interference unit;
(3) classification obtained in step (2) and ranking are sent into neutral net and are carried out networking and training by action interference unit, draw weight and the threshold value of laminating actual conditions, and form stable neutral net;
(4) action interference unit takes out the order of current hydraulic support real-time action and parameter information that collect from ground data layer, calculates, and obtain interference strength through neutral net;
(5) interference strength obtained in step (4) is submitted to described action manager by action interference unit, described action manager is according to the real-time action order of current hydraulic support and parameter information, 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, draw 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 carried out action adjustment, simultaneously, hydraulic support 3D parameterized model after adjustment is carried out holographic process, forms the holographic 3D model of final hydraulic support digitlization;
(8) holographic for the hydraulic support digitlization of formation 3D model is sent to multichannel holographic projection system by hologram image synthesis system, i.e. in the source data controller of holographic projector group, with to be shown;
(9) through the work of each step above-mentioned, holographic projector group just can be reproduced in the operating attitude of hydraulic support in coal mining process in real time.
Described action interference unit mainly comprises the classification assessed in step (2): base plate operating mode grade, and roof pressure grade, scrapper conveyor pass 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 analyzes the data of ground data Layer, carry out sorting out and ranking, result is multiplied by random factor feeding neutral net and carries out networking and training, obtain an interference strength the most at last, described interference strength is using as the Main Basis revised hydraulic support 3D parameterized model standardization working value.Then, the hydraulic support 3D parameterized model after adjustment is carried out hologram image process and synthesis, send into the controller of holographic projector 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 gather and be stored in ground data layer, facilitate the use of ground system layer and Dynamic System in the future and maintenance.Parameterized 3D model is introduced interference strength, the True Data information of ground data layer, produce the realistic operation model of three-dimensional hydraulic support of being association of activity and inertia, through the display of multichannel holographic projection system, can the operating attitude of hydraulic support of 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.
Detailed description of the invention
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;
Hydraulic support described in every platform is all provided with obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor, obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor are electrically connected with data collecting card respectively, and described data collecting card and ground data layer communicate to connect; The hologram image synthesis system of described ground data layer and ground system layer communicates to connect, and 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, describe the information of the operating attitude of hydraulic support on whole work plane, coal-winning machine location infrared remote receiver, hydraulic cylinder displacement transducer, cylinder pressure sensor, obliquity sensor and gyroscope, and by described data collecting card by hydraulic cylinder displacement transducer, the hydraulic support operating attitude information that cylinder pressure sensor and obliquity sensor collect and conversion, obtain digital information, then by the communication bus of described down-hole physical layer, by the information transmission after described data collecting card Collect conversion to ground data layer, described digital information is carried out classifying and stores, so that next step data processing, simultaneously can for Dynamic System and maintenance.
In described ground data layer, the attitude information of all hydraulic support of whole fully-mechanized mining working stores by 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, current hydraulic support signal, the force value of each hydraulic cylinder, shift value and the gyrostatic complete information data receiving coal-winning machine infrared signal; 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 carried out to alert process and revised; Support maneuver library comes from the real-time action process of controller to support of support, and the action of each support corresponds to first concrete control order and controling parameters, and according to these order and parameter, ground system layer carries out adjustment and the display 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 action 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, export as the digitized holographic 3D model of hydraulic support.
Described multichannel holographic projection system is holographic projector group, polylith holographic projection screen can be stitched together and show more grand 3D scene display by multichannel holographic projection system, for the large-scale 3D scene of whole fully-mechanized mining working, need multichannel holographic projection system, holographic for the hydraulic support digitlization of hologram image synthesis system 3D model data is sent in holographic projector group in order to display by controller, by carrying out Fusion Edges to each channel projection screen content, perfectly each channel content can be stitched together, true reappearance fully-mechanized mining working 3D scene, its true reappearance performance improves further.
Based on a reproducting method for the hydraulic support operating attitude of line holographic projections, utilize above-mentioned playback system, described reproducting method 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 carries out gathering, analog signal being converted to digital information through data collecting card, and by digital information through communication bus, transfer to the database of ground data layer, sort out and put into database and store;
Described data collecting card will gather and the data changed are divided into the action message of the attitude information of support, the fault message of support and support.
The attitude information of support, mainly comprises the shift value of each hydraulic cylinder, the force value of each hydraulic cylinder, the inclination value of hydraulic support, the bracket signal receiving the hydraulic support of coal-winning machine infrared signal and gyroscope 3-axis acceleration value.
The fault message of support comprises the fault message of all fault messages and the data collecting card set in hydraulic bracket controller.
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 information that the attitude of support is correlated with is stored in described support attitude information storehouse, and the information that support fault is correlated with is stored in the fault message storehouse of support, and the real-time action information of support is then stored in support maneuver library.
(2) data message in ground data layer carries out classifying and ranking by action interference unit;
(3) classification obtained in step (2) and ranking are sent into neutral net and are carried out networking and training by action interference unit, draw weight and the threshold value of laminating actual conditions, and form stable neutral net;
(4) action interference unit takes out the order of current hydraulic support real-time action and parameter information that collect from ground data layer, calculates, and obtain interference strength through neutral net;
(5) interference strength obtained in step (4) is submitted to described action manager by action interference unit, described action manager is according to the real-time action order of current hydraulic support and parameter information, 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, draw 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 carried out action adjustment, simultaneously, hydraulic support 3D parameterized model after adjustment is carried out holographic process, forms the holographic 3D model of final hydraulic support digitlization;
(8) holographic for the hydraulic support digitlization of formation 3D model is sent to multichannel holographic projection system by hologram image synthesis system, i.e. in the source data controller of holographic projector group, with to be shown;
(9) through the work of each step above-mentioned, holographic projector group just can be reproduced in the operating attitude of hydraulic support in coal mining process in real time.
Described action interference unit mainly comprises the classification assessed in step (2): base plate operating mode grade, and roof pressure grade, scrapper conveyor pass 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 from the support relevant action of 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, adjust the standard operation value of action according to interference strength.
Illustrate, when hydraulic support carries out pushing and sliding, its standard passes travel settings for pass 100mm at every turn, but the hydraulic pressure etc. that the operating pressure be in due to floor undulation operating mode, top board and current hydraulic power unit can be supplied to current hydraulic support is all in change, therefore the passing stroke value finally obtained does not reach 100mm, in order to simulate this process, standard operation value corresponding for hydraulic support 3D parameterized model is added an interference strength value, just perfectly can 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, facilitates the use of ground system layer and Dynamic System in the future and maintenance.Parameterized 3D model is introduced interference strength, the True Data information of ground data layer, produce the realistic operation model of three-dimensional hydraulic support of being association of activity and inertia, through the display of multichannel holographic projection system, can the operating attitude of hydraulic support of true reappearance fully-mechanized mining working.
Claims (5)
1. based on a playback system for the hydraulic support operating attitude of line holographic projections, it 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;
Hydraulic support described in every platform is all provided with obliquity sensor, hydraulic cylinder displacement transducer and cylinder pressure sensor, obliquity sensor, hydraulic cylinder displacement transducer are connected with data collecting card respectively with cylinder pressure sensor, and described data collecting card and ground data layer communicate to connect; The hologram image synthesis system of described ground data layer and ground system layer communicates to connect, and described hologram image synthesis system is connected with multichannel holographic projection system signal;
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 action manager, and described action manager is connected with the holographic 3D model of hydraulic support digitlization.
2. the playback system of the hydraulic support operating attitude based on line holographic projections according to claim 1, is characterized in that: described multichannel holographic projection system is holographic projector group.
3. based on a reproducting method for the hydraulic support operating attitude of line holographic projections, utilize the playback system of claim 1, it is characterized in that: described reproducting method comprises the following steps:
(1) by fully-mechanized mining working information, conversion sort out and put into ground data layer and store;
(2) data message in ground data layer carries out classifying and ranking by action interference unit;
(3) classification obtained in step (2) and ranking are sent into neutral net and are carried out networking and training by action interference unit, draw weight and the threshold value of closing to reality situation, and form stable neutral net;
(4) action interference unit takes out the order of current hydraulic support real-time action and parameter information that collect from ground data layer, calculates, and obtain interference strength through neutral net;
(5) interference strength obtained in step (4) is submitted to described action manager by action interference unit, described action manager is according to the real-time action order of current hydraulic support and parameter information, 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, draw 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 carried out action adjustment, simultaneously, hydraulic support 3D parameterized model after adjustment is carried out holographic process, forms the holographic 3D model of final hydraulic support digitlization;
(8) holographic for the hydraulic support digitlization of formation 3D model is sent to multichannel holographic projection system by hologram image synthesis system, i.e. in the source data controller of holographic projector group, with to be shown;
(9) through the work of each step above-mentioned, holographic projector group just can be reproduced in the operating attitude of hydraulic support in coal mining process in real time.
4. the reproducting method of the hydraulic support operating attitude based on line holographic projections according to claim 3, it is characterized in that: described action interference unit comprises the classification assessed in step (2): base plate operating mode grade, roof pressure grade, scrapper conveyor pass interference, work plane inclination angle, hydraulic power unit performance and hydraulic valve performance.
5. the reproducting method of the hydraulic support operating attitude based on line holographic projections according to claim 4, is characterized in that: described action interference unit also produces a random factor.
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| CN104141505B (en) * | 2014-06-30 | 2016-02-10 | 中国矿业大学 | A kind of mine hydraulic bracket gestural control system based on inertia measurement and method |
| CN104481567B (en) * | 2014-12-26 | 2017-02-22 | 中国矿业大学 | Senseless hydraulic support electric-hydraulic control system and senseless hydraulic support electric-hydraulic control method |
| CN106401621B (en) * | 2016-09-28 | 2018-07-27 | 山东科技大学 | A kind of hydraulic support Intelligent Installation machine and its application method |
| CN107356243B (en) * | 2017-07-11 | 2021-03-23 | 中国矿业大学 | Bracket operation attitude online monitoring method based on fiber bragg grating sensing |
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| DE10310893B4 (en) * | 2003-03-11 | 2015-07-02 | Caterpillar Global Mining Europe Gmbh | Arrangement of hydraulic components as well as actuators and / or sensors for underground mining |
| CN102221832A (en) * | 2011-05-10 | 2011-10-19 | 江苏和光天地科技有限公司 | Coal mine unmanned workface development system |
| CN102337908A (en) * | 2011-09-19 | 2012-02-01 | 中国矿业大学 | Hydraulic bracket posture detecting method and device based on multi-sensor data fusion |
| CN202250113U (en) * | 2011-09-19 | 2012-05-30 | 中国矿业大学 | Hydraulic bracket pose detecting device based on multi-sensor data fusion |
| CN102619541A (en) * | 2012-04-06 | 2012-08-01 | 徐州中矿厚德物联科技有限公司 | Virtual three-dimensional (3D) linkage display dispatching system for coal mining face |
| CN103244184B (en) * | 2013-05-07 | 2016-01-13 | 西南石油大学 | A kind of down-hole combined mining working ore deposit pressure real-time monitoring system |
| CN103399495B (en) * | 2013-08-07 | 2015-04-08 | 中国矿业大学 | Simulation system and simulation method of hydraulic support electric hydraulic control system |
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