CN106127324B - A kind of remote visualization monitoring method for unmanned getting working face - Google Patents

A kind of remote visualization monitoring method for unmanned getting working face Download PDF

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CN106127324B
CN106127324B CN201610266258.5A CN201610266258A CN106127324B CN 106127324 B CN106127324 B CN 106127324B CN 201610266258 A CN201610266258 A CN 201610266258A CN 106127324 B CN106127324 B CN 106127324B
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equipment
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CN106127324A (en
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卢新明
李旭健
尹红
彭延军
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Shandong Lionking Software Co Ltd
Shandong University of Science and Technology
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Shandong University of Science and Technology
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Abstract

The invention discloses a kind of remote visualization monitoring method for unmanned getting working face, belongs to coal mining technical field of automation, and the present invention builds Real Data Exchangs platform, realizes the reliable real-time exchange of data；Working face threedimensional model and various device models are established, realizes that the dynamic of working face three-dimensional virtual scene renders, the simultaneous display of the attitude-simulating of extractive equipment and remote control and monitor video and working face three-dimensional virtual scene；Underground hazard prediction Early-warning Model, equipment fault diagnosis model are established, carries out hazard prediction early warning and equipment fault diagnosis.The present invention is based on Real Data Exchangs, Video Supervision Technique is combined with virtual reality technology, overcoming getting working face water, mist etc. influences the limitation of the factor and video camera of sight in itself, and the accurate threedimensional model in exploiting field and Real-time Monitoring Data progress underground hazard prediction early warning, equipment fault diagnosis are combined, veritably to realize that unmanned getting working face has established good basis comprehensively.

Description

A kind of remote visualization monitoring method for unmanned getting working face
Technical field
The invention belongs to technical field of automation of mining, and in particular to it is a kind of can for the long-range of unmanned getting working face Depending on changing monitoring method.
Background technology
Unmanned getting working face refers under the protection of working face security expert's system, remote by wired or wireless way Process control key production equipment, monitors its operating mode.Known automatically using the autonomous positioning and automatic navigation technology, coal petrography of extractive equipment Other technology, hydraulic support electrohydraulic control technology, drag conveyor elapse the automatic purpose monitoring technology of technology, working face, well automatically Lower high-speed bidirectional communication technology and centralized computer control technology etc. are automatically performed various production procedures, dynamic optimization operation journey Sequence, realize that working surface production crosses the unmanned of process automation, intellectuality, IT application in management and operation, only when event occurs in equipment During barrier, maintenance personal can just reach working face, so that it is guaranteed that highly efficient and productive and safety in production.
Really unmanned getting working face is realized, be unable to do without long-range real-time visual monitoring.Current remote visualization Monitoring in working face mainly by setting up video-frequency monitor come the production process of remotely monitor working face.But due to working face Scene often has the adverse circumstances such as the water, mist, dust of very big concentration, is difficult to obtain clearly only by video-frequency monitor or head Image, and camera can only obtain limited direction, local, surface image, and global information can neither be seen (as worked Face and roadway distribution) coupling information between equipment, the internal structure in coal and rock and goaf can not be seen, can not also be known The working condition of other device interior, the surface image only obtained with monitor video also can not all-sidedly and accurately judge that underground disaster is pre- Alert condition, the remote monitoring effect of working face is had a strong impact on.Realize the unmanned and long-range of getting working face it is necessary to reality Comprehensive monitoring now is carried out to the environment of whole working face, equipment, production and safety information.
Current getting working face remote visualization monitoring is primarily present following shortcoming：
1. getting working face often influences the factor of sight with the presence of water, mist, dust etc., in addition the limitation of camera in itself Property, camera can not obtain clear, omnidirectional images, can not more obtain coal and rock, goaf, the internal information of extractive equipment；
2. the surface image only obtained with monitor video can not all-sidedly and accurately judge underground disaster alarm situation；
3. only with monitor video obtain surface image can not accurate judgement production equipment operation conditions.
The content of the invention
For above-mentioned technical problem present in prior art, the present invention proposes one kind and is used for unmanned getting working face Remote visualization monitoring method, it is reasonable in design, the deficiencies in the prior art are overcome, veritably to realize unmanned digging comprehensively Working face has established good basis.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of remote visualization monitoring method for unmanned getting working face, carry out in accordance with the following steps：
Step 1：Develop Real Data Exchangs platform
The Real Data Exchangs platform of support various communications protocols and interface based on self-defining data communication protocol is built, For realizing reliable, the real-time friendship of video monitoring data, Mine Monitoring data, monitoring of tools data and application data Change；
Step 2：The working face three-dimensional mould established including roof break appearance model, rib model, mined out section model Type and the various device models including fully mechanized mining supporter, coal-winning machine, drag conveyor and elevating conveyor；
Step 3：The long-range joint-monitoring of working face three-dimensional virtual scene and monitor video is realized, and then realizes monitor video With the simultaneous display of working face three-dimensional virtual scene；
Step 4：Realize that underground disaster is predicted early warning and equipment fault diagnosis；
Step 5：Build system environments；
Step 6：System debug
Including data transmission bauds and reliability testing, the pressure test of Real Data Exchangs platform and monitor video Synchronism detection；
Step 7：Put into operation
After putting into operation, by controlling the virtual reality scenario of terminal, monitor video, hazard prediction warning information, equipment Failure diagnosis information monitors downhole production situation, and passes through the various production equipments in control panel remote control underground.
Preferably, in step 1, the Real Data Exchangs platform supports various communications protocols and interface to support to include TCP/IP、HTTP、DDE/NetDDE、COM/DCOM,OPC/OPC UA、RS232/RS485、FTP、MSMQ、XML、SOAP、 Agreement including WSDL, UDDI, SOA；Can be from SCADAD, DCS, PLC, RTU, board, instrument, module, DDE, OPC, port Data are obtained in various software inside, equipment, agreement, and data can be provided to various applications by open interface；Can be from Various service systems, application system and control terminal obtain order, and can forward and perform automatically order, the operation of control device.
Preferably, in step 2, the method for building up of the roof break appearance model, is specifically included：According to real-time ore deposit pressure Monitoring Data calculates preliminary water component and the periodic weighting step pitch of top plate；Using ore pressure monitor data results, with reference to Rock layer mechanics parameter calculates the fracture step of top plate, establishes roof break form threedimensional model；
The method for building up of the rib model, is specifically included：Gridding subdivision is carried out to rib；With the advance of the face, The coordinate of the change adjust automatically mesh point of cutting drum position and cut depth；Rib is completed using automatically texture mapping techniques The real-time update of model；
The method for building up of the threedimensional model in the goaf, is specifically included：Using the various position monitoring information of working face, With reference to mine geography information system, the threedimensional model in goaf is established.
Preferably, in step 3, specifically include：
Step 3.1：Operation posture to various equipment is simulated and remote control
Operation posture and control mode to various equipment are classified, and establish corresponding attitude-simulating and control method Storehouse, for specific equipment, overall simulation and control are carried out according to device type, component parts, type of drive；
Step 3.2：Enter Mobile state renewal to working face three dimensional device scene with rendering
Working face three dimensional device scene update and Rendering software based on real-time monitoring data are developed, is owned to working face Equipment, according to its position and attitude information, realize the real-time update of three dimensional device scene with rendering；
Step 3.3：Virtual reality technology is combined with Video Supervision Technique, realizes monitor video and three-dimensional virtual scene Simultaneous display.
Preferably, in step 4, the method that early warning is predicted to underground disaster, specifically include：According to the hair of disaster Life is managed, and establishes corresponding hazard prediction Early-warning Model, on this basis according to Real-time Monitoring Data to the possible disaster occurred Send prediction and warning information；
The method diagnosed to equipment fault, is specifically included：Corresponding failure is established to different types of equipment Diagnostic model, on this basis according to the operation conditions of Real-time Monitoring Data analytical equipment, timely diagnostic device failure.
Preferably, in step 5, specifically include：
Step 5.1：Multiple control terminals are installed on well, and each control terminal is configured with virtual reality scenario list Member, monitor video unit, hazard prediction warning information unit and equipment fault diagnosis unit；
Step 5.2：Install and debug Real Data Exchangs platform；
Step 5.3：Multiple working faces are set in underground, and various production equipments are installed on each working face；
Step 5.4：Building for network environment is carried out between various production equipments in control terminal and working face.
Advantageous effects caused by the present invention：
The present invention proposes a kind of remote visualization monitoring method for unmanned getting working face, with prior art phase Than the present invention develops Real Data Exchangs platform first, realizes video monitoring data, Mine Monitoring data, monitoring of tools data And reliable, the real-time exchange of application data；Working face threedimensional model and various device models are established, based on real time data The real time data that switching plane is forwarded, realize that the dynamic of working face three-dimensional virtual scene renders, the attitude-simulating of extractive equipment With remote control, and the simultaneous display of monitor video and working face three-dimensional virtual scene is realized；Establish underground hazard prediction early warning Model, equipment fault diagnosis model, underground hazard prediction early warning and equipment fault diagnosis are carried out based on Real-time Monitoring Data.
The present invention is combined with virtual reality technology based on Real Data Exchangs, by Video Supervision Technique to realize pair The remote visualization monitoring of getting working face, overcoming getting working face water, mist, dust etc. influences factor and the shooting of sight The limitation of instrument in itself, and combine the accurate threedimensional model in exploiting field and Real-time Monitoring Data carry out in time underground hazard prediction early warning, Equipment fault diagnosis, veritably to realize that unmanned getting working face has established good basis comprehensively.
Brief description of the drawings
Fig. 1 is a kind of FB(flow block) of remote visualization monitoring method for unmanned getting working face of the invention.
Fig. 2 is the Organization Chart of Real Data Exchangs platform.
Fig. 3 is a kind of system assumption diagram of remote visualization monitoring method for unmanned getting working face of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to the present invention：
A kind of remote visualization monitoring method (as shown in Figure 1) for unmanned getting working face, in accordance with the following steps Carry out：
Step 1：Develop Real Data Exchangs platform
Build Real Data Exchangs platform, with realize video monitoring data, Mine Monitoring data, monitoring of tools data and Reliable, the real-time exchange of application data.
The framework of Real Data Exchangs platform is as shown in Figure 2.Because Real Data Exchangs are related to a variety of data, therefore in real time Data interchange platform must support various protocols and interface, real time data can be handled automatically, stored, forwarded, and propped up Self-defining data agreement is held to meet customized demand.
Step 2：Establish working face threedimensional model and device model
Establish roof break appearance model, rib model, mined out section model and various device models.Specifically：
Preliminary water component, the periodic weighting step pitch of top plate are calculated according to real-time ore pressure monitor data, is pressed and supervised using ore deposit Data results are surveyed, the fracture step of top plate is calculated with reference to rock layer mechanics parameter, and then establish roof break form three-dimensional Model.
To rib carry out gridding subdivision, and with the advance of the face, cutting drum position and cut depth change from The coordinate of dynamic adjustment mesh point, and utilize the real-time update of automatically texture mapping techniques completion rib model.
Using the various position monitoring information of working face, with reference to mine geography information system, the three-dimensional mould in goaf is established Type.
The threedimensional model of various equipment is established, and is constrained and joined according to the theory of mechanics of equipment, moving law and gesture stability Number, establish bang model, the composition model of each part.It is defeated that equipment mentioned here mainly includes fully mechanized mining supporter, coal-winning machine, scraper plate Send machine, elevating conveyor etc..
Step 3：Realize the long-range joint-monitoring of working face three-dimensional virtual scene and monitor video
The attitude-simulating and remote control, the dynamic of working face three dimensional device scene for realizing extractive equipment are updated with rendering, And then realize the simultaneous display of monitor video and working face three-dimensional virtual scene.Specifically：
(1) equipment attitude-simulating and its remote interaction control
Operation posture and control mode to various equipment are classified, and establish corresponding attitude-simulating and control method Storehouse.For specific equipment, overall simulation and control are carried out according to device type, component parts, type of drive.
According to the movement relation between each part, collaborative simulation pattern (fixed-time incrementing method or the event step between part are determined Regular way), design simulation model and algorithm, using multithreading, realize the three-dimensional visible of equipment running process and work compound Change and present.
(2) dynamic of working face three dimensional device scene is updated with rendering
Working face three dimensional device scene update and Rendering software based on real-time monitoring data are developed, is owned to working face Equipment, according to its position and attitude information, realize the real-time update of three dimensional device scene with rendering.
(3) simultaneous display of monitor video and working face three-dimensional virtual scene
Virtual reality technology is combined with Video Supervision Technique, realize monitor video and three-dimensional virtual scene synchronously show Show, so as to more easily carry out Remote Device Control.Wherein, monitor video part can be controlled with any switching laws picture and remotely Head processed；Virtual scene part can enter Mobile state renewal and render according to Real-time Monitoring Data, and can arbitrarily push-and-pull, rotation Turn, scale, roaming.
Step 4：Realize underground hazard prediction early warning and equipment fault diagnosis
Shaken according to ore deposit, mine dust, fire, roof fall, gushing water, pucking, the genesis mechanism of the disaster such as gas explosion, establish corresponding Hazard prediction Early-warning Model, the disaster that may be occurred for underground according to Real-time Monitoring Data on this basis send prediction and warning Information, and for the parameter in close relations with disaster, real-time Treatment Analysis can be carried out to its variation tendency.
Step 5：Build system environments
System environments is built according to architecture as shown in Figure 3, including the building of network environment, Real Data Exchangs are put down The installation and debugging of platform, the installation for controlling terminal and configuration etc..
Step 6：System debug
It is synchronous including data transmission bauds and reliability testing, the test of Real Data Exchangs plateau pressure and monitor video Test etc..
Step 7：Put into operation
After putting into operation, operating personnel can be by controlling the virtual reality scenario, monitor video, hazard prediction early warning of terminal Information, equipment fault diagnosis information monitoring downhole production situation, and pass through control panel remote control underground equipment.
The present invention is combined with virtual reality technology based on Real Data Exchangs, by Video Supervision Technique to realize pair The remote visualization monitoring of getting working face, overcoming getting working face water, mist, dust etc. influences factor and the shooting of sight The limitation of instrument in itself, and combine the accurate threedimensional model in exploiting field and Real-time Monitoring Data carry out in time underground hazard prediction early warning, Equipment fault diagnosis, veritably to realize that unmanned getting working face has established good basis comprehensively.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck The variations, modifications, additions or substitutions that the technical staff in domain is made in the essential scope of the present invention, it should also belong to the present invention's Protection domain.

Claims (3)

  1. A kind of 1. remote visualization monitoring method for unmanned getting working face, it is characterised in that：Enter in accordance with the following steps OK：
    Step 1：Develop Real Data Exchangs platform
    The Real Data Exchangs platform of support various communications protocols and interface based on self-defining data communication protocol is built, is used for Realize reliable, the real-time exchange of video monitoring data, Mine Monitoring data, monitoring of tools data and application data；
    Step 2：Establish working face threedimensional model including roof break appearance model, rib model, mined out section model with And the various device models including fully mechanized mining supporter, coal-winning machine, drag conveyor and elevating conveyor；
    The method for building up of the roof break appearance model, is specifically included：Top plate is calculated according to real-time ore pressure monitor data Preliminary water component and periodic weighting step pitch；Using ore pressure monitor data results, top is calculated with reference to rock layer mechanics parameter The fracture step of plate, establish roof break form threedimensional model；
    The method for building up of the rib model, is specifically included：Gridding subdivision is carried out to rib；With the advance of the face, cut The coordinate of cylinder position and the change adjust automatically mesh point of cut depth；Rib model is completed using automatically texture mapping techniques Real-time update；
    The method for building up of the threedimensional model in the goaf, is specifically included：Using the various position monitoring information of working face, with reference to Mine geography information system, establish the threedimensional model in goaf；
    Step 3：The long-range joint-monitoring of working face three-dimensional virtual scene and monitor video is realized, and then realizes monitor video and work Make the simultaneous display of face three-dimensional virtual scene；
    Specifically include：
    Step 3.1：Operation posture to various equipment is simulated and remote control
    Operation posture and control mode to various equipment are classified, and establish corresponding attitude-simulating and controlling party Faku County, right In specific equipment, overall simulation and control are carried out according to device type, component parts, type of drive；
    Step 3.2：Enter Mobile state renewal to working face three dimensional device scene with rendering
    Working face three dimensional device scene update and Rendering software based on real-time monitoring data are developed, all of working face are set It is standby, according to its position and attitude information, realize the real-time update of three dimensional device scene with rendering；
    Step 3.3：Virtual reality technology is combined with Video Supervision Technique, realizes the same of monitor video and three-dimensional virtual scene Step display；
    Step 4：Realize that underground disaster is predicted early warning and equipment fault diagnosis；
    The method that early warning is predicted to underground disaster, is specifically included：According to the genesis mechanism of disaster, corresponding calamity is established Evil prediction and warning model, prediction and warning information is sent to the disaster that may occur according to Real-time Monitoring Data on this basis；
    The method diagnosed to equipment fault, is specifically included：Corresponding fault diagnosis is established to different types of equipment Model, on this basis according to the operation conditions of Real-time Monitoring Data analytical equipment, timely diagnostic device failure；
    Step 5：Build system environments；
    Step 6：System debug
    Including data transmission bauds and reliability testing, the pressure test of the Real Data Exchangs platform and synchronization of monitor video Test；
    Step 7：Put into operation
    After putting into operation, by controlling the virtual reality scenario of terminal, monitor video, hazard prediction warning information, equipment fault Diagnostic message monitors downhole production situation, and passes through the various production equipments in control panel remote control underground.
  2. 2. the remote visualization monitoring method according to claim 1 for unmanned getting working face, it is characterised in that： In step 1, the various communications protocols of the Real Data Exchangs platform are to include TCP/IP, HTTP, DDE/NetDDE, COM/ Agreement including DCOM, OPC/OPC UA, RS232/RS485, FTP, MSMQ, XML, SOAP, WSDL, UDDI, SOA；The reality When data interchange platform, be configurable for obtaining data and can be by its interface to various applications offer data and from various Service system, application system and control terminal obtain order, and can forward and perform automatically order, the operation of control device.
  3. 3. the remote visualization monitoring method according to claim 1 for unmanned getting working face, it is characterised in that： In step 5, specifically include：
    Step 5.1：Multiple control terminals are installed on well, and each control terminal is configured with virtual reality scenario unit, prison Control video unit, hazard prediction warning information unit and equipment fault diagnosis unit；
    Step 5.2：Install and debug Real Data Exchangs platform；
    Step 5.3：Multiple working faces are set in underground, and various production equipments are installed on each working face；
    Step 5.4：Building for network environment is carried out between various production equipments in control terminal and working face.
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CN108537877A (en) * 2018-03-07 2018-09-14 北京中科紫宸睿达科技有限公司 Visualizing monitor interface customizing generation method based on threedimensional model and device
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CN111369665A (en) * 2020-02-24 2020-07-03 中煤华晋集团有限公司 Production state monitoring system and monitoring method based on three-dimensional modeling technology
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