CN109236298A - A kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR - Google Patents
A kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR Download PDFInfo
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- CN109236298A CN109236298A CN201811233674.0A CN201811233674A CN109236298A CN 109236298 A CN109236298 A CN 109236298A CN 201811233674 A CN201811233674 A CN 201811233674A CN 109236298 A CN109236298 A CN 109236298A
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- 238000005065 mining Methods 0.000 title claims abstract description 33
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- 238000012360 testing method Methods 0.000 claims abstract description 4
- 230000009885 systemic effect Effects 0.000 claims abstract description 3
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR, it is collided by collision detection module divergent-ray and the equipment for being added to collision body all in virtual scene, and return to collision information, it is equipment room distance D by calculating ray length of the ray between all collision bodies, the distance D for the equipment room that will test is compared with the distance threshold of systemic presupposition, when the distance D of equipment room is less than a certain threshold value, early warning detection module sounds an alarm, operator is reminded to take corresponding measure, according to system suggestion judge the relative position of equipment room, to realize the purpose of early warning detection.The present invention realizes equipment room early warning and monitoring and collision checking function using virtual ray detection technique in virtual emulation and remote monitoring platform, and then carries out manual intervention by virtual emulation and remote control table, achievees the purpose that prevent three machine equipments from colliding.
Description
Technical field
The present invention relates to the Collision Detections remotely controlled, more particularly, to a kind of three machine equipment of coal mine fully-mechanized mining working
Anti-collision warning detection method.
Background technique
With the continuous development of coal mining technology, most of coal mining enterprises of China have been realized in automation, mechanization
Coal mining.But few people, manless working face remotely controlled operation in, the most common hidden danger is exactly mutually to touch between fully-mechanized mining equipment
It hits and force piece occurs squeezing frame, stings frame, the phenomenon of falling frame, therefore, how efficiently and accurately to detect touching between fully-mechanized mining equipment
Hit the key problem as Safety of Coal Mine Production.The method for generalling use sensor and vision measurement supervises digging operating condition
Control.But due to the fluctuation of extraneous factor and the limitation of sensor mounting location, sensor itself dynamic characteristic and quiet will cause
The change of step response and unstable, so that sensor is unable to reach fast and accurately mesh in the practical application of collision detection
's.With the fast development of visual sensing technology and image processing techniques, vision measurement has become a kind of the most popular non-
Contact measurement method.Vision measurement does not need additional optical path ancillary equipment relative to other measuring methods, it is only necessary to
By photographic device, corresponding measurement can be completed by acquisition, the analysis to image, but not due to underworkings light
Enough, the problems such as and dust content is big, is easy to happen explosion, influences the information collection of photographic device, is not suitable in this way
In complicated coal mine environment.
Summary of the invention
The object of the present invention is to provide a kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR, according to scene
In each equipment motion profile and pose fast and accurately judge whether controlled device intersects, realize fully-mechanized mining working set
Anti-collision warning detects between standby, ensure that fully-mechanized mining equipment is normal in recovery process by the automatic obstacle avoiding of human intervention and equipment
Operation, meets the high efficiency and requirement of real-time of system.
The technical scheme is that a kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR, is based on coal
Mine fully-mechanized mining working virtual emulation and tele-control system propose, the system mainly include virtual emulation and remote monitoring platform,
Console, data communication module, lower computer hardware, wherein virtual emulation and remote monitoring platform are used to emulate working face
The motion state of face ring border and three machine equipments, the platform are based on Unity3D exploitation software and are modeled, rendered, assemble etc. to grasp
It builds, which is characterized in that be added to by collision detection module divergent-ray with all in virtual scene in the platform
The equipment of collision body collides, and returns to collision information, by calculating the ray length between ray and all collision bodies
The distance D of the as distance D of equipment room, the equipment room that will test are compared with the distance threshold of systemic presupposition, work as equipment
Between distance D be less than a certain threshold value, early warning detection module sounds an alarm, and reminds operator to take corresponding measure, according to system
Prompt judges the relative position of equipment room, to realize the purpose of early warning detection；
According to working condition safety demand, two distance threshold D are setmax, Dmin, it is three regions by the distance D of equipment room points:
Safety zone, prewarning area and danger zone；
The ray length between ray and all collision bodies is calculated by the following method:
Assuming that the starting point coordinate of a certain ray is A (x, y, z) in space, the sphere centre coordinate of ball collision body is O (x0, y0,
z0), R indicates the radius of a ball, then the trigger area of Ray-Sphere collision are as follows:
L=((x, y, z) | (x-x0)2+(y-y0)2+(z-z0)2≤R2Formula (1) sets a, b, c be respectively box collision body length,
Wide, high, taking any point B (x, y, z) in space is ray origin, and the barycentric coodinates of box body are O (x0, y0, z0), then Ray-Box
The trigger area of collision are as follows:
If the coordinate of any point meets formula (1), the constraint condition L (x, y, z) in formula (2) on ray, then it can determine whether ray
Intersect with collision body, the distance by calculating ray starting point to intersection point determines that ray length is the distance D of equipment room.
Emit virtual ray in equipment room using collision detection module, there are two types of situations for divergent-ray: (1) appointing on certain point edge
One direction vector emits a ray, can be realized by Physics.Raycast static function, (2) are a certain solid on screen
Divergent-ray is pinpointed, it can be by ScreenPoint To two kinds of api functions of Ray or Viewport Point To Ray come real
It is existing；These virtual rays are similar to invisible reflection straight line, encounter first equipment with collision body and just stop emitting, and feed back
The collision information detected.
Specific detection process is as follows:
Step 1: rigid body and collision body are added for the device models to collide all in virtual scene, according to operating condition
It is required that setting early warning distance threshold value D between the rigid body easily to collide at each groupmax, Dmin；
Step 2: collision detection module emits virtual ray, operation interface in equipment room when fully-mechanized mining equipment setting in motion
There is the collision information (colliding object, collision distance D) that GUI window shows equipment room, simultaneity factor starts to judge D and Dmax,
DminBetween positional relationship:
As D > DmanWhen, the distance of equipment room is in safety zone, and GUI window does not occur；
Work as Dmax> D > DminWhen, the distance D of equipment room enters prewarning area, and early warning detection module can sound an alarm, operation
There is the collision information that GUI window shows equipment room in interface, reminds operator's equipment that will collide, need to be by artificially doing
The motion state of each equipment of pre-adjustment, so that equipment room is in rational position；
As D < DminWhen, the distance D of equipment room enters danger zone, and early warning detection module can sound an alarm, operation interface
There is the distance D that GUI window shows equipment room, needs to carry out collision detection at this time, if equipment room collides, system is taken tightly
Anxious braking, if not colliding, pseudo operation platform is read the various kinds of sensors being mounted in equipment by database and examined at this time
Measured data calculates the motion pose of three machine equipments, the motion state of each equipment is adjusted according to calculated result, so that at equipment room
In rational position, fully-mechanized mining equipment automatic obstacle avoiding is realized.
The beneficial effects of the present invention are:
The present invention can not accurately judge to set in operating condition for coal mine fully-mechanized mining working virtual emulation and tele-control system
The problem of colliding between standby, using virtual ray detection technique combination sensor detecting, passes through transmitting in virtual interacting platform
Virtual ray guarantees the normal fortune of three machine equipments in real time to the collision detection and early warning and monitoring of three machine equipment of fully-mechanized mining working
Row.This method can also promote the use of in the collision detection of other tele-control systems.
Detailed description of the invention
Fig. 1 is anti-collision warning detection work flow diagram of the invention.
Fig. 2 is virtual emulation scene figure of the invention.
Fig. 3 is collision detection schematic diagram of the invention.
Fig. 4 is collision detection figure of the invention.
Fig. 5 is early warning detection figure of the invention.
Specific embodiment
As shown in Figure 1, coal-mine integrated-mining equipment collision detection and method for early warning based on VR, it is characterised in that: be based on coal mine
Fully-mechanized mining working virtual emulation and tele-control system propose, which mainly includes virtual emulation and remote monitoring platform, remote
Journey operation bench, data communication module, lower computer hardware.Wherein virtual emulation platform is used to emulate fully-mechanized mining working environment and three
The motion state of machine equipment realizes the collision detection early warning function to three machine equipments in the platform by virtual ray detection technique
Energy.
In virtual environment, to generate collision effect and be necessary for target object addition rigid body component and collision component.For mesh
It marks object and adds rigid body component, the physics interaction of target object in the scene may be implemented.
Secondly the anti-collision warning detection module of three machine equipments is added for the system, anti-collision warning detection module is mainly by early warning
Detection module and collision detection module two parts composition.After system opens virtual ray detection, collision detection module can be right
Distance between each group of collision body is detected, when detecting equipment spacing from abnormal condition, early warning detection module
It is activated, operator is reminded to take corresponding collision avoidance measure.
Early warning detection is the key that ensure that automation coal mining process operates normally, when the distance D of equipment room is less than a certain threshold
Value, early warning detection module can sound an alarm, and operator is reminded to take corresponding measure.According to working condition safety demand, pass through setting
Two distance threshold Dmax, Dmin, it is three regions: safety zone, prewarning area and danger zone by the distance D of equipment room points,
The relative position of equipment room is according to system suggestion judged, to realize the early warning detection of system.
Collision detection module is realized and emitting virtual ray in equipment room, and usually there are two types of feelings when divergent-ray
Condition, (1) emit a ray along any direction vector in certain point, can be realized by Physics.Raycast static function, (2)
A certain fixed point divergent-ray on screen can pass through Screen Point To Ray or Viewport Point To Ray
Two kinds of api functions are realized；These virtual rays are similar to invisible reflection straight line, encounter first equipment with collision body just
Stop transmitting, and feeds back the collision information detected.The realization side of ray detection can be selected according to the actual requirement of target object
Formula.
The method of the invention is monitored the relative distance three machine equipments in the course of work, and specific collision is pre-
Alert testing process is as follows:
Step 1: rigid body and collision body are added for the model that can be collided in virtual unit and environment, according to operating condition
It is required that set distance threshold value D between the rigid body easily to collide at each groupmax, Dmin；
Step 2: ray detection is activated when fully-mechanized mining equipment setting in motion, there is GUI window and shows to set in operation interface
Distance D between standby, simultaneity factor start to judge D and Dmax, DminBetween positional relationship:
As D > DmaxWhen, the distance D of equipment room is in safety zone, and GUI window does not occur；Work as Dmax> D > DminWhen, if
Distance D between standby is in prewarning area, and early warning detection module can sound an alarm prompt operator and will collide, need to pass through
Human intervention adjusts the motion state of each equipment, so that equipment room is in rational position；
As D < DminWhen, the distance D of equipment room is in danger zone, needs to carry out collision detection at this time, if equipment room is sent out
Raw collision system takes emergency braking, needs to carry out the pose calculating of colliding object at this time if not colliding, ties according to calculating
Fruit adjusts the motion state of each equipment, so that equipment room is in reasonable relative position, realizes fully-mechanized mining equipment automatic obstacle avoiding.
As shown in Fig. 2, in Unity3D virtual interacting platform, the virtual scene for completing down-hole combined mining working build and
Modeling, rendering, the assembly of virtual three machine equipment.In virtual environment, rigid body component and collision component are added for target object, it can
To realize the physics interaction of the object in the scene.Collision body is one kind of physical assemblies, it will be added to mesh together with rigid body
Collision could be triggered on marking device.
As shown in figure 3, guaranteeing the real-time and standard of collision detection between three machine equipments in this system using box-like collision body
True property, be three machine equipment of fully-mechanized mining working virtual ray collision detection schematic diagram, wherein the cube for surrounding equipment be for
The collision body of equipment different parts addition, dotted line indicate the virtual ray for distance between detection device.
As shown in figure 4, coalcutter and hydraulic support, in normal motion, virtual ray in real time carries out virtual environment
Detection, when equipment room is in safe distance, ray stippling line indicates that motion process is normal.
As shown in figure 5, may be touched between roller and mutually side when rocker arm rises to originally determined prewarning area
It hits, virtual ray is in dotted line immediately, prompts operator that should take corresponding manual control.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention is simultaneously
It is not limited to embodiment described in specific embodiment, all capable field technique personnel obtain according to the technique and scheme of the present invention
Other embodiments, also belong to the scope of protection of the invention.
Claims (4)
1. a kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR, based on coal mine fully-mechanized mining working virtual emulation with
Tele-control system proposes that the system mainly includes virtual emulation and remote monitoring platform, console, data communication mould
Block, lower computer hardware, wherein virtual emulation and remote monitoring platform are used to emulate fully-mechanized mining working environment and three machine equipments
Motion state, the platform are based on Unity3D exploitation software and the operations such as are modeled, rendered, assembled building, and feature exists
In being touched by collision detection module divergent-ray with the equipment for being added to collision body all in virtual scene in the platform
It hits, and returns to collision information, be equipment room distance D by calculating ray length of the ray between all collision bodies,
The distance D for the equipment room that will test is compared with the distance threshold of systemic presupposition, when the distance D of equipment room is less than a certain threshold
Value, early warning detection module sound an alarm, and remind operator to take corresponding measure, according to system suggestion judge the opposite of equipment room
Position, to realize the purpose of early warning detection；
According to working condition safety demand, two distance threshold D are setmax, Dmin, it is three regions by the distance D of equipment room points: safety
Region, prewarning area and danger zone.
2. coal-mine integrated-mining equipment collision detection and method for early warning based on VR as described in claim 1, it is characterised in that: by with
Lower method calculates the ray length between ray and all collision bodies:
Assuming that the starting point coordinate of a certain ray is A (x, y, z) in space, the sphere centre coordinate of ball collision body is O (x0, y0, z0), R table
Show the radius of a ball, then the trigger area of Ray-Sphere collision are as follows:
L=(x, y, z) | (x-x0)2+(y-y0)2+(z-z0)2≤R2Formula (1) sets a, b, c be respectively box collision body length and width,
Height, taking any point B (x, y, z) in space is ray origin, and the barycentric coodinates of box body are O (x0, y0, z0), then Ray-Box is touched
The trigger area hit are as follows:
If the coordinate of any point meets formula (1), the constraint condition L (x, y, z) in formula (2) on ray, then it can determine whether ray and touch
Collision body intersection, the distance by calculating ray starting point to intersection point determine that ray length is the distance D of equipment room.
3. coal-mine integrated-mining equipment collision detection and method for early warning based on VR as described in claim 1, it is characterised in that: utilize
Collision detection module emits virtual ray in equipment room, and there are two types of situations for divergent-ray: (1) sending out in certain point along any direction vector
A ray is penetrated, can be realized by Physics.Raycast static function, a certain fixed point divergent-ray of (2) on screen,
It can be realized by Screen Point To two kinds of api functions of Ray or Viewport Point To Ray；These are virtually penetrated
Line is similar to invisible reflection straight line, encounters first equipment with collision body and just stops emitting, and feeds back the collision detected
Information.
4. coal-mine integrated-mining equipment collision detection and method for early warning based on VR as described in claim 1, it is characterised in that: specific
Detection process is as follows:
Step 1: add rigid bodies and collision body for the device models to collide all in virtual scene, according to working condition requirement,
Early warning distance threshold value D is set between the rigid body that each group easily collidesmax, Dmin；
Step 2: collision detection module emits virtual ray in equipment room when fully-mechanized mining equipment setting in motion, operation interface occurs
GUI window shows the collision information of equipment room, and simultaneity factor starts to judge D and Dmax, DminBetween positional relationship:
As D > DmaxWhen, the distance of equipment room is in safety zone, and GUI window does not occur；
Work as Dmax> D > DminWhen, the distance D of equipment room enters prewarning area, and early warning detection module can sound an alarm, operation interface
There is the collision information that GUI window shows equipment room, reminds operator's equipment that will collide, need to adjust each equipment
Motion state so that equipment room is in rational position；
As D < DminWhen, the distance D of equipment room enters danger zone, and early warning detection module can sound an alarm, and operation interface occurs
GUI window shows equipment room collision information, needs to carry out collision detection at this time, if equipment room collides, system is taken promptly
Braking；If not colliding, pseudo operation platform is read the various kinds of sensors being mounted in equipment by database and detected at this time
Data calculate the motion pose of three machine equipments, the motion state of each equipment are adjusted according to calculated result, so that equipment room is in
Rational position.
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| CN112230597A (en) * | 2020-10-16 | 2021-01-15 | 兖州煤业股份有限公司 | Coal mine mining machine operation skill training system and method |
| CN112327739A (en) * | 2020-10-16 | 2021-02-05 | 兖州煤业股份有限公司 | Method and system for training operational skills of fully-mechanized excavating machine |
| CN112632686A (en) * | 2020-12-30 | 2021-04-09 | 天津大学 | Early warning method for collision in offshore pile sinking construction process |
| CN113586156A (en) * | 2021-09-01 | 2021-11-02 | 四川川煤华荣能源有限责任公司大宝顶煤矿 | Control center for intelligent coal mining |
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| CN111383253A (en) * | 2020-03-03 | 2020-07-07 | 清华大学 | Striking accident early warning system for construction site hoisting machinery |
| CN113781655B (en) * | 2020-06-09 | 2024-06-07 | 国网新疆电力有限公司建设分公司 | Virtual reality simulation construction method, device, equipment and storage medium |
| CN113781655A (en) * | 2020-06-09 | 2021-12-10 | 国网新疆电力有限公司建设分公司 | Virtual reality simulation construction method and device, equipment and storage medium |
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| CN111921202B (en) * | 2020-09-16 | 2021-01-08 | 成都完美天智游科技有限公司 | Data processing method, device and equipment for virtual scene and readable storage medium |
| CN112230597B (en) * | 2020-10-16 | 2022-06-07 | 兖矿能源集团股份有限公司 | Coal mine mining machine operation skill training system and method |
| CN112230597A (en) * | 2020-10-16 | 2021-01-15 | 兖州煤业股份有限公司 | Coal mine mining machine operation skill training system and method |
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| CN112327739B (en) * | 2020-10-16 | 2022-06-14 | 兖矿能源集团股份有限公司 | Method and system for training operational skills of fully-mechanized excavating machine |
| CN114495585A (en) * | 2020-11-11 | 2022-05-13 | 郑州畅想高科股份有限公司 | VR simulation training method for overhaul between machines |
| CN114495585B (en) * | 2020-11-11 | 2024-05-28 | 郑州畅想高科股份有限公司 | VR simulation training method for maintenance between machines |
| CN112632686A (en) * | 2020-12-30 | 2021-04-09 | 天津大学 | Early warning method for collision in offshore pile sinking construction process |
| CN113586156A (en) * | 2021-09-01 | 2021-11-02 | 四川川煤华荣能源有限责任公司大宝顶煤矿 | Control center for intelligent coal mining |
| CN114545877A (en) * | 2022-02-08 | 2022-05-27 | 燕山大学 | Bulk cargo-oriented multi-engineering mechanical digital twin online monitoring system and method |
| CN114545877B (en) * | 2022-02-08 | 2024-04-05 | 燕山大学 | Multi-working-procedure mechanical digital twin on-line monitoring system and method for bulk cargo |
| CN114648418A (en) * | 2022-02-23 | 2022-06-21 | 煤炭科学技术研究院有限公司 | Underground goaf safety grading early warning monitoring method and system |
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