CN109268010A - A kind of long-range inspection interference method of virtual reality Mechanized - Google Patents
A kind of long-range inspection interference method of virtual reality Mechanized Download PDFInfo
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- CN109268010A CN109268010A CN201811110895.9A CN201811110895A CN109268010A CN 109268010 A CN109268010 A CN 109268010A CN 201811110895 A CN201811110895 A CN 201811110895A CN 109268010 A CN109268010 A CN 109268010A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000007689 inspection Methods 0.000 title claims abstract description 30
- 238000005065 mining Methods 0.000 claims abstract description 97
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- 238000006243 chemical reaction Methods 0.000 claims description 3
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- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
A kind of long-range inspection interference method of virtual reality Mechanized is pass fully-mechanized mining working equipment in real time back data and state properties building virtual software, the virtual fully-mechanized mining working of Real-time data drive is simultaneously presented in the fully mechanized mining VR tracking and interaction center of a variety of virtual reality hardware and software building, pseudo operation is carried out using a variety of virtual reality human-computer interaction means and virtual human-computer interaction interface, virtual reality hardware and software are to operator position, posture and movement are captured, and reality is converted by pseudo operation and instructs and access the operation that centralized-control center carries out real equipment, the equipment for guiding corresponding operation completes adjustment work, and then complete remote handle intervention and manual inspection task, and true fully-mechanized mining working real time execution operating condition is really presented, and then it is monitored.This method directly carries out remote handle intervention to the equipment of operation exception in the place far from production scene safety, and more people is supported to carry out collaboration and the work of inspection simultaneously.
Description
Technical field
The present invention relates to a kind of monitoring and control methods of Virtual mine fully-mechanized mining working equipment operation, especially a kind of real-time
Under virtual fully-mechanized mining working work condition environment, the method that long-range monitoring is intervened is carried out to equipment by human-computer interaction.
Background technique
In coal field, virtual reality technology is also increasingly taken seriously simultaneously due to having the inborn property immersed, interactivity
Locally carry out tentative application, achieves more research achievement, including the emulation of coal mine virtual reality scenario, education training
Instruction, coal mine equipment virtual reality monitoring are virtually planned and " VR+AR " technological incorporation designs etc.；But with other industry necks
Domain is using comparing, and there are also even falling behind compared with large time lag in depth and range, from real industrial applications, there are also sizable
Distance.
Existing China's fully mechanized mining automatization level totally proposes " unattended, someone makes an inspection tour " fully mechanized mining normality operation plan
Slightly, and some conditions are preferable, the higher coal mine of automatization level is applied, wherein remote intervention and inspection technology are these
One of most important a part in technology.
In the prior art, " one kind is that main remote intervention is with automatic coal cutting application No. is 201610754468.9 entitled
Auxiliary coalcutter coal mining control method ", the invention coalcutter are double-ended shearer, and the control system that this method uses includes control
Device processed, wireless communication module, control computer, data storage, camera, displacement sensor, left rocker arm angular transducer and
Right rocker arm angular transducer；Coalcutter coal mining control method is the following steps are included: first is that artificial teaching, second is that being with automatic coal cutting
Control mode control coalcutter supplemented by main remote intervention is mined, and during coalcutter carries out automatic coal cutting, works as operation
Personnel are judged as when needing to manually adjust coalcutter posture, and operator carries out manual intervention control, adjust coalcutter coal cutting appearance
State after adjustment, exits remote handle intervention, and coalcutter restores automatic coal cutting state；The method of the present invention step is simple, design
It rationally and realizes conveniently, has not only achieved the purpose that cut payroll to improve efficiency, but also improve safety coefficient, it is practical, convenient for promoting the use of.
Open paper a kind of " visual remote intervention type intelligence coal mining Research on key control technology " is visualized
The research of remote intervention type intelligence coal mining control technology, by using the work based on video frequency tracking, relay and splicing
The method that face distant view is presented in real time, has studied remote intervention centralized operation technology, and integrated fusion coalcutter remembers coal cutting technology, work
Make face with machine automated control technology, has developed fully mechanized mining intelligence control system；Test result shows: realizing in working face nobody
The intelligent coal mining normalization of operation is run, and fully-mechanized mining working per tour operation number is reduced to 3 people by average 15 people, therefore utilize
This technology can be realized the intelligent operation of fully-mechanized mining working equipment, can effectively reduce operation number and improve fully-mechanized mining working
Safety in production it is horizontal.
Open paper a kind of " visual remote intervenes unmanned production technique research " is from its technical principle, overall plan and is
Function of uniting is analysed in depth, and the Manless mining production model of " unattended, someone makes an inspection tour " is proposed, i.e., will using anthropomorphic gimmick
The vision of people, the sense of hearing extend to working face, and worker is put into comparatively safe tunnel monitoring from dangerous working face stope solution
The heart or ground are realized and are carried out far in tunnel monitoring center or ground in face of fully-mechanized mining equipments such as hydraulic support, coalcutter, drag conveyors
Journey manipulation, achievees the purpose that working face Manless mining, and propose hydraulic support control technology, coalcutter control technology, working face
Video Supervision Technique, long-distance centralized control technology and personnel safety cognition technology are the key that visual remote intervenes unmanned exploitation
Technology；Field application shows: visual remote intervenes unmanned production technique and economic and social benefits are good, is future work face
The primary stage for realizing self-adaptation type intelligence Manless mining mines to realization self-adaptation type intelligence Manless mining and robot
Provide the foundation exploratory development.
Fully mechanized mining monitoring method based on virtual reality technology, mainly there is that application No. is one kind disclosed in 201610702234.X
" long-range control method is turned up in the coalcutter based on virtual reality ", including Step 1: coalcutter exploits work condition inspection system building:
Build coalcutter exploitation work condition inspection system；Coalcutter exploitation work condition inspection system includes intensity of sound detection device, the next prison
Control device and upper monitoring machine；Step 2: three-dimensional modeling type；Step 3: seam mining and recovery process synchronously simulating: adopting
Coal machine is treated working seam along advance of the face direction from the front to the back and is exploited, and exploits position to either one or two of work at present face
When being exploited, process is as follows: the practical exploitation work information detection of coalcutter and synchronized upload, cutting Diagnosis of Work Conditions, coalcutter
Judgement, the adjustment of coalcutter cutting height and coalcutter is turned up and exploits operating condition synchronously simulating；This method step is simple, design rationally and
Realize simplicity, using effect is good, is remotely controlled coalcutter height-regulating in real time automatically, and can exploit operating condition to coalcutter and carry out
Synchronously simulating.
Application No. is 201710323280.3, a kind of entitled " fully-mechanized mining working Virtual Monitoring based on local area network collaboration
Method " discloses one kind under LAN environment, establishes true fully-mechanized mining working under virtual reality engine Unity3d environment
Mirror image, the real work face then acquired in real time using data monitoring host and in real time storage enter working face database SQL
The data of SERVER2008 database, it is corresponding in more data analytics server reading data in real-time libraries of different location
Data, corresponding virtual reality device is driven by attitude algorithm module and prediction module and in real time, more
Host is by C/S framework, and using local area network cooperative mode, synchrodata at any time, synthesizes an overall work face panorama mutually
The side for carrying out three-dimensional visualization Virtual Monitoring to real work face and being analyzed and predicted online to historical data is realized in face
Method；This method is capable of the operating status of three-dimensional panorama real-time display working face, and backstage is embedded in fully mechanized mining and runs prediction and warning model, energy
It is enough to realize intuitive visual fault diagnosis and fault prediction, technical support is provided for the operation of fully-mechanized mining working highly effective and safe, using dividing
Cloth theory carries out the monitoring of fully-mechanized mining working equipment, but this is not related to real-time Reverse Turning Control fully-mechanized mining equipment.
But the defect of the above method is: first is that fully-mechanized mining working remote handle interference method is mainly based upon video pictures
Determined, be easy to appear the problem of the difference of effect caused by dust steam, to influence artificial remote intervention implementation effect；Second is that
The virtual screen that artificial remote intervention based on virtual reality is mainly based upon a display screen is monitored, to carry out long-range
Intervene, working face effect on the spot in person is poor, does not build the monitoring of a true excellent with the property immersed
Picture；Third is that existing " intelligent Manless mining ", which must still carry out someone, carries out production scene progress manual inspection and tour, sentence
Disconnected and supervision equipment operating status；It is transported fourth is that existing fully mechanized mining monitoring system carries out display equipment just with virtual reality technology
Row state carries out remote intervention and control using the station of centralized-control center, does not utilize the virtual reality technology of profession
Go Reverse Turning Control equipment.
Summary of the invention
The invention solves concrete technical problems be how to realize a kind of virtual reality Mechanized long-range
Inspection interference method.
Technical measures scheme adopted by the present invention is as follows.
A kind of long-range inspection interference method of virtual reality Mechanized, including fully-mechanized mining working equipment pass in real time
The virtual software system for data and the state properties building returned and fully mechanized mining VR tracking and interaction center, it is characterised in that: according to comprehensive
The data system and state properties building system, the fully-mechanized mining working of real-time Transmission that mining face equipment is passed back in real time equip data
And state properties, construct the virtual fully-mechanized mining working of virtual software Real-time data drive, and be presented on a variety of virtual reality hardware with
The fully mechanized mining VR of software building is tracked and interaction center, utilizes a variety of virtual reality human-computer interaction means and virtual human-computer interaction interface
Carry out pseudo operation, virtual reality hardware and software capture operator position, posture and movement and by pseudo operation
It is converted into real instruction, and accesses the operation that centralized-control center carries out real equipment, the equipment for guiding corresponding operation is completed
Work is adjusted, and then completes remote handle intervention and manual inspection task, is realized to true fully-mechanized mining working real time execution work
Condition carry out it is very true present, and then be monitored and inspection；
The fully mechanized mining VR tracking and interaction center are the Virtual Reality Labs that existing fully mechanized mining centralized-control center is arranged in,
It is provided with artificial projections ring curtain, is integrated with optical tracking device and inertial navigation, it is a variety of to interact tracing system for body feeling interaction equipment
The collaboration of virtual reality human-computer interaction hardware device carries out true roaming fully-mechanized mining working, and to the Virtual Monitoring in virtual software
The virtual push button and remote controler that interface is presented in artificial projections ring curtain are operated, and pseudo operation command mappings become practical behaviour
It instructing, and real-time delivery enters fully-mechanized mining working centralized control system, the equipment for guiding corresponding operation completes adjustment work,
And then remote handle intervention is completed, very true presentation, Jin Erjin are carried out to true fully-mechanized mining working real time execution operating condition
Row monitoring；
The artificial projections ring curtain is projected comprising ring curtain system and ring curtain, is that a kind of virtual emulation that audiovisual height is immersed is shown
Virtual Monitoring picture in virtual software is shown that ring curtain projection system is using more projection compositions by environment in the environment
Annular projection's screen, annular curtain radius usually has 100 radians, and since its screen radius is roomy, the vision of operator is complete
It is surrounded, then cooperates surround-sound system, operator is made sufficiently to experience a kind of 3 D stereo audiovisual that height is on the spot in person
Impression obtains the real-time virtual fully mechanized mining virtual emulation visual environment with height feeling of immersion, and feeling of immersion, which is generally greater than, to be passed
The plane large screen of system；
The optical tracking device is the three-dimensional information that operator is differentiated using two or more gamma camera sensors, utilizes mould
Formula identification technology tracks operator's body position, sticks reflective light label on operator's body, emits and connects by camera lens
By the infrared light of specified wavelength, to obtain the 3 D motion trace of Marker, operator's body position must assure that each
Marker is arrived there are two the above camera looks into fee；
The inertial navigation is positioning and the posture information for obtaining operator in real time by inertial navigation unit；
The positioning of the operator and posture information are to be carried out data fusion with inertial navigation by optical tracking device and obtained
Precise information, and real-time delivery is into virtual software, so as to show the essence of operator in artificial projections ring curtain
Spend higher position and posture information；
The virtual reality human-computer interaction hardware device is that operator is interacted using human-computer interaction device and virtual scene
Process, including wearable device, body feeling interaction equipment, data glove, data suit and interaction tracing system, to operator
Body, four limbs, palm and finger movement captured, and by the information real-time delivery of capture into virtual software；
The virtual software is under Unity3d environment by Virtual Monitoring interface, virtual reality human-computer interaction hardware interface, virtual
Human-computer interaction interface and virtual interface show and split module composition；
The Virtual Monitoring interface is the real time data of pass fully-mechanized mining working equipment in real time back data and state properties building
The virtual fully-mechanized mining working of driving, and it is synchronous with real-time moving objects holding；
The virtual reality human-computer interaction hardware interface is the man-machine hardware interface of a variety of virtual realities that Unity3d software has,
Including wearable device connecting interface, body feeling interaction equipment connecting interface, data glove connecting interface, data suit connecting interface,
Interaction tracing system connecting interface has the function that each man-machine interface hardware equipment is carried out to Seamless integration-, is in virtual software
Virtual interacting module；
The virtual human-computer interaction interface is that the pseudo operation interface made in UGUI module, packet are utilized under Unity3d environment
Include virtual hydraulic support manual operating valve, virtual electrohydraulic controller, virtual bracket remote controler, virtual coalcutter remote operation face
Plate, virtual hydraulic support remote operator panel and set remote-controller of virtually mining；
It is that Virtual Monitoring interface and virtual human-computer interaction interface are presented on emulation to throw that the virtual interface, which shows and splits module,
On shadow ring curtain, make operator can be by virtual reality human-computer interaction means in artificial projections ring moulds and in Virtual Monitoring interface
Virtual push button and remote controler interact, and then carry out pseudo operation；Pass through piecemeal display technology, Virtual Monitoring picture quilt
Be divided into more scenic pictures, be segmented and show in artificial projections ring curtain, solve fully mechanized mining scene scale it is big, can not it will be shown in one
The problems in virtual screen realizes operator in the quick positioning and switching of virtual scene；
The whether effective method of judgement pseudo operation is the judgement in progress fully mechanized mining fractionation space first, and real-time response goes out
The virtual human-computer interaction interface of existing relevant device；Then the position and direction posture of operator is obtained in real time, and then by obtaining
The information such as body, four limbs, palm and the finger movement of operator obtained differentiate human body posture and manipulator and virtual face
The interaction of plate；The trigger action if meeting contact and response condition, the equipment for finding corresponding operation, to complete to operate；
Click commands are needed to allow button after having put every time, in order to avoid accidentally touch the appearance of phenomenon；
The process of the virtual human-computer interaction interface conversion centralized-control center PLC control command of operator's pseudo operation is,
Interactive operation instruction is determined in unity3d, is carried out corresponding with the dummy variable reserved in virtual software, is then passed through C# language
Dummy variable is transmitted in table corresponding with equipment, is passing through ODBC by the interface with SQLSERVER software programming write
Interface is passed to KingView, and KingView has passed through the PLC connection of OPC interface and centralized-control center, and passes through long range radio transmissions
Network RJ45 is transmitted in the plc control system of corresponding physical equipment, is acted to operate corresponding equipment.
A kind of technical solution of the long-range inspection interference method of virtual reality Mechanized of the present invention, with existing skill
Art is compared, and has following beneficial effect.
Present method solves virtual reality 3D monitorings to show entire working face operating condition with a common display screen, supervises
Measuring point is excessive, and picture shows incomplete or offending problem, is monitored by artificial projections ring moulds to equipment operation condition, and
It can find the problem and carry out remote handle intervention and inspection.
This method will solve existing remote intervention and method for inspecting, and fully-mechanized mining working is remotely shown in video pictures progress
Determine, is easy to appear the problem that live dust steam causes effect difference, and then influence artificial remote intervention effect.It is using this
System, operator place oneself in the midst of it in very vivid mode to be immersed in fully-mechanized mining working running equipment, to equipment
It is monitored.
This method frees miner from production scene, and fully-mechanized mining working equipment is placed oneself in the midst of in reality environment
In, by numerous virtual reality human-computer interaction hardware devices, it just can be carried out manual intervention with interaction center in fully mechanized mining VR tracking
It works with inspection, carries out operation sense using virtual reality technology, has the operation of sense of touch, rather than simply operate centralized control center
Button carries out remote handle intervention and operation.
This method is provided with automatically walk and walking mode, with fixed speed inspection working face equipment operation condition, hair
When existing problem, automatic running can be stopped, manually carrying out mobile intervention.
Virtual reality technology really can be carried out industrialness application by this method, not only be only limited to training and teaching field,
And there is real promotional value.
Detailed description of the invention
Fig. 1 is this method system composition and implementation method block diagram.
Fig. 2 is the operational motion of this method and behavior be converted into virtual environment pass process virtual operational order process and
Method block diagram.
Fig. 3 is this method virtual software interface alternation system type block diagram.
Fig. 4 is the pseudo operation of this method to the data transfer block diagram of true physical equipment PLC control system.
Specific embodiment
The specific embodiment of the invention is made further instructions with reference to the accompanying drawing.
As shown in the picture, implement a kind of above-mentioned provided long-range inspection of virtual reality Mechanized of the present invention
Interference method will mainly solve the problems, such as the artificial remote intervention and tour of underground coal mine fully-mechanized mining working, really miner from
Production scene frees, and places oneself in the midst of it in fully-mechanized mining working running equipment scene in very vivid mode,
And then equipment is monitored, it finds the problem, carries out remote handle intervention using virtual reality in the place far from production scene
And inspection, it realizes not in its border, reproduces the long-range inspection intervention of the Virtual mine fully-mechanized mining working of its real function.
As shown in Figure 1 and Figure 2, this remote intervention and method for inspecting are that fully-mechanized mining working is equipped the number passed back in real time
According to and the virtual software of state properties building in the virtual fully-mechanized mining working of Real-time data drive be presented on a variety of virtual realities
The fully mechanized mining VR of hardware and software building tracking with interaction center in, operator using a variety of virtual reality human-computer interaction means with
Virtual human-computer interaction interface carries out pseudo operation, virtual reality hardware and software and carries out to operator position, posture and movement
It captures and converts reality for pseudo operation and instruct and access the operation that centralized-control center carries out real equipment, guide corresponding
The equipment of operation completes adjustment work, and then completes remote handle intervention and manual inspection task, and can be to true fully mechanized mining work
Make face real time execution operating condition and carry out very true presentation, and then is monitored.This method can solve previous fully-mechanized mining working
The method of artificial remote intervention is carried out by video means and the virtual 3D of fully mechanized mining is monitored usually on a display frequency, effect
It is bad to be difficult to the problem of interacting, and do not need to be manually entered production scene progress inspection and tour, existing far from production
The place of field safety directly can carry out remote handle intervention to the equipment of operation exception, as operator enters production
It is live the same, and more people is supported to carry out collaboration and the work of inspection simultaneously.
Fully mechanized mining VR tracking and interaction center are that the side of existing fully mechanized mining centralized-control center is arranged in, and one small-sized
But the complete small virtual reality laboratory of device configuration.It is provided centrally with artificial projections ring curtain herein, is integrated with optical tracking
Device and inertial navigation, several miners can utilize wearable device, body feeling interaction equipment, data glove, interaction tracing system
A variety of virtual reality human-computer interaction hardware device collaborations carry out true roaming fully-mechanized mining working, and will be to the void in virtual software
The virtual push button and remote controler that quasi- observation interface is presented in artificial projections ring curtain are operated, and pseudo operation command mappings become
Practical operation instruction, and real-time delivery enters fully-mechanized mining working centralized control system, the equipment for guiding corresponding operation is completed to adjust
Whole work, and then remote handle intervention is completed, and can carry out to true fully-mechanized mining working real time execution operating condition very true
It presents, and then is monitored.
Above-mentioned artificial projections ring curtain is projected comprising ring curtain system and ring curtain, is a kind of virtual emulation that audiovisual height is immersed
Display environment can show the Virtual Monitoring picture in virtual software in the environment.Ring curtain projection system is using more throwings
Annular projection's screen of shadow (channel) composition, annular curtain radius usually has 100 radians, since its screen radius is roomy, operator
The vision of member is surrounded completely, then cooperates surround-sound system, so that operator is sufficiently experienced a kind of height on the spot in person
3 D stereo hearing experience obtains the real-time virtual fully mechanized mining virtual emulation visual environment with height feeling of immersion, immerses
Sense is generally greater than traditional plane large screen.
Above-mentioned optical tracking device is a kind of sensor resolution operator using two or more gamma camera types
Three-dimensional information.Operator's body position is tracked using advanced mode identification technology.It is sticked on operator's body reflective
Label (Marker) emits and receives the infrared light of specified wavelength, by camera lens to obtain the 3 D motion trace of Marker.Behaviour
Making personnel's body position must assure that each Marker is arrived there are two the above camera looks into fee.
Above-mentioned inertial instruments are positioning and the posture information for obtaining operator in real time by inertial navigation unit.
The final position of aforesaid operations personnel and posture information are to carry out data with inertial instruments by optical tracking device to melt
Precise information close and acquisition, operation data can also be met operator and be carried out people in virtual environment with smooth steady
The requirement of work remote intervention and inspection, and real-time delivery is into virtual software.So as to show operation in artificial projections ring curtain
The precision higher position of personnel and posture information.
Above-mentioned virtual reality human-computer interaction hardware device is the utilizable human-computer interaction device of operator and virtual field
The process that scape interacts, including wearable device, body feeling interaction equipment, data glove, data suit, interaction tracing system,
Mainly the body of operator, four limbs, palm and finger movement are captured, and by the information real-time delivery of capture to virtually
In software.
The virtual software be under Unity3d environment by Virtual Monitoring interface, virtual reality human-computer interaction hardware interface,
Virtual human-computer interaction interface and virtual interface show and split module composition.
Above-mentioned Virtual Monitoring interface is by the real-time of the fully-mechanized mining working data passed back in real time of equipment and state properties building
The virtual fully-mechanized mining working of data-driven, and it is synchronous with real-time moving objects holding.
Above-mentioned virtual reality human-computer interaction hardware interface is that the man-machine hardware of a variety of virtual realities that Unity3d software has connects
Mouth, including wearable device connecting interface, body feeling interaction equipment connecting interface, data glove connecting interface, data suit connect
Mouth, interaction tracing system connecting interface have the function that each man-machine interface hardware equipment is carried out to Seamless integration-, are virtual softwares
In virtual interacting module.
As shown in figure 3, above-mentioned virtual human-computer interaction interface is to utilize the void made in UGUI module under Unity3d environment
Quasi- operation interface, including virtual hydraulic support manual operating valve, virtual electrohydraulic controller, virtual bracket remote controler, virtual coal mining
Machine remote operator panel, virtual hydraulic support remote operator panel and set remote-controller of virtually mining.
Above-mentioned virtual interface show with split module be Virtual Monitoring interface is presented on virtual human-computer interaction interface it is imitative
On true projection nucleus curtain, make operator can by virtual reality human-computer interaction means in artificial projections ring moulds with Virtual Monitoring circle
Virtual push button and remote controler in face interact, and then carry out pseudo operation.By piecemeal display technology, Virtual Monitoring is drawn
Face is divided into more scenic pictures, is segmented and shows in artificial projections ring curtain, solve fully mechanized mining scene scale it is big, can not be it will be shown in
The problems in one virtual screen.And operator can be realized in the quick positioning and switching of virtual scene.
The above-mentioned whether effective method of judgement pseudo operation is that progress fully mechanized mining first splits the judgement in space, and rings in real time
The virtual human-computer interaction interface of relevant device should occur.Then the position and direction posture of operator, Jin Ertong are obtained in real time
The information such as body, four limbs, palm and the finger movement of operator obtained are crossed, differentiate human body posture and manipulator and void
The interaction of quasi- panel.The trigger action if meeting contact and response condition, the equipment for finding corresponding operation, to complete to grasp
Make.Click commands are needed to allow button after having put every time, in order to avoid accidentally touch the appearance of phenomenon.
As shown in Fig. 4, the virtual human-computer interaction interface conversion centralized-control center PLC control of operator's pseudo operation
The process of system order is that interactive operation instruction is determined in unity3d, is carried out pair with the dummy variable reserved in virtual software
It answers, dummy variable is transmitted to corresponding with equipment by the interface with SQLSERVER software programming then write by C# language
Table in, KingView is being passed to by ODBC interface, KingView passed through the PLC connection of OPC interface and centralized-control center, and
It is transmitted in the plc control system of corresponding physical equipment by long range radio transmissions network RJ45, to operate corresponding
Equipment acted.
A specific embodiment of the invention is made further instructions below by embodiment.
Fully mechanized mining VR tracking with interaction center in, operator wears body feeling interaction equipment, hold optical tracking device or
The fully-mechanized mining working equipment that person's virtual hand enters in the virtual software that artificial projections ring curtain is shown with position tracker is transported in real time
In capable Virtual Monitoring picture, in the virtual human-computer interaction interface in picture button and Virtual operational panel etc. handed over
Mutually.Position and direction information of the human body in virtual environment is captured using optical tracking device, inertial instruments, utilizes virtual reality
Human-computer interaction hardware device obtains the information such as human body attitude information and virtual palm.Utilize people's posture information and virtual human-computer interaction
Information in interface is determined, is interacted from completion.
It is when operator, which has found, has a hydraulic support to be in off-normal position in working face, i.e., aobvious using virtual interface
Show and split module quick lock in and navigate in the virtual screen where this bracket, and recalls corresponding virtually hydraulic support hand
The pseudo operations interfaces such as dynamic operation valve, virtual electrohydraulic controller, virtual bracket remote controler interact, and then operational order is led to
It crosses virtual human-computer interaction interface and is converted into centralized-control center PLC control command, and then by pass down the line into this bracket, with this
To complete to operate.
It is introduced for operating virtual hydraulic support manual operating valve, utilizes 5DT data glove and position tracker
Patriot completes experiment.Under Unity3d software environment, grasping manipulation, data glove control are carried out to the operation valve model of foundation
The posture and data in each joint of virtual hand processed, position tracker determine the position of virtual hand, when the ray and manipulator for having finger
When the encirclement ball intersection of handle, object is as touched.According to the practical crawl object of manpower rule, including comprising thumb
Three fingers touch operation handle and all bending to the 2/3 of entire palm plane grabs handle hereinafter, being judged as, hand
State is held in holding, so that it may be continued pseudo operation handle and be got to left position or right position.Virtual crawl second row operation handle, and get to
Left position, virtual hydraulic support will do it column and can increase, and top beam pitch angle also will appear corresponding change, after operation is correct, system
It will appear " remote intervention is in place " prompt.
Virtual hand decontrols operation handle at this time, stops remote intervention and operation.Release and the rules for grasping of virtual hand on the contrary,
Ball is surrounded when three or three or more rays are all separate, not with its intersection, then judges that it discharges operation handle.
Claims (1)
1. a kind of long-range inspection interference method of virtual reality Mechanized, including fully-mechanized mining working equipment are passed back in real time
Data and state properties building virtual software system and fully mechanized mining VR tracking and interaction center, it is characterised in that: according to fully mechanized mining
Data system and state properties that mining face equipment is passed back in real time construct system, the fully-mechanized mining working equipment data of real-time Transmission and
State properties, construct the virtual fully-mechanized mining working of virtual software Real-time data drive, and be presented on a variety of virtual reality hardware with it is soft
The fully mechanized mining VR tracking of part building and interaction center, using a variety of virtual reality human-computer interaction means and virtual human-computer interaction interface into
Row pseudo operation, virtual reality hardware and software capture operator position, posture and movement and turn pseudo operation
Real instruction is turned to, and accesses the operation that centralized-control center carries out real equipment, the equipment for guiding corresponding operation is completed to adjust
Whole work, and then remote handle intervention and manual inspection task are completed, it realizes to true fully-mechanized mining working real time execution operating condition
Carry out it is very true present, and then be monitored and inspection；
The fully mechanized mining VR tracking and interaction center are the Virtual Reality Labs that existing fully mechanized mining centralized-control center is arranged in,
It is provided with artificial projections ring curtain, is integrated with optical tracking device and inertial navigation, it is a variety of to interact tracing system for body feeling interaction equipment
The collaboration of virtual reality human-computer interaction hardware device carries out true roaming fully-mechanized mining working, and to the Virtual Monitoring in virtual software
The virtual push button and remote controler that interface is presented in artificial projections ring curtain are operated, and pseudo operation command mappings become practical behaviour
It instructing, and real-time delivery enters fully-mechanized mining working centralized control system, the equipment for guiding corresponding operation completes adjustment work,
And then remote handle intervention is completed, very true presentation, Jin Erjin are carried out to true fully-mechanized mining working real time execution operating condition
Row monitoring；
The artificial projections ring curtain is projected comprising ring curtain system and ring curtain, is that a kind of virtual emulation that audiovisual height is immersed is shown
Virtual Monitoring picture in virtual software is shown that ring curtain projection system is using more projection compositions by environment in the environment
Annular projection's screen, annular curtain radius usually has 100 radians, and since its screen radius is roomy, the vision of operator is complete
It is surrounded, then cooperates surround-sound system, operator is made sufficiently to experience a kind of 3 D stereo audiovisual that height is on the spot in person
Impression obtains the real-time virtual fully mechanized mining virtual emulation visual environment with height feeling of immersion, and feeling of immersion, which is generally greater than, to be passed
The plane large screen of system；
The optical tracking device is the three-dimensional information that operator is differentiated using two or more gamma camera sensors, utilizes mould
Formula identification technology tracks operator's body position, sticks reflective light label on operator's body, emits and connects by camera lens
By the infrared light of specified wavelength, to obtain the 3 D motion trace of Marker, operator's body position must assure that each
Marker is arrived there are two the above camera looks into fee；
The inertial navigation is positioning and the posture information for obtaining operator in real time by inertial navigation unit；
The positioning of the operator and posture information are to be carried out data fusion with inertial navigation by optical tracking device and obtained
Precise information, and real-time delivery is into virtual software, so as to show the essence of operator in artificial projections ring curtain
Spend higher position and posture information；
The virtual reality human-computer interaction hardware device is that operator is interacted using human-computer interaction device and virtual scene
Process, including wearable device, body feeling interaction equipment, data glove, data suit and interaction tracing system, to operator
Body, four limbs, palm and finger movement captured, and by the information real-time delivery of capture into virtual software；
The virtual software is under Unity3d environment by Virtual Monitoring interface, virtual reality human-computer interaction hardware interface, virtual
Human-computer interaction interface and virtual interface show and split module composition；
The Virtual Monitoring interface is the real time data of pass fully-mechanized mining working equipment in real time back data and state properties building
The virtual fully-mechanized mining working of driving, and it is synchronous with real-time moving objects holding；
The virtual reality human-computer interaction hardware interface is the man-machine hardware interface of a variety of virtual realities that Unity3d software has,
Including wearable device connecting interface, body feeling interaction equipment connecting interface, data glove connecting interface, data suit connecting interface,
Interaction tracing system connecting interface has the function that each man-machine interface hardware equipment is carried out to Seamless integration-, is in virtual software
Virtual interacting module；
The virtual human-computer interaction interface is that the pseudo operation interface made in UGUI module, packet are utilized under Unity3d environment
Include virtual hydraulic support manual operating valve, virtual electrohydraulic controller, virtual bracket remote controler, virtual coalcutter remote operation face
Plate, virtual hydraulic support remote operator panel and set remote-controller of virtually mining；
It is that Virtual Monitoring interface and virtual human-computer interaction interface are presented on emulation to throw that the virtual interface, which shows and splits module,
On shadow ring curtain, make operator can be by virtual reality human-computer interaction means in artificial projections ring moulds and in Virtual Monitoring interface
Virtual push button and remote controler interact, and then carry out pseudo operation；Pass through piecemeal display technology, Virtual Monitoring picture quilt
Be divided into more scenic pictures, be segmented and show in artificial projections ring curtain, solve fully mechanized mining scene scale it is big, can not it will be shown in one
The problems in virtual screen realizes operator in the quick positioning and switching of virtual scene；
The whether effective method of judgement pseudo operation is to determine that carrying out fully mechanized mining splits the judgement in space first, and ring in real time
The virtual human-computer interaction interface of relevant device should occur；Then the position and direction posture of operator, Jin Ertong are obtained in real time
The information such as body, four limbs, palm and the finger movement of operator obtained are crossed, differentiate human body posture and manipulator and void
The interaction of quasi- panel；The trigger action if meeting contact and response condition, the equipment for finding corresponding operation, to complete to grasp
Make；Click commands are needed to allow button after having put every time, in order to avoid accidentally touch the appearance of phenomenon；
The process of the virtual human-computer interaction interface conversion centralized-control center PLC control command of operator's pseudo operation is,
Interactive operation instruction is determined in unity3d, is carried out corresponding with the dummy variable reserved in virtual software, is then passed through C# language
Dummy variable is transmitted in table corresponding with equipment, is passing through ODBC by the interface with SQLSERVER software programming write
Interface is passed to KingView, and KingView has passed through the PLC connection of OPC interface and centralized-control center, and passes through long range radio transmissions
Network RJ45 is transmitted in the plc control system of corresponding physical equipment, is acted to operate corresponding equipment.
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