CN109783962B - Fully-mechanized coal mining equipment collaborative propulsion simulation method based on virtual reality physical engine - Google Patents
Fully-mechanized coal mining equipment collaborative propulsion simulation method based on virtual reality physical engine Download PDFInfo
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Abstract
The comprehensive mechanized coal mining equipment collaborative propulsion simulation method based on the virtual reality physical engine comprises the steps of performing model rigid repair on virtual comprehensive coal mining equipment, and then performing virtual contact with a virtual coal seam to simulate underground operation information of the equipment; the method is used for replacing the traditional method for virtually simulating the positioning virtual equipment of coordinate points, and provides a theoretical basis for transparent exploitation and accurate exploitation.
Description
Technical Field
The invention relates to a realization method for establishing a digital fully-mechanized coal mining working face under a virtual environment, in particular to a method and a system for establishing equipment collaborative propulsion completely consistent with real fully-mechanized coal mining working face equipment and a geographic environment under a virtual reality simulation engine Unity3 d.
Background
The virtual reality technology is used for clearly showing and simulating the operation condition of underground fully-mechanized coal mining face equipment, the main research method is to digitally show the fully-mechanized coal mining equipment and the coal seam, then compile related behaviors and simulate the related behaviors, and the current research on the digital coal seam modeling aspect is mainly to process geological data of the coal mine to visually display the geological data and not show the actual operation condition of the actual fully-mechanized coal mining equipment.
In the prior art, wang Jinhua in The Recent Technological Development of Intelligent Mining in China proposes a technical idea of a real-time 3D virtual working face intelligent control system, which includes a 3D virtual working face model reconstructed by a geological database, a scanning path and 3D rays, a real-time GIS update model guiding the working face operation path, a cutting path and equipment operation state, and a working face intelligent control technology mainly including memory cutting and automatic roller height adjustment.
The invention relates to a comprehensive mining equipment digital prototype analysis system and method based on a geographic information system, wherein the application number is 2015174205. X; the system also comprises an analysis method by using the system: establishing a mining area geographic information system according to a geological database; converting each coal seam exploitation scheme into the propelling path and coordinate data of fully mechanized mining equipment in a geological environment, converting a cutting process scheme into the operating parameters of the fully mechanized mining equipment, and associating the operating parameters of the fully mechanized mining equipment with the propelling path and the coordinate data; extracting local geographic environment information and related equipment operation parameters along a propulsion path, converting the local geographic environment information and the related equipment operation parameters into a digital three-dimensional model with load and boundary conditions applied to fully-mechanized mining equipment for operation simulation and performance analysis, and performing comprehensive performance evaluation; according to the comprehensive and reliable analysis method, comprehensive and reliable analysis and early warning are performed on the performance of the fully mechanized mining equipment according to the complex geological environment.
The invention provides a coal mining method and system based on a transparent working face, wherein the application number is 201711010586. X; installing a high-precision inertial navigation system on a coal cutter body to obtain the three-dimensional space absolute positioning and advancing track of the coal cutter, and fitting and correcting a three-dimensional information system by combining the working face optical fiber microseismic signals and the coal cutter microseismic information; the intelligent control of the drum of the coal mining machine based on the cutting template and the intelligent straightness control of the hydraulic support are realized; the conditions of the working face are reflected to the ground dispatching command center in real time through the three-dimensional virtual reality system, so that the working face is mined by fewer people or no people, and the intelligent mining level of the coal mine is improved.
However, the above method has the disadvantages that: 1) The preliminary simulation under the condition of a horizontal ideal bottom plate is completed, and under the condition, real reproduction and effective analysis of real walking and cutting curves of the coal mining machine on the scraper conveyor are not required to be considered, wherein the scraper conveyor is paved on the undulating bottom plate, the hydraulic support groups are truly arranged; 2) The method for expressing the complete equipment and the geographic environment in the virtual reality environment is not available, the fully mechanized mining equipment is mainly positioned through a propulsion path and coordinate data, the real-time operation pressure of a computer is high, simulation cannot be carried out, the virtual display equipment running state is excessively large from the actual difference, the real-time correspondence with the actual working surface running state is far not achieved, and the virtual working surface loses meaning; therefore, a new virtual simulation method is needed.
Disclosure of Invention
The invention aims to solve the specific technical problem of how to establish a method for collaborative propulsion of equipment completely consistent with real fully mechanized mining face equipment and a geographic environment in a virtual environment, and provides a fully mechanized mining equipment collaborative propulsion simulation method based on a virtual reality physical engine.
The technical scheme adopted by the invention is as follows.
The fully-mechanized coal mining equipment collaborative propulsion simulation method based on the virtual reality physical engine is characterized in that virtual fully-mechanized coal mining equipment is subjected to model rigid repair and then is in virtual contact with a virtual coal seam, so that underground operation key information of the equipment is simulated, and the situation that the fully-mechanized coal mining equipment collaborative coal mining and coal bodies are clearly displayed in an actual coal seam environment is simulated; the method is used for replacing a method for virtually simulating positioning virtual equipment at a coordinate point in the past, and provides a theoretical basis for transparent exploitation and accurate exploitation.
The virtual equipment mainly comprises a virtual coal mining machine, a virtual scraper conveyor and a virtual hydraulic support, wherein the three types of virtual equipment interact and are respectively contacted with the virtual coal seam, so that the running characteristics of the virtual equipment are determined.
The simulation method of the virtual coal mining machine and the virtual scraper conveyor is the prior art;
the simulation of the virtual coal mining machine and the virtual coal seam is that the virtual coal mining machine reciprocates to cut the virtual coal seam, the cutting points of the top plate and the bottom plate are recorded in real time and stored in XML data points, the Mesh network reads the points of the top plate and the bottom plate in real time to generate a cutting curve, the cutting curve is connected with the point of the last cycle to construct the Mesh network, and the virtual coal seam model is updated in real time;
the simulation of the virtual scraper conveyor and the virtual coal seam is to repair a rigid body component with the bottom shape completely consistent with the bottom shape at the bottom of each virtual middle part so as to enable the virtual scraper conveyor and the virtual coal seam to have rigid body contact property and contact with the virtual coal seam. And each virtual middle groove is connected with the corresponding middle groove by a hinge in Unity3d software, and connection parameters are adjusted, so that the whole scraper conveyor can be fully contacted with the virtual coal seam bottom plate, and the whole scraper conveyor is adaptively paved on the bottom plate to provide an operation track for the virtual coal mining machine.
The simulation of the virtual hydraulic support and the virtual coal seam is that a rigid body component which is completely consistent with the shape of the base is added at the base position of each virtual hydraulic support and is contacted with the bottom plate of the virtual coal seam. After the bottom plate is adapted, the virtual hydraulic support top beam and the virtual coal seam top plate are subjected to contact analysis, so that the virtual hydraulic support top beam and the virtual coal seam top plate can support the top plate.
The simulation of the virtual hydraulic support and the surrounding adjacent virtual hydraulic supports is that a virtual Cube collision body is added in a working space from a bottom plate to a top plate of each virtual hydraulic support, and in the operation simulation process, the virtual hydraulic support and the surrounding adjacent hydraulic supports are interfered and the like to trigger an alarm script immediately and send out corresponding instructions.
The virtual scraper conveyor and the virtual hydraulic support are connected mainly through the virtual hydraulic support pushing mechanism, and a background program is programmed by utilizing the analysis result of the pushing mechanism structure, so that the virtual scraper conveyor and the virtual hydraulic support can be adaptively pushed under different virtual coal seam conditions.
The virtual coal seam comprises a virtual inherent coal seam and a virtual real-time updated coal seam.
The virtual intrinsic coal seam is a plurality of virtual coal seam data grids respectively constructed according to each cycle and each equipment point by a reverse reconstruction method based on underground geological detection data points, and then the virtual intrinsic coal seam is formed by combining. The geological detection data points are coal seam characteristic point data which mainly comprise multi-source data driving such as seismic wave CT detection, geological drilling detection and working face roadway disclosure, layered virtual coal seam three-dimensional space point cloud data are constructed, virtual coal seam data grids are constructed according to each tool and each cycle by utilizing reverse engineering reconstruction technology ImageWave, stl files are respectively exported through format conversion (UG, 3DMAX is transformed into fbx format files, and the fbx format files enter Unity3 d), and the files are connected and spliced into a virtual coal seam.
The inherent virtual coal seam comprises a virtual top plate, a virtual bottom plate and a virtual coal body. Wherein the virtual floor and the virtual floor incorporate a MESH assembly collision volume module. The virtual coal body is gradually blanked according to the cutting cycle of the coal cutter.
The virtual real-time updating of the coal seam is that each time the coal cutter cuts, curves of a front roller cutting top plate and a rear roller cutting bottom plate are recorded in real time, a new MESH grid is built through lineRender software, numbers of virtual inherent coal seams with corresponding numbers are changed into hidden and do not work, a new virtual top plate and a new virtual bottom plate are built in real time, and a virtual scraper conveyor and a virtual hydraulic support are automatically adapted to, automatically propelled and automatically operated along with the new virtual top plate and the new virtual bottom plate.
The virtual coal seam updating method is that Mesh grid collision reconstruction is carried out in Unity3d software by recording cutting tracks of front and rear drums of a coal mining machine in real time, and coal seam data information is updated in real time by controlling the existence and display of inherent coal seam information and Mesh grid points.
After the corresponding script is mounted on the virtual equipment, the state of the fully-mechanized coal mining equipment and the state of coal seam time propulsion can be simulated autonomously.
Compared with the prior art, the technical scheme of the fully-mechanized mining equipment collaborative propulsion simulation method based on the virtual reality physical engine has the following beneficial effects.
According to the method, the virtual reality physical engine is introduced in the fully-mechanized virtual simulation process, virtual equipment and a virtual coal seam can be contacted so as to simulate the operation information of the actual equipment on the coal seam, high-precision coal seam contact information can be provided, a coordinate propulsion method can be replaced, high-simulation propulsion in a three-dimensional space virtual coal seam environment is completed, and the operation flow of the whole fully-mechanized working face is completely reproduced.
The method updates the cutting state of the equipment in real time, and completely displays the state of the coal bed.
Drawings
FIG. 1 is a diagram of the components of the system method and the simulation method for implementing the invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings.
As shown in figure 1, the simulation method for collaborative propulsion of fully-mechanized coal mining equipment based on the virtual reality physical engine is implemented, and the simulation method is implemented by repairing the virtual fully-mechanized coal mining equipment through model rigid body, and then performing virtual contact with a virtual coal seam, so as to simulate the underground operation key information of the equipment, and simulate the conditions of collaborative coal mining and clear coal body representation of the fully-mechanized coal mining equipment in the actual coal seam environment. The virtual real-time updating coal bed is constructed according to circulation points and equipment points by a reverse reconstruction method based on underground geological detection data points, is realized by performing MESH grid collision reconstruction in Unity3d software by recording front and rear roller cutting tracks of a coal mining machine in real time, and is realized by controlling the existence and display of intrinsic coal bed information and virtual real-time updating coal bed attributes, updating virtual coal bed data information in real time, performing contact reaction for virtual equipment and truly reproducing equipment self-adaptive propulsion process in underground coal bed environment. The method replaces the traditional method for virtual simulation by positioning virtual equipment by coordinate points, and provides a theoretical basis for transparent exploitation and accurate exploitation.
The virtual equipment mainly comprises a virtual coal mining machine, a virtual scraper conveyor and a virtual hydraulic support, wherein the three types of virtual equipment interact and are respectively contacted with the virtual coal seam, so that the running characteristics of the virtual equipment are determined.
The simulation method of the virtual coal mining machine and the virtual scraper conveyor is the prior art;
the simulation of the virtual coal mining machine and the virtual coal seam is that the virtual coal mining machine reciprocates to cut the virtual coal seam, the cutting points of the top plate and the bottom plate are recorded in real time and stored in XML data points, the Mesh network reads the points of the top plate and the bottom plate in real time to generate a cutting curve, the cutting curve is connected with the point of the last cycle to construct the Mesh network, and the virtual coal seam model is updated in real time;
the simulation of the virtual scraper conveyor and the virtual coal seam is to repair a rigid body component with the shape completely consistent with the bottom at the bottom of each virtual middle part, so that the virtual scraper conveyor and the virtual coal seam have rigid body contact properties and are contacted with the virtual coal seam. And each virtual middle groove is connected with the corresponding middle groove by a hinge in Unity3d software, and connection parameters are adjusted, so that the whole scraper conveyor can be fully contacted with the virtual coal seam bottom plate, and the whole scraper conveyor is adaptively paved on the bottom plate to provide an operation track for the virtual coal mining machine.
The simulation of the virtual hydraulic support and the virtual coal seam is that a rigid body component which is completely consistent with the shape of the base is added at the base position of each virtual hydraulic support and is contacted with the bottom plate of the virtual coal seam. After the bottom plate is adapted, the top beam of the virtual hydraulic support and the virtual coal seam top plate are subjected to contact analysis, so that the top plate can be supported;
the related description is made by taking a hydraulic support as an example: and a rigid body which is completely consistent with the shape of the base, a collision component ➞ hydraulic support top and bottom plate and curved surface key point analysis ➞ are added on the hydraulic support base model, hydraulic support bottom plate and curved surface bottom plate gesture analysis calculation ➞ hydraulic support top beam and top plate curved surface gesture analysis ➞ are carried out, the contact point and angle of the hydraulic support top beam and the top plate are calculated, and the self-adaptive adjustment of the top plate and the bottom plate is carried out when the hydraulic support moves according to a rear connecting rod angle ➞ of four-connecting rod linkage calculated according to the height of the top plate.
The simulation of the virtual hydraulic support and the surrounding adjacent virtual hydraulic supports is that a virtual Cube collision body is added in a working space from a bottom plate to a top plate of each virtual hydraulic support, and in the operation simulation process, the virtual hydraulic support and the surrounding adjacent hydraulic supports are interfered and the like to trigger an alarm script immediately and send out corresponding instructions;
the simulation between the virtual scraper conveyor and the virtual hydraulic support is mainly carried out through the virtual hydraulic support pushing mechanism, and a background program is programmed by utilizing the analysis result of the pushing mechanism structure, so that the virtual scraper conveyor and the virtual hydraulic support can be self-adaptively pushed under different virtual coal seam conditions.
The virtual coal seam comprises a virtual inherent coal seam and a virtual real-time updated coal seam.
The virtual intrinsic coal seam is a plurality of virtual coal seam data grids respectively constructed according to each cycle and each equipment point by a reverse reconstruction method based on underground geological detection data points, and then the virtual intrinsic coal seam is formed by combining. The geological detection data points are coal seam characteristic point data which mainly comprise multi-source data driving such as seismic wave CT detection, geological drilling detection and working face roadway disclosure, layered virtual coal seam three-dimensional space point cloud data are constructed, virtual coal seam data grids are constructed according to each tool and each cycle by utilizing reverse engineering reconstruction technology ImageWave, stl files are respectively exported through format conversion (UG, 3DMAX is transformed into fbx format files, and the fbx format files enter Unity3 d), and the files are connected and spliced into a virtual coal seam.
The inherent virtual coal bed comprises a virtual top plate, a virtual bottom plate and a virtual coal body. Wherein the virtual floor and the virtual floor incorporate a MESH assembly collision volume module. The virtual coal body is gradually blanked according to the cutting cycle of the coal cutter.
The virtual real-time updating of the coal seam is that each time the coal cutter cuts, the curves of the front roller cutting top plate and the rear roller cutting bottom plate are recorded in real time, a new MESH grid is built through lineRender software, the numbers of the virtual inherent coal seam with corresponding numbers are changed into hidden and do not work, a new virtual top plate and a new virtual bottom plate are built in real time, and a virtual scraper conveyor and a virtual hydraulic support are automatically adapted to, automatically propelled and automatically operated along with the new virtual top plate and the new virtual bottom plate.
The virtual coal seam updating method is that Mesh grid collision reconstruction is carried out in Unity3d software by recording cutting tracks of front and rear drums of a coal mining machine in real time, and coal seam data information is updated in real time by controlling the existence and display of inherent coal seam information and Mesh grid points.
After the corresponding script is mounted on the virtual equipment, the state of the fully-mechanized coal mining equipment and the state of coal seam moment propulsion can be simulated autonomously.
The invention is only an illustrative and preferred scheme for carrying out scheme by using the rigid body contact collision module and the reverse reconstruction software in the Unity3d software, and is not limited by the scheme, and any minor modification, equivalent replacement and improvement on the above embodiments according to the technical substance of the invention should be included in the protection scope of the technical scheme of the invention.
Claims (9)
1. A fully-mechanized coal mining equipment collaborative propulsion simulation method based on a virtual reality physical engine is characterized by comprising the following steps of: the simulation method is characterized in that virtual fully-mechanized coal mining equipment is subjected to model rigid repair and then is in virtual contact with a virtual coal seam, so that underground operation key information of the equipment is simulated, and the situation of collaborative coal mining and clear coal body display of the fully-mechanized coal mining equipment in an actual coal seam environment is simulated; the virtual inherent coal seam comprises a virtual inherent coal seam and a virtual real-time updated coal seam, and the virtual inherent coal seam is constructed according to circulation points and equipment points by a reverse reconstruction method based on underground geological detection data points; the virtual real-time updating of the coal seam is realized by performing MESH grid collision reconstruction in Unity3d software through real-time recording of cutting tracks of front and rear drums of the coal mining machine, and by controlling the existence and display of inherent coal seam information and virtual real-time updating of coal seam attributes, the virtual coal seam data information is updated in real time, contact reaction is performed for virtual equipment, and the self-adaptive pushing process of equipment in the underground coal seam environment is truly reproduced;
the virtual equipment comprises a virtual coal mining machine, a virtual scraper conveyor and a virtual hydraulic support, wherein the three types of virtual equipment interact and are respectively contacted with the virtual coal seam, so that the running characteristics of the virtual equipment are determined.
2. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the simulation of the virtual coal mining machine and the virtual coal seam is that the virtual coal mining machine reciprocates to cut the virtual coal seam, the cutting points of the top plate and the bottom plate are recorded in real time and stored in XML data points, the Mesh network reads the points of the top plate and the bottom plate in real time to generate a cutting curve, the cutting curve is connected with the point of the last cycle to construct the Mesh network, and the virtual coal seam model is updated in real time.
3. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the simulation of the virtual scraper conveyor and the virtual coal seam is to repair a rigid body component which is completely consistent with the bottom shape at the bottom of each virtual middle groove, enable the rigid body component to have rigid body contact property and contact with the virtual coal seam, connect each virtual middle groove with a hinge in Unity3d software after corresponding middle groove, adjust connection parameters, enable the whole scraper conveyor to be in full contact with a virtual coal seam bottom plate, and be paved on the bottom plate in a self-adaptive manner, so as to provide an operation track for the virtual coal mining machine.
4. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the simulation of the virtual hydraulic support and the virtual coal seam is that a rigid body component which is completely consistent with the shape of the base is added at the base position of each virtual hydraulic support, so that the virtual hydraulic support is contacted with a virtual coal seam bottom plate, and after the virtual hydraulic support is adapted to the bottom plate, the top beam of the virtual hydraulic support and the top plate of the virtual coal seam are contacted and analyzed, so that the top plate can be supported.
5. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the simulation of the virtual hydraulic support and the surrounding adjacent virtual hydraulic supports is that a virtual Cube collision body is added in a working space from a bottom plate to a top plate of each virtual hydraulic support, and in the operation simulation process, an alarm script is immediately triggered when the virtual hydraulic support interferes with the surrounding adjacent hydraulic supports, and corresponding instructions are sent out.
6. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the simulation between the virtual scraper conveyor and the virtual hydraulic support is carried out through the pushing mechanism of the virtual hydraulic support, and a background program is programmed by utilizing the analysis result of the pushing mechanism structure, so that the virtual scraper conveyor and the virtual hydraulic support can be self-adaptively pushed under different virtual coal seam conditions.
7. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the virtual coal seam comprises a virtual inherent coal seam and a virtual real-time updated coal seam; the virtual inherent coal seam is a plurality of virtual coal seam data grids respectively constructed according to each cycle and each equipment point by a reverse reconstruction method based on underground geological detection data points, and then the virtual inherent coal seam is formed by combining; the geological detection data points comprise seismic wave CT detection, geological drilling detection and coal seam characteristic point data driven by multi-source data disclosed by a working face roadway; the virtual inherent coal seam is constructed according to the detection data, layered three-dimensional point cloud data of the virtual coal seam are constructed, a reverse engineering reconstruction technology ImageWave is utilized to construct a virtual coal seam data grid according to each knife and each cycle, and each file is connected and spliced into the virtual inherent coal seam through format conversion;
the virtual real-time updating of the coal seam is that each time the coal cutter cuts, curves of a front roller cutting top plate and a rear roller cutting bottom plate are recorded in real time, a new MESH grid is built through lineRender software, numbers of virtual inherent coal seams with corresponding numbers are changed into hidden and do not work, a new virtual top plate and a new virtual bottom plate are built in real time, and a virtual scraper conveyor and a virtual hydraulic support are automatically adapted to, automatically propelled and automatically operated along with the new virtual top plate and the new virtual bottom plate.
8. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the updating method of the virtual real-time updated coal seam is to conduct Mesh grid collision reconstruction in Unity3d software by recording cutting tracks of front and rear drums of a coal mining machine in real time, and update coal seam data information in real time by controlling existence and display of inherent coal seam information and virtual real-time updated coal seam attributes.
9. The virtual reality physical engine-based fully mechanized coal mining equipment collaborative propulsion simulation method according to claim 1, wherein the method comprises the following steps: the virtual equipment is a state of a virtual model of fully-mechanized mining equipment which realizes the automatic simulation by mounting corresponding scripts and the moment propulsion of the coal seam.
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