CN109989751B

CN109989751B - Cross-platform remote real-time motion tracking method for fully mechanized three-machine

Info

Publication number: CN109989751B
Application number: CN201910372834.8A
Authority: CN
Inventors: 路正雄; 郭卫; 赵栓峰; 王渊
Original assignee: Xian University of Science and Technology
Current assignee: Xian University of Science and Technology
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2020-10-16
Anticipated expiration: 2039-05-06
Also published as: CN109989751A

Abstract

The invention discloses a cross-platform remote real-time motion tracking method for a fully mechanized three-machine, which comprises the following steps: firstly, data acquisition and transmission; secondly, the industrial field Server leads the received state data of the fully mechanized mining three machines into an SQL Server database storage module for storage, and simultaneously stores the virtual model data and the virtual coal wall model data of the fully mechanized mining three machines; and thirdly, the industrial field server constructs a fully-mechanized three-machine virtual model driving module, realizes real-time driving of the three-machine virtual model, dynamically displays the real-time running state of the fully-mechanized three-machine equipment, and displays the real-time running state on a client computer. The invention solves the problem of dependence of ground monitoring on working face videos for a long time, so that severe environments such as high dust, low illumination and the like of the working face cannot influence the judgment of operating personnel on the operating state of production equipment.

Description

Cross-platform remote real-time motion tracking method for fully mechanized three-machine

Technical Field

The invention belongs to the technical field of intelligent coal mining, and particularly relates to a fully-mechanized three-machine cross-platform remote real-time motion tracking method.

Background

Coal is the main energy in China, and safe, intelligent, green and efficient mining is the main direction of coal mine development in China. The coal seam with large mining height in China accounts for more than 45% of the total coal resource reserves, but mining is difficult due to the factors of large mining cut coal height, easy caving of coal walls, large dust concentration and the like. Therefore, three-machine monitoring and control of the underground fully mechanized coal mining face of the coal mine are related to the safety production of the whole coal mine enterprise. The visual remote intervention control system of the fully-mechanized three-machine equipment monitors the running state of the fully-mechanized three-machine in real time by taking the video monitoring of a working face as a means and by means of a remote monitoring system, and performs manual remote intervention in time. In recent years, with the advance of "industrial 4.0" and "internet + intelligent coal mine", the technology is improved, but the following technical defects still exist: the existing fully mechanized coal mining working face visualization mainly depends on a video technology, however, the fully mechanized coal mining three-machine production operation site has large dust concentration, low visibility, severe environment and poor video monitoring effect, and remote workers cannot accurately acquire the working state of equipment; the data expression form of the three-machine operation monitoring interface is single, no interaction and no immersion sense, and field workers cannot quickly and intuitively acquire the operation state of equipment, so that the timeliness and the accuracy of decision making are influenced; the existing coal mine fully-mechanized coal mining face monitoring system is a typical client/server architecture structure system, cannot realize cross-platform remote mobile monitoring, is lack of flexibility, and influences the flexibility of field production decision.

In order to solve the problems, a system and a method for tracking the remote real-time motion of the three-machine fully-mechanized coal mining machine in a cross-platform manner, which are intuitive and accurate, are needed.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a cross-platform remote real-time motion tracking system for fully mechanized three-mining machine, which has the advantages of simple structure, novel and reasonable design, convenient implementation, good compatibility, excellent cross-platform capability and perfect interaction mechanism, can provide real-time state data of the fully mechanized three-mining machine on a working face, and is strong in practicability, good in use effect and convenient to popularize and use.

In order to solve the technical problems, the invention adopts the technical scheme that: a cross-platform remote real-time motion tracking system for three fully mechanized coal mining machines comprises a sensor group, a PLC group, an industrial field server and a client computer, wherein the sensor group comprises a plurality of hydraulic support stand column pressure sensors, a plurality of hydraulic support stand column displacement sensors, a plurality of hydraulic support pushing pressure sensors, a coal mining machine walking displacement encoder, a coal mining machine left rocker arm inclination angle sensor, a coal mining machine right rocker arm inclination angle sensor, a first coal mining machine stroke limit switch and a second coal mining machine stroke limit switch, the PLC group comprises a first hydraulic support PLC module, a second hydraulic support PLC module, a third hydraulic support PLC module, a fourth hydraulic support PLC module and a coal mining machine PLC module, the plurality of hydraulic support stand column pressure sensors are all connected with the input end of the first hydraulic support PLC module, the plurality of hydraulic support stand column displacement sensors are all connected with the input end of the second hydraulic support PLC module, the coal mining machine is characterized in that the hydraulic support pushing displacement sensors are all connected with the input end of a third hydraulic support PLC module, the hydraulic support pushing pressure sensors are all connected with the input end of a fourth hydraulic support PLC module, the coal mining machine walking displacement encoder, the coal mining machine left rocker arm inclination angle sensor, the coal mining machine right rocker arm inclination angle sensor, the first coal mining machine stroke limit switch and the second coal mining machine stroke limit switch are all connected with the input end of the coal mining machine PLC module, the first hydraulic support PLC module, the second hydraulic support PLC module, the third hydraulic support PLC module, the fourth hydraulic support PLC module and the coal mining machine PLC module are all connected with an industrial field server, and the industrial field server is connected with a client computer.

The first hydraulic support PLC module, the second hydraulic support PLC module, the third hydraulic support PLC module, the fourth hydraulic support PLC module and the coal mining machine PLC module are all connected with an industrial field server through Ethernet, and the industrial field server is connected with a client computer through Ethernet.

In the fully-mechanized three-machine cross-platform remote real-time motion tracking system, the left rocker arm tilt sensor and the right rocker arm tilt sensor of the coal mining machine are both BWM427Modbus dual-axis tilt sensors.

The cross-platform remote real-time motion tracking system for the fully mechanized three-machine comprises a first hydraulic support PLC module, a second hydraulic support PLC module, a third hydraulic support PLC module, a fourth hydraulic support PLC module and a coal mining machine PLC module which are Siemens S7-1200PLC modules.

The invention also discloses a novel and reasonable design, which is convenient to realize, solves the problem of dependence of ground monitoring on the working face video for a long time, ensures that the severe environments of high dust, low illumination and the like of the working face can not influence the judgment of operating personnel on the operation state of production equipment, provides technical support for safe and efficient mining of coal mines, has good use effect, and is convenient to popularize and use, and the fully-mechanized three-machine cross-platform remote real-time motion tracking method comprises the following steps:

step one, data acquisition and transmission: when the coal mining machine, the hydraulic support and the scraper conveyor start to operate, the plurality of hydraulic support upright post pressure sensors detect the pressure of a hydraulic support upright post in real time and output the detected signal to the first hydraulic support PLC module, the plurality of hydraulic support upright post displacement sensors detect the displacement of the hydraulic support upright post in real time and output the detected signal to the second hydraulic support PLC module, the plurality of hydraulic support pushing displacement sensors detect the pushing displacement of the hydraulic support in real time and output the detected signal to the third hydraulic support PLC module, the plurality of hydraulic support pushing pressure sensors detect the pushing pressure of the hydraulic support in real time and output the detected signal to the fourth hydraulic support PLC module, the coal mining machine walking displacement encoder detects the walking displacement of the coal mining machine in real time and outputs the detected signal to the coal mining machine PLC module, the coal mining machine left rocker arm inclination angle sensor detects the inclination angle of a coal mining machine left rocker arm in real time and outputs a detected signal to the coal mining machine PLC module, the coal mining machine right rocker arm inclination angle sensor detects the inclination angle of a coal mining machine right rocker arm in real time and outputs the detected signal to the coal mining machine PLC module, the first coal mining machine stroke limit switch detects the movement of a coal mining machine to a first end in real time and outputs the detected signal to the coal mining machine PLC module, and the second coal mining machine stroke limit switch detects the movement of the coal mining machine to a second end in real time and outputs the detected signal to the coal mining machine PLC module; the first hydraulic support PLC module, the second hydraulic support PLC module, the third hydraulic support PLC module, the fourth hydraulic support PLC module and the coal mining machine PLC module transmit the received state data of the fully mechanized three-machine to an industrial field server;

step two, the industrial field server guides the received state data of the three fully mechanized coal mining machines into an SQLServer database storage module for storage, and simultaneously stores virtual model data and virtual coal wall model data of the three fully mechanized coal mining machines;

and step three, the industrial field server constructs a fully-mechanized three-machine virtual model driving module, realizes real-time driving of the three-machine virtual model, dynamically displays the real-time running state of the fully-mechanized three-machine equipment, and displays the real-time running state on a client computer.

In the method, the specific process that the industrial field Server imports the received state data of the fully mechanized mining three-machine into the SQL Server database storage module for storage and simultaneously stores the virtual model data of the fully mechanized mining three-machine and the virtual coal wall model data is as follows:

step 201, establishing a fully mechanized mining three-machine state data storage table, and automatically storing the state data of the fully mechanized mining three-machine into the fully mechanized mining three-machine state data storage table through an OPC application program; the fully mechanized three-machine state data storage table comprises four attributes of a number, a data item, a data value and a timestamp;

step 202, establishing a fully mechanized mining three-machine model information data table for storing model file information, wherein the fully mechanized mining three-machine model information data table comprises five attributes of a number, a model number, a node number, a model name and an STL format model file path;

step 203, firstly establishing a coal wall model, and then establishing a coal wall information data table for storing the coal wall model, wherein the coal wall information data table comprises two attributes of a number and a name;

step 204, establishing a rotation angle information data table of the moving part of the fully mechanized mining machine, wherein the rotation angle information data table is used for storing the rotation angle of each node and comprises five attributes of a number, an equipment name, a node number, a rotation angle and time;

and step 205, establishing a displacement information data table of the moving part of the fully mechanized mining machine, wherein the displacement information data table is used for storing displacement information of each node, and the displacement information data table of the moving part of the fully mechanized mining machine comprises five attributes of a number, an equipment name, a node number, displacement and time.

In the method, the specific process of establishing the fully mechanized mining three-machine model information data table in step 202 is as follows:

2021, performing unit segmentation on a fully-mechanized three-machine entity, segmenting a double-drum coal mining machine unit into a left drum, a right drum, a left rocker arm, a right rocker arm and a machine body, segmenting a hydraulic support unit into a side guard plate, a front beam, a top beam, an upright column, a shield beam, a front connecting rod, a rear connecting rod, a base and a pushing cylinder, and segmenting a scraper conveyor unit into a chain wheel, a chain, a scraper and a middle groove;

step 2022, obtaining the appearance size and ratio size of each part of the real three machines according to the model and parameters of the fully mechanized mining three machines; preliminarily establishing a three-dimensional model of the three machines by using Soidworks three-dimensional modeling software according to a certain proportion according to the real size and optimizing;

step 2023, establishing a fully mechanized mining three-machine virtual reality skeleton model, which comprises the following specific processes:

20231, determining the position of a motion node of the three-machine three-dimensional grid model according to the exact position of the motion joint of the three-machine fully mechanized coal mining machine on the body, and setting the position as a bone node;

20232, connecting the two motion nodes through bones, wherein all the bones and joints form a skeleton, namely a three-machine bone model;

step 20233, establishing a hierarchical relationship of the fully mechanized three-machine skeleton model, and simulating real 'three-machine' motion;

20234, connecting the father node and the child nodes one by one from the root node to the child nodes by using a skeleton creating function of 3Dmax modeling software to complete the establishment of a fully mechanized three-machine skeleton model;

step 2024, binding the three-dimensional grid model and the skeleton model by using a skeleton skin binding technology of 3Dmax software to realize the consistent motion of skin vertex and skeleton model node, which comprises the following specific processes:

step 20241, bone skin data matching;

step 20242, setting the corresponding relation between the nodes and the skin and calculating the weight;

and 20243, binding by using a skin-bone binding algorithm.

In the method, the concrete process of preliminarily establishing and optimizing the three-dimensional model by using Soidworks three-dimensional modeling software in the step 2022 is as follows:

step 20221, storing the three-dimensional model established in Solidworks into an STL file;

step 20222, importing the STL file into CATIA software for optimization, and removing components and structures which are not concerned about, wherein the components and structures which are not concerned about comprise a large number of holes and grooves contained in a model, the complexity of the model is reduced, round corner cuboids are replaced by cuboids, the number of surfaces of the model is reduced, and the model is optimized by utilizing a DMU optimization tool in the CATIA software;

step 20223, importing the STL file into 3Dmax software for optimization, and for repeated models, only retaining a prototype, and other examples are the references of the prototype, so as to reduce the size of the model file, further reduce the number of patches of the model, and reduce the complexity of the model;

step 20224, importing the STL file into Deep optimization software for optimization, converting the CATIA software and the 3Dmax software model by the Deep optimization software, merging and deleting the file, and finally saving the file into the STL file.

In the method, the industrial field server in step three constructs a fully mechanized three-machine virtual model driving module, and the specific process of realizing the real-time driving of the three-machine virtual model is as follows:

step 301, initializing a scene: based on a WebGL standard, initializing a scene by using a JavaScript client scripting language, wherein objects needing to be initialized comprise a renderer, the scene, a camera, light, a fully mechanized mining three-machine virtual model and a coal wall;

step 302, loading state data: after the three fully mechanized coal mining machines are started and run, an application program requests real-time motion state data of each node in an SQL server database, and the real-time motion state data are loaded to a foreground for calculating a model state;

step 303, calculating the model state: and describing the transformation of the three-machine model state by using the homogeneous coordinate transformation moment, and driving and controlling the motion of the fully-mechanized three-machine skeleton model in real time, thereby realizing the real-time driving of the three-machine virtual model.

In the method, in step 303, the step of describing the state transformation of the three-machine model by using the homogeneous coordinate transformation moment, and driving and controlling the motion of the fully-mechanized three-machine skeleton model in real time, so as to realize the real-time driving of the three-machine virtual model comprises the following specific processes:

3031, calculating the vertex coordinates of three skeletons in a static state, which comprises the following specific processes:

30311, setting the skeleton coordinate system, the father skeleton coordinate system and the virtual three-dimensional space world coordinate system in the same graph, wherein the origin of the virtual three-dimensional space world coordinate system is O₁Virtual spaceIn the skeleton model, a two-joint hydraulic support has two-node coordinates of

And

the curved surface of the mesh has a vertex V, V_c(x_c,y_c,z_c) Is the coordinate of the vertex V in the sub-skeleton coordinate system;

step 30312, transforming the vertex V from the child skeleton coordinate system to the parent skeleton coordinate system: v_p＝V_c·M_c→p；

Step 30313, converting the vertex V from the parent skeleton coordinate to a virtual three-dimensional space world coordinate system: v_w＝V_p·M_p→w；

30314, obtaining the process that the vertex V is directly converted into the virtual three-dimensional space world coordinate system from the sub-skeleton coordinate system_w＝V_c·M_c→p·M_p→wThe matrix conversion form is as follows:

step 3032, the accumulated transformation and the vertex position transformation under the bone motion state specifically comprise the following processes:

30321 transformation of the sub-skeleton into M with respect to its own local coordinate system_tcTransformation of the parent skeleton into its own local coordinate system M_tpThen the motion transformation that occurs for the child skeleton in the local coordinate system is converted to V 'in the parent skeleton coordinate system'_p＝V_c·M_tc·M_tp；

Step 30322, mixing V'_pTransforming to world coordinate system to obtain post-motion V of skeleton_cNew coordinate V 'under world coordinates'_wAnd V'_w＝V′_p·M_tp·M_p→w＝V_c[M_tcM_c→p(M_tpM_p→w)]；

Step 30323, the vertex bound to any bone obtains a new position of the vertex in the world coordinate after the bone moves according to the position of the vertex in the local coordinate system of the bone, and the specific method comprises the following steps: v'_wLocal transformation (transformation into parent coordinate system) · (transformation into ancestor coordinate system) · (ancestor coordinate system transformation) · …, until transformation into the world coordinate system; the transformation chain of "(parent-to-ancestor …, until transformation to the world coordinate system" is defined as the cumulative transformation of the parent skeleton, then the cumulative transformation of either skeleton is: (local transformation) · (transformation to a parent coordinate system) · (cumulative transformation of a parent skeleton), namely, as long as the cumulative transformation of the current skeleton is known, the world coordinates after the vertex motion transformation associated with the skeleton can be calculated, and all the vertices on the three-machine mesh model are traversed once by the same method, and the positions of all the vertices are updated once along with the skeleton motion;

3033, calculating the coordinates of the grid vertex associated with the skeleton, wherein the initial world coordinate of the vertex V is known as V_wAnd the accumulated transformation matrix of the connected bones, and solving a new world coordinate of a vertex V after the bones move; the specific process is as follows:

step 30331, converting the world coordinates of each vertex into local coordinates under the bone coordinates associated with the world coordinates;

30332 the coordinates of the origin of the bone connected to the vertex V are

Then V_w-O₃Namely the position V of the vertex V at the local coordinates of the connected sub-bones_cThis process is unified into a matrix calculation as:

step 30333, mixing V_wCoordinate processing into a matrix x_wy_wz_w1]Multiplying by the transformation matrix M_w→cTo obtain V_cA coordinate matrix;

30334 obtaining a boneThe vertex world coordinate transformation of the mesh model during motion is: v'_w＝V_c[M_tcM_c→p(M_tpM_p→w)]＝V_mM_w→c[M_tcM_c→p(M_tpM_p→w)](ii) a When more levels of skeleton motion calculation are available, the formula right accumulation transformation type is transferred step by step;

3034, programming and driving a three-machine virtual model, which comprises the following specific steps: reading position coordinates in a world coordinate system when the vertexes move in the initial state from the grid model file, traversing all the vertexes, updating the positions of the vertexes of the whole grid, and moving and rotating the virtual model of the three machines; the transformation matrix among the multi-level skeleton coordinate systems and the initial value of the world coordinate of the origin of each skeleton coordinate system are read from the grid model file, and the matrix of motion transformation of each level of skeleton in the respective local coordinate system is determined according to the motion form of each motion part of the three-machine comprehensive mining machine, namely, the rotation and the movement around the axis in the specific plane, so that the motion transformation of the three-machine virtual model is realized.

Compared with the prior art, the invention has the following advantages:

1. the fully-mechanized three-machine cross-platform remote real-time motion tracking system adopts a modular design, and has the advantages of simple structure, novel and reasonable design and convenient implementation.

2. The fully-mechanized three-machine cross-platform remote real-time motion tracking system is provided based on a B/S (Browser/Server) architecture, has good compatibility, excellent cross-platform capability and perfect interaction mechanism, and can provide real-time state data of the fully-mechanized three-machine working face.

3. The cross-platform remote real-time motion tracking method for the fully-mechanized three-machine can dynamically drive the three-dimensional model to move synchronously by using the real-time state data of the fully-mechanized three-machine on the working face, solves the problem that the running data of a conventional monitoring system is not displayed visually, reduces the technical requirements of workers, and improves the operability of the workers.

4. The fully-mechanized three-machine cross-platform remote real-time motion tracking method has the advantages of simple steps and novel and reasonable design, solves the problem of dependence of ground monitoring on working surface videos for a long time, enables severe environments such as high dust and low illumination of the working surface and the like to be free from influencing the judgment of operators on the running state of production equipment.

5. The cross-platform remote real-time motion tracking method for the fully-mechanized three-machine production monitoring system realizes cross-platform access of the fully-mechanized three-machine production monitoring system, and truly realizes the targets of remote flexible monitoring and remote operation.

6. The fully-mechanized three-machine cross-platform remote real-time motion tracking method provides technical support for safe and efficient mining of coal mines, can further expand functional modules, is combined with ore pressure monitoring and gas monitoring, truly reproduces working ore pressure distribution and gas distribution, is good in using effect and convenient to popularize and use.

In conclusion, the invention has novel and reasonable design and convenient realization, solves the problem of dependence of ground monitoring on the working face video for a long time, ensures that the severe environments of high dust, low illumination and the like of the working face can not influence the judgment of operators on the operation state of production equipment, provides technical support for the safe and efficient mining of coal mines, has good use effect and is convenient to popularize and use.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic diagram of an electrical connection relationship of a cross-platform remote real-time motion tracking system of a fully mechanized three-mining machine.

FIG. 2 is a flow chart of a method of the cross-platform remote real-time motion tracking method of the fully mechanized three-mining machine.

FIG. 3 is a schematic diagram of an implementation of the coal wall texture mapping of the present invention.

FIG. 4 is a schematic diagram of a virtual space coordinate system and its transformation according to the present invention.

FIG. 5 shows the skeleton a, c rotating around the pin joint A in the ABC plane

Schematic representation of the angle.

FIG. 6 is a schematic diagram of an animation display process of WebGL programming according to the present invention.

Description of reference numerals:

1-hydraulic support upright column pressure sensor; 1-2-hydraulic support column displacement sensor;

1-3-hydraulic support pushing displacement sensor; 1-4-hydraulic support pushing pressure sensor;

1-5-a coal mining machine walking displacement encoder; 1-6-a left rocker arm tilt angle sensor of a coal mining machine;

1-7-coal mining machine right rocker arm inclination angle sensor; 1-8-a first shearer travel limit switch;

1-9-a second coal mining machine travel limit switch; 2-1-a first hydraulic support PLC module;

2-second hydraulic support PLC module; 2-3-a third hydraulic support PLC module;

2-4-a fourth hydraulic support PLC module; 2-5-coal mining machine PLC module;

3-an industrial field server; 4-client computer.

Detailed Description

As shown in figure 1, the fully-mechanized three-machine cross-platform remote real-time motion tracking system comprises a sensor group, a PLC group, an industrial field server 3 and a client computer 4, wherein the sensor group comprises a plurality of hydraulic support stand column pressure sensors 1-1, a plurality of hydraulic support stand column displacement sensors 1-2, a plurality of hydraulic support push displacement sensors 1-3, a plurality of hydraulic support push pressure sensors 1-4, a coal mining machine walking displacement encoder 1-5, a coal mining machine left rocker angle sensor 1-6, a coal mining machine right rocker angle sensor 1-7, a first coal mining machine stroke limit switch 1-8 and a second coal mining machine stroke limit switch 1-9, and the PLC group comprises a first hydraulic support PLC module 2-1, a second hydraulic support PLC module 2-2, a second hydraulic support, The system comprises a third hydraulic support PLC module 2-3, a fourth hydraulic support PLC module 2-4 and a coal mining machine PLC module 2-5, wherein a plurality of hydraulic support stand column pressure sensors 1-1 are all connected with the input end of the first hydraulic support PLC module 2-1, a plurality of hydraulic support stand column displacement sensors 1-2 are all connected with the input end of the second hydraulic support PLC module 2-2, a plurality of hydraulic support push displacement sensors 1-3 are all connected with the input end of the third hydraulic support PLC module 2-3, a plurality of hydraulic support push pressure sensors 1-4 are all connected with the input end of the fourth hydraulic support PLC module 2-4, a coal mining machine walking displacement encoder 1-5, a coal mining machine left rocker arm inclination angle sensor 1-6, a coal mining machine right rocker arm inclination angle sensor 1-7, a coal mining machine left rocker arm inclination angle sensor 1-6, a coal mining machine, The first coal mining machine travel limit switch 1-8 and the second coal mining machine travel limit switch 1-9 are connected with the input end of a coal mining machine PLC module 2-5, the first hydraulic support PLC module 2-1, the second hydraulic support PLC module 2-2, the third hydraulic support PLC module 2-3, the fourth hydraulic support PLC module 2-4 and the coal mining machine PLC module 2-5 are connected with an industrial field server 3, and the industrial field server 3 is connected with a client computer 4.

In this embodiment, the first hydraulic support PLC module 2-1, the second hydraulic support PLC module 2-2, the third hydraulic support PLC module 2-3, the fourth hydraulic support PLC module 2-4, and the coal mining machine PLC module 2-5 are all connected to the industrial site server 3 through ethernet, and the industrial site server 3 is connected to the client computer 4 through ethernet.

In this embodiment, the inclination angle sensors 1-6 of the left rocker arm of the coal mining machine and the inclination angle sensors 1-7 of the right rocker arm of the coal mining machine are BWM427Modbus dual-axis inclination angle sensors.

In this embodiment, the first hydraulic support PLC module 2-1, the second hydraulic support PLC module 2-2, the third hydraulic support PLC module 2-3, the fourth hydraulic support PLC module 2-4 and the coal mining machine PLC module 2-5 are Siemens S7-1200PLC modules.

As shown in FIG. 2, the method for tracking the cross-platform remote real-time motion of the fully mechanized three-machine comprises the following steps:

step one, data acquisition and transmission: when the coal mining machine, the hydraulic support and the scraper conveyor start to operate, a plurality of hydraulic support upright post pressure sensors 1-1 detect the pressure of a hydraulic support upright post in real time and output the detected signal to a first hydraulic support PLC module 2-1, a plurality of hydraulic support upright post displacement sensors 1-2 detect the displacement of the hydraulic support upright post in real time and output the detected signal to a second hydraulic support PLC module 2-2, a plurality of hydraulic support push displacement sensors 1-3 detect the push displacement of the hydraulic support in real time and output the detected signal to a third hydraulic support PLC module 2-3, a plurality of hydraulic support push pressure sensors 1-4 detect the push pressure of the hydraulic support in real time and output the detected signal to a fourth hydraulic support PLC module 2-4, the coal mining machine walking displacement encoder 1-5 detects the walking displacement of the coal mining machine in real time and outputs the detected signal to the coal mining machine PLC module 2-5, the inclination angle sensor 1-6 of the left rocker arm of the coal mining machine detects the inclination angle of the left rocker arm of the coal mining machine in real time and outputs the detected signal to the PLC module 2-5 of the coal mining machine, the coal mining machine right rocker arm inclination angle sensor 1-7 detects the inclination angle of the coal mining machine right rocker arm in real time and outputs the detected signal to the coal mining machine PLC module 2-5, the first coal mining machine travel limit switches 1-8 detect the movement of the coal mining machine to the first end head in real time and output the detected signals to the coal mining machine PLC modules 2-5, the second coal mining machine travel limit switches 1-9 detect the movement of the coal mining machine to the second end in real time and output detected signals to the coal mining machine PLC modules 2-5; the first hydraulic support PLC module 2-1, the second hydraulic support PLC module 2-2, the third hydraulic support PLC module 2-3, the fourth hydraulic support PLC module 2-4 and the coal mining machine PLC module 2-5 transmit the received state data of the fully mechanized three-machine to the industrial field server 3;

step two, the industrial field server 3 guides the received state data of the three fully mechanized coal mining machines into an SQLServer database storage module for storage, and simultaneously stores virtual model data and virtual coal wall model data of the three fully mechanized coal mining machines;

in this embodiment, the specific process of the industrial field Server 3 importing the received state data of the fully mechanized mining three machines into the SQL Server database storage module for storage and simultaneously storing the virtual model data of the fully mechanized mining three machines and the virtual coal wall model data in the step two is as follows:

step 201, establishing a fully mechanized mining three-machine state data storage table, and automatically storing the state data of the fully mechanized mining three-machine into the fully mechanized mining three-machine state data storage table through an OPC application program; the fully mechanized three-machine state data storage table comprises four attributes of a number (ID), a data Item (Item Id), a data Value (Value) and a Time stamp (Time);

step 202, establishing a comprehensive three-machine Model information data table for storing Model file information, wherein the comprehensive three-machine Model information data table comprises five attributes of a number (ID), a Model number (Model Id), a node number (NodeId), a Model name (ModelName) and an STL format Model file path (StlFile);

in this embodiment, the specific process of establishing the fully mechanized mining machine model information data table in step 202 is as follows:

in this embodiment, the specific process of preliminarily establishing and optimizing the three-dimensional model by using the Soidworks three-dimensional modeling software in step 2022 is as follows:

step 20223, importing the STL file into 3Dmax software for optimization, and only reserving a prototype for a repeated model (for example, a plurality of hydraulic supports on a fully mechanized mining face), wherein other examples are the citations of the prototype, so that the size of the model file is reduced, the number of patches of the model is further reduced, and the complexity of the model is reduced;

step 20241, bone skin data matching;

and 20243, binding by using a skin-bone binding algorithm.

Step 203, firstly establishing a coal wall model, and then establishing a coal wall information data table for storing the coal wall model, wherein the coal wall information data table comprises two attributes of a number (ID) and a Name (Name);

in specific implementation, the coal wall model adopts a texture mapping technology to enhance the reality sense of an image, shoots a picture of a real coal wall, obtains corresponding textures through a WebGL texture mapping function, and sticks the textures to a rectangle representing the coal wall to obtain a realistic effect. An implementation of the coal wall texture mapping is shown in fig. 3. The method comprises the following concrete steps:

step A, defining a texture object;

b, generating a texture object array;

step C, calling a glBindTexture () method to select a texture object, and finishing the definition of the coal wall texture object;

d, calling a glLoadTexture () method to load the texture object and finishing the display of the coal wall texture object;

and E, calling a glDeleteTextures () method before the program is ended, and deleting the coal wall texture object.

Step 204, establishing a rotation angle information data table of the moving part of the fully mechanized mining machine, wherein the rotation angle information data table is used for storing the rotation angle of each node and comprises five attributes of a number (ID), a device name (DeviceName), a node number (NodeId), a rotation angle (rotanengle) and time (TimeTemp);

and step 205, establishing a Displacement information data table of the moving part of the fully mechanized mining machine, which is used for storing Displacement information of each node, wherein the Displacement information data table of the moving part of the fully mechanized mining machine comprises five attributes of number (ID), device name (DeviceName), node number (NodeId), Displacement (Displacement) and time (TimeTemp).

And step three, the industrial field server 3 constructs a fully-mechanized three-machine virtual model driving module, realizes real-time driving of the three-machine virtual model, dynamically displays the real-time running state of the fully-mechanized three-machine equipment, and displays the real-time running state to the client computer 4.

In this embodiment, the industrial field server 3 in step three constructs a fully mechanized three-machine virtual model driving module, and the specific process of implementing real-time driving of the three-machine virtual model is as follows:

In this embodiment, the step 303 describes the transformation of the three-machine model state by using the homogeneous coordinate transformation moment, and drives and controls the motion of the fully-mechanized three-machine skeleton model in real time, so as to implement the real-time driving of the three-machine virtual model specifically as follows:

step 30311, setting the skeleton coordinate system, the father skeleton coordinate system and the virtual three-dimensional space world coordinate system in the same graph, as shown in fig. 4; the origin of the world coordinate system of the virtual three-dimensional space is O₁The two-joint hydraulic support skeleton model is arranged in a virtual space, and the coordinates of two nodes of the hydraulic support are

And

30314, obtaining the vertex V and directly converting the vertex V from the sub-skeleton coordinate systemThe process of changing to the world coordinate system of the virtual three-dimensional space is V_w＝V_c·M_c→p·M_p→wThe matrix conversion form is as follows:

30332 the coordinates of the origin of the bone connected to the vertex V are

step 30334, obtaining the vertex world coordinate transformation of the grid model during the bone motion: v'_w＝V_c[M_tcM_c→p(M_tpM_p→w)]＝V_mM_w→c[M_tcM_c→p(M_tpM_p→w)](ii) a When more levels of skeleton motion calculation are available, the formula right accumulation transformation type is transferred step by step;

In particular, the motion of the three-machine virtual model can be controlled by controlling the motion of the three-machine skeleton model, wherein part of the skeleton is selected to control the motion of the skeleton segments, for example, as shown in fig. 5, A, B, C, D is a pin joint, a, b and c are skeletons, the skeletons a and c are rotated by phi around a pin joint A, and the coordinate of the point A is A (x)_a,y_a,z_a) The coordinate of the point B is B (x)_b,y_b,z_b) The coordinate of the point C is C (x)_c,y_c,z_c) The transformation is calculated by adopting an axis angle method, wherein vectors AB (xb-xa, yb-ya, zb-za) and vectors AC (xc-xa, yc-ya, zc-za) are calculated, the rotation can be expressed as anticlockwise rotation of the vectors AC around the point A, namely cross multiplication of the vectors AB and the vectors AC is carried out, namely AB × AC is carried out, the direction is perpendicular to the ABC plane and is outward, and a transformation matrix of rotating the bones a around the point A by phi is M₁The new coordinate of the rotated C point is C' ═ (AC) · M₁+ A, since the local coordinate system of the bone is established at the bone node (point A), the vector AC 'obtained by rotating α degrees around normal under the local coordinate system is the coordinate value of point C' in the local coordinate system₁The method can calculate and obtain the matrix of the motion transformation of each level of skeleton under the respective local coordinate system.

In addition, in the concrete implementation, after the coordinates after the vertex movement are calculated through coordinate transformation, the calculation and rendering of the WebGL three-dimensional animation engine are also performed, the WebGL engine calculates the new display position of the vertex on the display screen according to the new coordinates after all the vertices move, the vertex is added with the material and the chartlet for rendering and displaying, so that people see an image with the appearance and the texture similar to those of a real fully mechanized mining machine, and the program process is shown in FIG. 6. The concrete steps are described by characters as follows:

step A, setting state data acquisition frequency: according to the visual characteristics of human eyes, when the three-dimensional model motion display frame rate is more than 25 frames/second, a continuous animation effect is generated, so that the motion data of the fully mechanized three-machine mining machine is updated at a speed of 25 times/second;

step B, setting a mark point of the moving part: in the process of importing the model, the position information of the model is stored, but part of mechanical constraint is lost, in SolidWorks modeling software, a specific marker is assembled at a key node of each part motion to mark the key node, so that the authenticity and the reliability of the part motion information are ensured;

step C, loading a model: firstly, converting a background data format into a JSON format through a technology ASP of a Web server side, then sending the data to a client side in an AJAX mode, and then calling a corresponding API in three.js by utilizing JavaScript to display the data in a three-dimensional mode;

d, rendering the model in real time: and after the relevant data of the triangular patch is obtained, the data are transmitted to the display card for calculation, and finally, model visualization is completed. After the JavaScript analyzes the vertex data of the triangular patch, the data is transmitted to the display card through the buffer area object, the vertex shader is called to complete the primitive assembly and the rasterization, the pixel color is written into the color buffer area through the fragment shader, and finally the pixel color is displayed in the browser.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A fully-mechanized three-machine cross-platform remote real-time motion tracking method comprises a sensor group, a PLC group, an industrial field server (3) and a client computer (4), wherein the sensor group comprises a plurality of hydraulic support stand column pressure sensors (1-1), a plurality of hydraulic support stand column displacement sensors (1-2), a plurality of hydraulic support pushing displacement sensors (1-3), a plurality of hydraulic support pushing pressure sensors (1-4), a coal mining machine walking displacement encoder (1-5), a coal mining machine left rocker angle sensor (1-6), a coal mining machine right rocker angle sensor (1-7), a first coal mining machine stroke limit switch (1-8) and a second coal mining machine stroke limit switch (1-9), the PLC group comprises a first hydraulic support PLC module (2-1), a second hydraulic support PLC module (2-2), a third hydraulic support PLC module (2-3), a fourth hydraulic support PLC module (2-4) and a coal mining machine PLC module (2-5), a plurality of hydraulic support upright post pressure sensors (1-1) are all connected with the input end of the first hydraulic support PLC module (2-1), a plurality of hydraulic support upright post displacement sensors (1-2) are all connected with the input end of the second hydraulic support PLC module (2-2), a plurality of hydraulic support push displacement sensors (1-3) are all connected with the input end of the third hydraulic support PLC module (2-3), a plurality of hydraulic support push pressure sensors (1-4) are all connected with the input end of the fourth hydraulic support PLC module (2-4), the coal mining machine walking displacement encoder (1-5), the coal mining machine left rocker arm inclination angle sensor (1-6), the coal mining machine right rocker arm inclination angle sensor (1-7), the first coal mining machine stroke limit switch (1-8) and the second coal mining machine stroke limit switch (1-9) are connected with the input end of a coal mining machine PLC module (2-5), the first hydraulic support PLC module (2-1), the second hydraulic support PLC module (2-2), the third hydraulic support PLC module (2-3), the fourth hydraulic support PLC module (2-4) and the coal mining machine PLC module (2-5) are all connected with an industrial field server (3), and the industrial field server (3) is connected with a client computer (4); the method is characterized by comprising the following steps:

step one, data acquisition and transmission: when the coal mining machine, the hydraulic support and the scraper conveyor start to operate, a plurality of hydraulic support upright post pressure sensors (1-1) detect the pressure of a hydraulic support upright post in real time and output the detected signal to a first hydraulic support PLC module (2-1), a plurality of hydraulic support upright post displacement sensors (1-2) detect the displacement of the hydraulic support upright post in real time and output the detected signal to a second hydraulic support PLC module (2-2), a plurality of hydraulic support push displacement sensors (1-3) detect the push displacement of the hydraulic support in real time and output the detected signal to a third hydraulic support PLC module (2-3), a plurality of hydraulic support push pressure sensors (1-4) detect the push pressure of the hydraulic support in real time and output the detected signal to a fourth hydraulic support PLC module (2-4), the coal mining machine walking displacement encoder (1-5) detects the walking displacement of the coal mining machine in real time and outputs detected signals to the coal mining machine PLC module (2-5), the coal mining machine left rocker inclination angle sensor (1-6) detects the inclination angle of the coal mining machine left rocker in real time and outputs the detected signals to the coal mining machine PLC module (2-5), the coal mining machine right rocker inclination angle sensor (1-7) detects the inclination angle of the coal mining machine right rocker in real time and outputs the detected signals to the coal mining machine PLC module (2-5), the first coal mining machine stroke limit switch (1-8) detects the movement of the coal mining machine to a first end in real time and outputs the detected signals to the coal mining machine PLC module (2-5), and the second coal mining machine stroke limit switch (1-9) detects the movement of the coal mining machine to a second end in real time and outputs the detected signals to the coal mining machine PLC module (2 A coal machine PLC module (2-5); the first hydraulic support PLC module (2-1), the second hydraulic support PLC module (2-2), the third hydraulic support PLC module (2-3), the fourth hydraulic support PLC module (2-4) and the coal mining machine PLC module (2-5) transmit the received state data of the fully mechanized three machines to the industrial field server (3);

step two, the industrial field server (3) guides the received state data of the three fully mechanized coal mining machines into an SQLServer database storage module for storage, and stores virtual model data and virtual coal wall model data of the three fully mechanized coal mining machines at the same time;

thirdly, the industrial field server (3) constructs a fully-mechanized three-machine virtual model driving module, realizes real-time driving of the three-machine virtual model, dynamically displays the real-time running state of fully-mechanized three-machine equipment, and displays the real-time running state to the client computer (4);

in the second step, the specific process that the industrial field server (3) imports the received state data of the three fully mechanized coal mining machines into an SQLServer database storage module for storage and simultaneously stores the virtual model data of the three fully mechanized coal mining machines and the virtual coal wall model data is as follows:

step 205, establishing a displacement information data table of the moving part of the fully mechanized mining machine, which is used for storing displacement information of each node and comprises five attributes of a number, an equipment name, a node number, displacement and time;

the specific process of establishing the comprehensive mechanized mining machinery model information data table in the step 202 is as follows:

step 20241, bone skin data matching;

and 20243, binding by using a skin-bone binding algorithm.

2. The fully mechanized three-machine cross-platform remote real-time motion tracking method according to claim 1, characterized in that: the first hydraulic support PLC module (2-1), the second hydraulic support PLC module (2-2), the third hydraulic support PLC module (2-3), the fourth hydraulic support PLC module (2-4) and the coal mining machine PLC module (2-5) are all connected with an industrial site server (3) through the Ethernet, and the industrial site server (3) is connected with a client computer (4) through the Ethernet.

3. The fully mechanized three-machine cross-platform remote real-time motion tracking method according to claim 1, characterized in that: the inclination angle sensors (1-6) of the left rocker arm of the coal mining machine and the inclination angle sensors (1-7) of the right rocker arm of the coal mining machine are BWM427Modbus double-shaft inclination angle sensors.

4. The fully mechanized three-machine cross-platform remote real-time motion tracking method according to claim 1, characterized in that: the first hydraulic support PLC module (2-1), the second hydraulic support PLC module (2-2), the third hydraulic support PLC module (2-3), the fourth hydraulic support PLC module (2-4) and the coal mining machine PLC module (2-5) are Siemens S7-1200PLC modules.

5. The fully mechanized three-machine cross-platform remote real-time motion tracking method according to claim 1, characterized in that: the concrete process of preliminarily establishing and optimizing the three-dimensional model by using Soidworks three-dimensional modeling software in the step 2022 is as follows:

6. The fully mechanized three-machine cross-platform remote real-time motion tracking method according to claim 1, characterized in that: in the third step, the industrial field server (3) constructs a fully-mechanized three-machine virtual model driving module, and the specific process for realizing the real-time driving of the three-machine virtual model is as follows:

7. The fully mechanized three-machine cross-platform remote real-time motion tracking method according to claim 6, characterized in that: in step 303, the specific process of describing the transformation of the three-machine model state by using the homogeneous coordinate transformation moment, and driving and controlling the motion of the fully-mechanized three-machine skeleton model in real time so as to realize the real-time driving of the three-machine virtual model is as follows:

30311, setting the skeleton coordinate system, the father skeleton coordinate system and the virtual three-dimensional space world coordinate system in the same graph, wherein the origin of the virtual three-dimensional space world coordinate system is O₁The two-joint hydraulic support skeleton model is arranged in a virtual space, and the coordinates of two nodes of the hydraulic support are

And

Step 30323, the vertex bound to any bone obtains a new position of the vertex in the world coordinate after the bone moves according to the position of the vertex in the local coordinate system of the bone, and the specific method comprises the following steps: v'_wLocal transformation (transformation into parent coordinate system) · (transformation into ancestor coordinate system) · (ancestor coordinate system transformation) · …, until transformation into the world coordinate system; the transformation chain of "(parent-to-ancestor …, until transformation to the world coordinate system" is defined as the cumulative transformation of the parent skeleton, then the cumulative transformation of either skeleton is: local transformation (transformation to parent coordinate system) and (cumulative transformation of parent skeleton), i.e. as long as the cumulative transformation of the current skeleton is known, the world coordinates after the vertex motion transformation associated with the skeleton can be calculated, and the three-machine gridding model can be traversed by the same methodOnce all the vertexes on the model are processed, updating the positions of all the vertexes once along with the movement of the skeleton;

30332 the coordinates of the origin of the bone connected to the vertex V are