CN110996048A - Remote visualization system and method for coal roadway heading machine - Google Patents
Remote visualization system and method for coal roadway heading machine Download PDFInfo
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Abstract
The invention relates to the technical field of coal roadway tunneling automation, in particular to a remote visualization system and method for a coal roadway tunneling machine. The invention adopts the combination of the explosion-proof three-dimensional laser scanner and the laser target to provide high-precision positioning of the tunneling machine and a real three-dimensional scene relation between the tunneling machine and a tunneled roadway; an explosion-proof MEMS inertial navigation device is adopted to provide high-precision heading machine body and cantilever attitude information; associating the acquired sensing data, audio signals, video signals, attitude information of the tunneling machine body and the cantilever with three-dimensional movement mechanisms of the tunneling machine to provide a real working state of the tunneling machine; the combined remote transmission mode of a 4G network and a wire is adopted, data are transmitted rapidly, the working condition of the tunneling machine, audio signals, video signals, the real three-dimensional scene relation of the tunneling machine and a tunneled roadway, and the position and the motion state of the tunneling machine under the tunneled roadway are displayed remotely in real time, and a real and visual interface is provided for a remote control system of the tunneling machine.
Description
Technical Field
The invention belongs to the technical field of automation of coal roadway tunneling, and particularly relates to a remote visualization system and method for a coal roadway tunneling machine.
Background
Coal is used as the main energy source at the present stage of China, and will be a foundation stone for long-term stable development in national economy in the future. In the aspect of coal roadway tunneling work, the technical problems of low automation level of a tunneling machine and more equipment for operating personnel exist, so that the accident rate of the tunneling operating personnel is high, the tunneling efficiency is low, and the continuous operation quality is poor. In recent years, with the development of intellectualization of coal equipment, the requirement of the coal roadway heading machine for realizing remote control is more and more urgent, and a remote visualization system of the coal roadway heading machine needs to provide reliable visualization information of real-time working conditions, images, sounds, real three-dimensional scene relation of a machine body and a heading roadway and motion state of the heading machine under the real heading roadway for remote control.
The known methods for remote monitoring and control of the coal roadway heading machine include: the patent with the application number of CN201010274882 discloses a remote monitoring method and a system for a heading machine, and the technical scheme adopted by the patent is that the remote real-time monitoring of the heading process, the working state and the dynamic parameters of the heading machine is completed through an onboard controller, a remote controller, a laser direction indicator, a laser receiver, a digital compass, a wireless network, a wireless relay, a wired network, a distributed sensor network, a wireless relay placer and the like. However, due to the fact that magnetic fields of various power equipment and networks exist in the underground coal mine, accurate heading machine attitude detection cannot be achieved through the digital compass, and therefore the problem that heading machine attitude detection is inaccurate exists in the technical scheme.
The patent with the application number of CN201410086340 "a heading machine remote control system and method", in the technical scheme of the patent, the real reappearance of the working states of a virtual prototype and a heading machine in a heading machine remote monitoring platform is realized through a sensor, an airborne detection system, an airborne controller, a data communication module, a heading machine virtual control platform, a database, a virtual reality system data interface, a heading machine control model module, a heading machine working condition parameter monitoring module, a heading machine virtual prototype platform and the like which are installed on the heading machine. The patent application No. CN201220248844 patent "remote reproduction system of development machine", this patent technical scheme is including installing the programmable controller on the development machine and installing industrial computer and display screen on the remote control platform, sensor and the switching value collection module on the development machine body are connected to the input of programmable controller, the output passes through optic fibre and is connected with the industrial computer, the long-range reproduction of development machine operating condition is realized to rethread industrial computer output connection display screen. Both of the above two patents only remotely reproduce the attitude of the heading machine, and do not obtain the real three-dimensional scene relationship between the heading machine and the roadway that has been tunneled.
In the prior art, the remote visualization of the coal roadway heading machine is realized in the aspect of pose information acquisition, the sensor group and the camera realize data acquisition and image detection so as to restore the pose information of the heading equipment, but the effect of the camera in a dust environment is poor, the acquired image information is one-sided, the early warning of mistaken rushing of personnel is not provided, and the great safety problem exists; the inertial navigation technology realizes the accurate measurement of the attitude, but the time error accumulation of the inertial device seriously affects the positioning precision, and the position measurement of low-speed moving objects such as a heading machine and the like is not accurate; the machine vision identification technology realizes the measurement of the alignment posture through the explosion-proof camera to detect the laser beam image, but the camera is very difficult to clearly detect in the dust environment during the operation of the development machine. In the aspect of communication transmission, a wired optical fiber or wireless WIFI mode is mostly adopted as a communication transmission medium, the possibility that the optical fiber is broken when the heading machine moves is existed, the reliability is poor, the network bandwidth of the wireless WIFI is narrow, and meanwhile, the transmission of multi-path audio and video signals is poor. In the aspect of remote visual three-dimensional display, a virtual reality technology is applied to establish a virtual prototype of the tunneling machine and a virtual scene of a working condition scene, only a gyroscope and a sensor are used for measuring attitude information, the position information is not accurately measured, only the attitude of the tunneling machine is remotely output, a real three-dimensional representation is not formed on the relationship between the tunneling machine and a tunneled roadway, and reliable and accurate attitude information cannot be provided for remote control.
Therefore, the position and posture measurement of the coal roadway heading machine remote visualization system in the prior art is inaccurate; the real three-dimensional scene relation between the heading machine and the roadway which is tunneled is not obtained; the reliability of the wired optical fiber in the transmission medium at the periphery of the development machine is poor; the wireless WIFI is poor in simultaneous transmission of multiple paths of audio and video signals; and the remote method can not realize the visual reappearance of the three-dimensional motion state of the heading machine under the heading tunnel.
Disclosure of Invention
The invention aims to provide a remote visualization system and a remote visualization method for a coal roadway heading machine, which can realize accurate measurement of the position and posture of the heading machine, obtain the real three-dimensional scene relation between the heading machine and a tunneled roadway, realize real-time and reliable data transmission of the system, and remotely display the real position and posture and three-dimensional motion state information of the heading machine under the tunneled roadway.
In order to solve the technical problems, the invention adopts the technical scheme that the remote visualization system of the coal roadway heading machine comprises three subsystems, a first information acquisition system comprises a data information acquisition system, a video signal acquisition system, a three-dimensional motion state imaging acquisition system and a second information transmission system, the system comprises an explosion-proof signal conversion box, a wired network transmission system and a third information remote visualization system, the third information remote visualization system comprises a remote control console, an explosion-proof computer, an explosion-proof optical fiber junction box and an explosion-proof display box, the data information acquisition system comprises a sensor group and an explosion-proof airborne data acquisition box, the video signal acquisition system comprises an explosion-proof low-illumination camera and an explosion-proof audio and video acquisition box which are arranged on the left middle rear side of a machine body and are not less than 4 paths, and the three-dimensional motion state imaging acquisition system comprises an initial positioning information acquisition system of the heading machine and an operation directional information acquisition system, the heading machine initial positioning information acquisition system comprises a laser target, an explosion-proof three-dimensional laser scanner and a heading machine operation directional information acquisition system, and comprises an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, wherein the wired network transmission system comprises an explosion-proof base station and an explosion-proof power box, wherein:
the sensor group comprises a displacement sensor A arranged in the shovel plate lifting oil cylinder and is used for measuring the lifting distance of the shovel plate; the displacement sensor B is arranged in the left and right rear support oil cylinders and is used for measuring the distance between the rear support and the bottom of the machine body; the sensor group transmits measurement signals such as the lifting distance of the shovel plate, the distance between the rear support and the bottom of the machine body and the like to the explosion-proof airborne data acquisition box;
the explosion-proof airborne data acquisition box is used for receiving the measurement signals transmitted by the sensor group, converting the measurement signals into physical quantity signals and transmitting the physical quantity signals to the explosion-proof signal conversion box;
the anti-explosion low-illumination camera is used for acquiring a video signal of the real-time working condition of the development machine and transmitting the video signal to the anti-explosion audio and video acquisition box;
the explosion-proof audio and video acquisition box is used for receiving the video signal transmitted by the explosion-proof low-illumination camera and transmitting the video signal to the explosion-proof signal conversion box in a packaging manner through the industrial Ethernet;
the laser target is arranged on the side wall of the tunneled roadway behind the tunneling machine, is not shielded in the front area and the rear area of the tunneled roadway, and is used for providing coordinate information of the anti-explosion three-dimensional scanner in the tunneled roadway;
the anti-explosion three-dimensional laser scanner is arranged at the top of the machine body of the tunneling machine, is used for scanning a laser target to obtain the coordinate information of the laser target, further obtains the absolute coordinate information of the tunneling machine in a tunneled tunnel to obtain the initial position of the tunneling machine, collects three-dimensional point cloud data of the tunneled tunnel at different angles, transmits the absolute coordinate information of the tunneling machine in the tunneled tunnel to the anti-explosion MEMS inertial navigation device C and the anti-explosion MEMS inertial navigation device D, and transmits the absolute coordinate information of the tunneling machine in the tunneled tunnel and the collected three-dimensional point cloud data to the anti-explosion signal conversion box;
the explosion-proof MEMS inertial navigation device C is arranged on a tunneling machine body, the explosion-proof MEMS inertial navigation device D is arranged on a tunneling machine cantilever, the explosion-proof MEMS inertial navigation devices are all used for receiving absolute coordinate information of a tunneled roadway transmitted by an explosion-proof three-dimensional laser scanner, the explosion-proof MEMS inertial navigation device C collects attitude information of the tunneling machine body under the tunneling machine operation state and transmits the attitude information of the tunneling machine body to an explosion-proof signal conversion box, and the explosion-proof MEMS inertial navigation device D collects attitude information of the tunneling machine cantilever under the tunneling machine operation state and transmits the attitude information of the tunneling machine cantilever to the explosion-proof signal conversion box;
the anti-explosion signal conversion box is used for receiving physical quantity signals transmitted by the anti-explosion airborne data acquisition box, video signals transmitted by the anti-explosion audio and video acquisition box, absolute coordinate information and three-dimensional point cloud data of a tunneled roadway of the tunneled machine transmitted by the anti-explosion three-dimensional laser scanner, and cantilever attitude information and body attitude information of the tunneled machine transmitted by the anti-explosion MEMS inertial navigation device, converting all received information into 4G signals and transmitting the 4G signals to the anti-explosion base station;
the anti-explosion power box is arranged at the side wall of a roadway which is excavated within 50-100 m behind the tunneling machine and used for providing power for the anti-explosion base station;
the anti-explosion base station is arranged at the side wall of a roadway which is excavated within 50-100 meters behind the development machine, and is used for receiving the 4G signal transmitted by the anti-explosion signal conversion box, converting the 4G signal into industrial Ethernet information and transmitting the industrial Ethernet information to the anti-explosion optical fiber junction box through an optical fiber;
the remote control console is arranged at the position of a tunneled roadway behind the tunneling machine, is at a distance of n from the tunneling machine, and is more than or equal to 300 meters and used for installing an explosion-proof optical fiber junction box, an explosion-proof computer and an explosion-proof display box;
the explosion-proof optical fiber junction box is used for receiving industrial Ethernet information transmitted by the explosion-proof base station and transmitting the industrial Ethernet information to the explosion-proof computer;
the anti-explosion computer is used for receiving industrial Ethernet information transmitted by the anti-explosion optical fiber junction box, calculating the lifting distance of a shovel plate, the distance between a rear support and the bottom of a machine body, a video signal, the distance between a heading machine and the initial position during operation, the initial position, a three-dimensional model of a tunneled roadway, cantilever attitude information of the heading machine and body attitude information of the heading machine from the industrial Ethernet information, further obtaining the motion state of the heading machine in the tunneled roadway, and transmitting the three-dimensional model of the tunneled roadway, the motion state of the heading machine in the tunneled roadway and the video signal to the anti-explosion display box;
and the anti-explosion display box is used for receiving and displaying the three-dimensional model of the tunneled roadway, the motion state of the tunneling machine in the tunneled roadway and the video signal which are transmitted by the anti-explosion computer.
Furthermore, the video signal acquisition system also comprises an explosion-proof sound pickup which is arranged on the left, middle and rear sides of the machine body and is not less than 2 paths, and the third information remote visualization system also comprises an explosion-proof sound box; the explosion-proof adapter is used for collecting audio signals of real-time working conditions of the tunneling machine and transmitting the audio signals to the explosion-proof audio and video acquisition box, the explosion-proof audio and video acquisition box is further used for receiving the audio signals transmitted by the explosion-proof adapter and transmitting the audio signals to the explosion-proof signal conversion box through industrial Ethernet packaging, the explosion-proof signal conversion box is further used for receiving the audio signals transmitted by the explosion-proof audio and video acquisition box and converting the received audio signals into 4G signals to be transmitted to an explosion-proof base station, the explosion-proof computer is further used for calculating from industrial Ethernet information to obtain the audio signals and transmitting the audio signals to an explosion-proof sound box, and the explosion-proof sound box is installed on a remote control console and used for receiving the audio signals transmitted by the explosion-proof computer and playing real-time audio.
A visualization method based on the coal roadway heading machine system comprises the following steps:
step 1, electrifying a tunneling machine and a visualization system, and electrifying and keeping an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D for 5-10 minutes;
step 2, collecting an initial position of the heading machine, scanning the laser target by the explosion-proof three-dimensional laser scanner to obtain coordinate information of the laser target, and then obtaining absolute coordinate information of the heading machine in a roadway which is tunneled to obtain the initial position of the heading machine;
step 3, scanning three-dimensional point cloud data of a tunneled roadway at different angles by using an explosion-proof three-dimensional laser scanner, transmitting absolute coordinate information of the tunneled machine in the tunneled roadway to an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, and transmitting the absolute coordinate information of the tunneled machine in the tunneled roadway and the acquired three-dimensional point cloud data to an explosion-proof signal conversion box;
step 4, collecting video signals, collecting the video signals of the real-time working condition of the development machine by an explosion-proof low-illumination camera, and transmitting the video signals to an explosion-proof audio and video collecting box; the explosion-proof audio and video acquisition box receives video signals transmitted by the explosion-proof low-illumination camera and packages and transmits the video signals to the explosion-proof signal conversion box through the industrial Ethernet;
step 5, collecting a measuring signal, collecting a signal of the lifting distance of the shovel plate by using a displacement sensor A, supporting a signal of the distance from the bottom of the machine body after the signal is collected by using a displacement sensor B, transmitting the collected measuring signal to an explosion-proof airborne data collecting box by using the sensor A and the sensor B, converting the measuring signal into a physical quantity signal after the explosion-proof airborne data collecting box receives the measuring signal, and transmitting the physical signal to an explosion-proof signal converting box;
step 6, collecting operation orientation information, receiving absolute coordinate information of the heading machine in a heading tunnel by an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, collecting attitude information of the heading machine body under the heading machine operation state by the explosion-proof MEMS inertial navigation device C, transmitting the attitude information of the heading machine body to an explosion-proof signal conversion box, collecting attitude information of a heading machine cantilever under the heading machine operation state by the MEMS inertial navigation device D, and transmitting the attitude information of the heading machine cantilever to the explosion-proof signal conversion box;
step 7, the anti-explosion signal conversion box receives physical quantity signals transmitted by the anti-explosion airborne data acquisition box, video signals transmitted by the anti-explosion audio and video acquisition box, absolute coordinate information and three-dimensional point cloud data of a tunneled tunnel of the tunneled machine transmitted by the anti-explosion three-dimensional laser scanner, attitude information of a tunneled machine body transmitted by the anti-explosion MEMS inertial navigation device C and attitude information of a tunneled machine cantilever transmitted by the anti-explosion MEMS inertial navigation device D, and converts all received information into 4G signals and transmits the 4G signals to the anti-explosion base station;
step 8, the explosion-proof base station receives the 4G signal transmitted by the explosion-proof signal conversion box, converts the 4G signal into industrial Ethernet information and transmits the industrial Ethernet information to the explosion-proof optical fiber junction box through optical fibers;
9, the explosion-proof optical fiber junction box receives industrial Ethernet information transmitted by the explosion-proof base station and transmits the industrial Ethernet information to an explosion-proof computer;
step 10, an explosion-proof computer receives industrial Ethernet information transmitted by an explosion-proof optical fiber junction box, calculates the lifting distance of a shovel plate, the distance between a rear support and the bottom of a machine body, a video signal, the distance between a heading machine and the initial position of the heading machine during operation, the initial position, a three-dimensional model of a tunneled roadway, cantilever attitude information of the heading machine and body attitude information of the heading machine from the industrial Ethernet information, associates all extracted information with a three-dimensional movement mechanism of the heading machine through three-dimensional model splicing software to obtain the movement state of the heading machine in the tunneled roadway, and transmits the three-dimensional model of the tunneled roadway, the movement state of the heading machine in the tunneled roadway and the video signal to an explosion-proof display box;
and step 11, receiving and displaying the tunneled roadway three-dimensional model, the movement state of the tunneling machine in the tunneled roadway and the video signal transmitted by the explosion-proof computer by the explosion-proof display box.
The invention has the beneficial effects that:
the invention adopts the combination of the explosion-proof three-dimensional laser scanner and the laser target to provide high-precision positioning of the tunneling machine and a real three-dimensional scene relation between the tunneling machine and a tunneled roadway; an explosion-proof MEMS inertial navigation device is adopted to provide high-precision heading machine body and cantilever attitude information; associating the acquired sensing data, audio signals, video signals, attitude information of the tunneling machine body and the cantilever with three-dimensional movement mechanisms of the tunneling machine to provide a real working state of the tunneling machine; the combined remote transmission mode of a 4G network and a wire is adopted, data are transmitted rapidly, the working condition of the tunneling machine, audio signals, video signals, the real three-dimensional scene relation of the tunneling machine and a tunneled roadway, and the position and the motion state of the tunneling machine under the tunneled roadway are displayed remotely in real time, and a real and visual interface is provided for a remote control system of the tunneling machine.
Drawings
Fig. 1 is a system frame diagram of a coal roadway heading machine remote visualization system;
fig. 2 is a schematic structural diagram of three-dimensional motion state imaging acquisition in the invention.
Detailed Description
Example 1
The embodiment provides a coal roadway heading machine remote visualization system, a system block diagram is shown in figure 1, the system comprises three subsystems, a first information acquisition system comprises a data information acquisition system, a video signal acquisition system and a three-dimensional motion state imaging acquisition system, a second information transmission system comprises an explosion-proof signal conversion box and a wired network transmission system, a third information remote visualization system comprises a remote control console, an explosion-proof computer, an explosion-proof optical fiber junction box and an explosion-proof display box, the data information acquisition system comprises a sensor group and an explosion-proof airborne data acquisition box, the video signal acquisition system comprises an explosion-proof low-illumination camera which is arranged on the left middle rear side of a machine body and is not less than 4 paths, an explosion-proof pickup which is arranged on the left middle rear side of the machine body and is not less than 2 paths, an explosion-proof audio and video acquisition box, and the three-dimensional motion state imaging acquisition system, including entry driving machine initial positioning information acquisition system and the directional information acquisition system of operation, entry driving machine initial positioning information acquisition system includes laser mark target, explosion-proof three-dimensional laser scanner, and entry driving machine operation directional information acquisition system, including explosion-proof MEMS inertial navigation device C, explosion-proof MEMS inertial navigation device D, wired network transmission system, including explosion-proof basic station, explosion-proof power supply box, wherein:
the sensor group comprises a displacement sensor A arranged in the shovel plate lifting oil cylinder and is used for measuring the lifting distance of the shovel plate; the displacement sensor B is arranged in the left and right rear support oil cylinders and is used for measuring the distance between the rear support and the bottom of the machine body; the sensor group transmits measurement signals such as the lifting distance of the shovel plate, the distance between the rear support and the bottom of the machine body and the like to the explosion-proof airborne data acquisition box;
the explosion-proof airborne data acquisition box is used for receiving the measurement signals transmitted by the sensor group, converting the measurement signals into physical quantity signals and transmitting the physical quantity signals to the explosion-proof signal conversion box;
the anti-explosion low-illumination camera is used for acquiring a video signal of the real-time working condition of the development machine and transmitting the video signal to the anti-explosion audio and video acquisition box;
the anti-explosion pickup is used for collecting audio signals of real-time working conditions of the development machine and transmitting the audio signals to the anti-explosion audio and video collecting box;
the anti-explosion audio and video acquisition box is used for receiving video signals transmitted by the anti-explosion low-illumination camera, audio signals of the real-time working condition of the development machine acquired by the anti-explosion pickup, and packaging and transmitting the video signals and the audio signals to the anti-explosion signal conversion box through the industrial Ethernet;
the laser target is arranged on the side wall of the tunneled roadway behind the tunneling machine, is not shielded in the front area and the rear area of the tunneled roadway, and is used for providing coordinate information of the anti-explosion three-dimensional scanner in the tunneled roadway;
the anti-explosion three-dimensional laser scanner is arranged at the top of the machine body of the tunneling machine, is used for scanning a laser target to obtain the coordinate information of the laser target, further obtains the absolute coordinate information of the tunneling machine in a tunneled tunnel to obtain the initial position of the tunneling machine, collects three-dimensional point cloud data of the tunneled tunnel at different angles, transmits the absolute coordinate information of the tunneling machine in the tunneled tunnel to the anti-explosion MEMS inertial navigation device C and the anti-explosion MEMS inertial navigation device D, and transmits the absolute coordinate information of the tunneling machine in the tunneled tunnel and the collected three-dimensional point cloud data to the anti-explosion signal conversion box;
the explosion-proof MEMS inertial navigation device C is arranged on a tunneling machine body, the explosion-proof MEMS inertial navigation device D is arranged on a tunneling machine cantilever, the explosion-proof MEMS inertial navigation devices are all used for receiving absolute coordinate information of a tunneled roadway transmitted by an explosion-proof three-dimensional laser scanner, the explosion-proof MEMS inertial navigation device C collects attitude information of the tunneling machine body under the tunneling machine operation state and transmits the attitude information of the tunneling machine body to an explosion-proof signal conversion box, and the explosion-proof MEMS inertial navigation device D collects attitude information of the tunneling machine cantilever under the tunneling machine operation state and transmits the attitude information of the tunneling machine cantilever to the explosion-proof signal conversion box;
the anti-explosion signal conversion box is used for receiving physical quantity signals transmitted by the anti-explosion airborne data acquisition box, video signals and audio signals transmitted by the anti-explosion audio and video acquisition box, absolute coordinate information and three-dimensional point cloud data of a tunneller in a tunnelled tunnel transmitted by the anti-explosion three-dimensional laser scanner, and tunneller cantilever attitude information and tunneller body attitude information transmitted by the anti-explosion MEMS inertial navigation device, converting all received information into 4G signals and transmitting the 4G signals to the anti-explosion base station;
the anti-explosion power box is arranged at the side wall of the excavated roadway 80 meters behind the excavator and is used for providing power for the anti-explosion base station;
the anti-explosion base station is arranged at the side wall of a tunnel which is excavated within 80 meters behind the development machine, and is used for receiving the 4G signal transmitted by the anti-explosion signal conversion box, converting the 4G signal into industrial Ethernet information and transmitting the industrial Ethernet information to the anti-explosion optical fiber junction box through optical fibers;
the remote control console is arranged at the position of a tunneled roadway behind the tunneling machine, is 300 meters away from the tunneling machine, and is used for installing an explosion-proof optical fiber junction box, an explosion-proof computer, an explosion-proof display box and an explosion-proof sound box;
the explosion-proof optical fiber junction box is used for receiving industrial Ethernet information transmitted by the explosion-proof base station and transmitting the industrial Ethernet information to the explosion-proof computer;
the anti-explosion computer is used for receiving industrial Ethernet information transmitted by the anti-explosion optical fiber junction box, calculating the lifting distance of a shovel plate, the distance between a rear support and the bottom of a machine body, a video signal, the distance between an audio signal and the initial position of the heading machine during operation, the initial position, a three-dimensional model of a tunneled roadway, cantilever attitude information of the heading machine and body attitude information of the heading machine from the industrial Ethernet information, further obtaining the motion state of the heading machine in the tunneled roadway, transmitting the three-dimensional model of the tunneled roadway, the motion state of the heading machine in the tunneled roadway and the video signal to the anti-explosion display box, and transmitting the audio signal to the anti-explosion sound box;
the anti-explosion display box is used for receiving and displaying the three-dimensional model of the tunneled roadway, the motion state of the tunneling machine in the tunneled roadway and the video signal which are transmitted by the anti-explosion computer;
and the explosion-proof sound box is used for receiving the audio signal transmitted by the explosion-proof computer and playing the audio signal.
A visualization method based on the coal roadway heading machine system in embodiment 1 comprises the following steps:
step 1, electrifying a tunneling machine and a visualization system, and electrifying and keeping an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D for 5 minutes;
step 2, collecting an initial position of the heading machine, scanning the laser target by the explosion-proof three-dimensional laser scanner to obtain coordinate information of the laser target, and then obtaining absolute coordinate information of the heading machine in a roadway which is tunneled to obtain the initial position of the heading machine;
step 3, scanning three-dimensional point cloud data of a tunneled roadway at different angles by using an explosion-proof three-dimensional laser scanner, transmitting absolute coordinate information of the tunneled machine in the tunneled roadway to an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, and transmitting the absolute coordinate information of the tunneled machine in the tunneled roadway and the acquired three-dimensional point cloud data to an explosion-proof signal conversion box;
step 4, collecting audio and video signals, collecting the video signals of the real-time working condition of the development machine by an explosion-proof low-illumination camera, and transmitting the video signals to an explosion-proof audio and video collecting box; the anti-explosion sound pick-up collects audio signals of real-time working conditions of the development machine and then transmits the audio signals to the anti-explosion audio and video collecting box; the explosion-proof audio and video acquisition box receives video signals transmitted by the explosion-proof low-illumination camera and audio signals transmitted by the explosion-proof sound pick-up, and packs and transmits the audio signals and the video signals to the explosion-proof signal conversion box through the industrial Ethernet;
step 5, collecting a measuring signal, collecting a signal of the lifting distance of the shovel plate by using a displacement sensor A, supporting a signal of the distance from the bottom of the machine body after the signal is collected by using a displacement sensor B, transmitting the collected measuring signal to an explosion-proof airborne data collecting box by using the sensor A and the sensor B, converting the measuring signal into a physical quantity signal after the explosion-proof airborne data collecting box receives the measuring signal, and transmitting the physical signal to an explosion-proof signal converting box;
step 6, collecting operation orientation information, receiving absolute coordinate information of the heading machine in a heading tunnel by an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, collecting attitude information of the heading machine body under the heading machine operation state by the explosion-proof MEMS inertial navigation device C, transmitting the attitude information of the heading machine body to an explosion-proof signal conversion box, collecting attitude information of a heading machine cantilever under the heading machine operation state by the MEMS inertial navigation device D, and transmitting the attitude information of the heading machine cantilever to the explosion-proof signal conversion box;
step 7, the explosion-proof signal conversion box receives physical quantity signals transmitted by the explosion-proof airborne data acquisition box, audio signals and video signals transmitted by the explosion-proof audio and video acquisition box, absolute coordinate information and three-dimensional point cloud data of a tunneled tunnel of the tunneled machine transmitted by the explosion-proof three-dimensional laser scanner, attitude information of a tunneled machine body transmitted by the explosion-proof MEMS inertial navigation device C and attitude information of a tunneled machine cantilever transmitted by the explosion-proof MEMS inertial navigation device D, and the explosion-proof signal conversion box converts all received information into 4G signals and transmits the 4G signals to an explosion-proof base station;
step 8, the explosion-proof base station receives the 4G signal transmitted by the explosion-proof signal conversion box, converts the 4G signal into industrial Ethernet information and transmits the industrial Ethernet information to the explosion-proof optical fiber junction box through optical fibers;
9, the explosion-proof optical fiber junction box receives industrial Ethernet information transmitted by the explosion-proof base station and transmits the industrial Ethernet information to an explosion-proof computer;
step 10, an explosion-proof computer receives industrial Ethernet information transmitted by an explosion-proof optical fiber junction box, calculates and obtains the lifting distance of a shovel plate, the distance between a rear support and the bottom of a machine body, an audio signal, a video signal, the distance between a heading machine and the initial position during operation, the initial position, a three-dimensional model of a tunneled roadway, cantilever attitude information of the heading machine and body attitude information of the heading machine from the industrial Ethernet information, associates all extracted information with a three-dimensional movement mechanism of the heading machine through three-dimensional model splicing software to obtain the movement state of the heading machine in the tunneled roadway, transmits the three-dimensional model of the tunneled roadway, the movement state of the heading machine in the tunneled roadway and the video signal to an explosion-proof display box, and transmits the audio signal to an explosion-proof sound box;
step 11, receiving and displaying a tunneled roadway three-dimensional model, a movement state of a tunneling machine in a tunneled roadway and a video signal transmitted by an explosion-proof computer by an explosion-proof display box;
and step 12, receiving and playing the audio signal transmitted by the explosion-proof computer by the explosion-proof sound box.
Claims (3)
1. A coal roadway heading machine remote visualization system is characterized by comprising three subsystems, a first information acquisition system comprises a data information acquisition system, a video signal acquisition system and a three-dimensional motion state imaging acquisition system, a second information transmission system comprises an explosion-proof signal conversion box, a wired network transmission system and a third information remote visualization system comprises a remote control console, an explosion-proof computer, an explosion-proof optical fiber junction box and an explosion-proof display box, the data information acquisition system comprises a sensor group and an explosion-proof airborne data acquisition box, the video signal acquisition system comprises an explosion-proof low-illumination camera and an explosion-proof audio and video acquisition box which are arranged on the left middle rear side of a machine body and are not less than 4 paths, and the three-dimensional motion state imaging acquisition system comprises a heading machine initial positioning information acquisition system and an operation orientation information acquisition system, the heading machine initial positioning information acquisition system comprises a laser target, an explosion-proof three-dimensional laser scanner and a heading machine operation directional information acquisition system, and comprises an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, wherein the wired network transmission system comprises an explosion-proof base station and an explosion-proof power box, wherein:
the sensor group comprises a displacement sensor A arranged in the shovel plate lifting oil cylinder and is used for measuring the lifting distance of the shovel plate; the displacement sensor B is arranged in the left and right rear support oil cylinders and is used for measuring the distance between the rear support and the bottom of the machine body; the sensor group transmits measurement signals such as the lifting distance of the shovel plate, the distance between the rear support and the bottom of the machine body and the like to the explosion-proof airborne data acquisition box;
the explosion-proof airborne data acquisition box is used for receiving the measurement signals transmitted by the sensor group, converting the measurement signals into physical quantity signals and transmitting the physical quantity signals to the explosion-proof signal conversion box;
the anti-explosion low-illumination camera is used for acquiring a video signal of the real-time working condition of the development machine and transmitting the video signal to the anti-explosion audio and video acquisition box;
the explosion-proof audio and video acquisition box is used for receiving the video signal transmitted by the explosion-proof low-illumination camera and transmitting the video signal to the explosion-proof signal conversion box in a packaging manner through the industrial Ethernet;
the laser target is arranged on the side wall of the tunneled roadway behind the tunneling machine, is not shielded in the front area and the rear area of the tunneled roadway, and is used for providing coordinate information of the anti-explosion three-dimensional scanner in the tunneled roadway;
the anti-explosion three-dimensional laser scanner is arranged at the top of the machine body of the tunneling machine, is used for scanning a laser target to obtain the coordinate information of the laser target, further obtains the absolute coordinate information of the tunneling machine in a tunneled tunnel to obtain the initial position of the tunneling machine, collects three-dimensional point cloud data of the tunneled tunnel at different angles, transmits the absolute coordinate information of the tunneling machine in the tunneled tunnel to the anti-explosion MEMS inertial navigation device C and the anti-explosion MEMS inertial navigation device D, and transmits the absolute coordinate information of the tunneling machine in the tunneled tunnel and the collected three-dimensional point cloud data to the anti-explosion signal conversion box;
the explosion-proof MEMS inertial navigation device C is arranged on a tunneling machine body, the explosion-proof MEMS inertial navigation device D is arranged on a tunneling machine cantilever, the explosion-proof MEMS inertial navigation devices are all used for receiving absolute coordinate information of a tunneled roadway transmitted by an explosion-proof three-dimensional laser scanner, the explosion-proof MEMS inertial navigation device C collects attitude information of the tunneling machine body under the tunneling machine operation state and transmits the attitude information of the tunneling machine body to an explosion-proof signal conversion box, and the explosion-proof MEMS inertial navigation device D collects attitude information of the tunneling machine cantilever under the tunneling machine operation state and transmits the attitude information of the tunneling machine cantilever to the explosion-proof signal conversion box;
the anti-explosion signal conversion box is used for receiving physical quantity signals transmitted by the anti-explosion airborne data acquisition box, video signals transmitted by the anti-explosion audio and video acquisition box, absolute coordinate information and three-dimensional point cloud data of a tunneled roadway of the tunneled machine transmitted by the anti-explosion three-dimensional laser scanner, and cantilever attitude information and body attitude information of the tunneled machine transmitted by the anti-explosion MEMS inertial navigation device, converting all received information into 4G signals and transmitting the 4G signals to the anti-explosion base station;
the anti-explosion power box is arranged at the side wall of a roadway which is excavated within 50-100 m behind the tunneling machine and used for providing power for the anti-explosion base station;
the anti-explosion base station is arranged at the side wall of a roadway which is excavated within 50-100 meters behind the development machine, and is used for receiving the 4G signal transmitted by the anti-explosion signal conversion box, converting the 4G signal into industrial Ethernet information and transmitting the industrial Ethernet information to the anti-explosion optical fiber junction box through an optical fiber;
the remote control console is arranged at the position of a tunneled roadway behind the tunneling machine, is at a distance of n from the tunneling machine, and is more than or equal to 300 meters and used for installing an explosion-proof optical fiber junction box, an explosion-proof computer and an explosion-proof display box;
the explosion-proof optical fiber junction box is used for receiving industrial Ethernet information transmitted by the explosion-proof base station and transmitting the industrial Ethernet information to the explosion-proof computer;
the anti-explosion computer is used for receiving industrial Ethernet information transmitted by the anti-explosion optical fiber junction box, calculating the lifting distance of a shovel plate, the distance between a rear support and the bottom of a machine body, a video signal, the distance between a heading machine and the initial position during operation, the initial position, a three-dimensional model of a tunneled roadway, cantilever attitude information of the heading machine and body attitude information of the heading machine from the industrial Ethernet information, further obtaining the motion state of the heading machine in the tunneled roadway, and transmitting the three-dimensional model of the tunneled roadway, the motion state of the heading machine in the tunneled roadway and the video signal to the anti-explosion display box;
and the anti-explosion display box is used for receiving and displaying the three-dimensional model of the tunneled roadway, the motion state of the tunneling machine in the tunneled roadway and the video signal which are transmitted by the anti-explosion computer.
2. The coal roadway heading machine remote visualization system according to claim 1, wherein the video signal acquisition system further comprises an explosion-proof sound pickup mounted on the body at the rear left-middle side of the body for not less than 2 paths, and the third information remote visualization system further comprises an explosion-proof sound box; the explosion-proof adapter is used for collecting audio signals of real-time working conditions of the tunneling machine and transmitting the audio signals to the explosion-proof audio and video acquisition box, the explosion-proof audio and video acquisition box is further used for receiving the audio signals transmitted by the explosion-proof adapter and transmitting the audio signals to the explosion-proof signal conversion box through industrial Ethernet packaging, the explosion-proof signal conversion box is further used for receiving the audio signals transmitted by the explosion-proof audio and video acquisition box and converting the received audio signals into 4G signals to be transmitted to an explosion-proof base station, the explosion-proof computer is further used for calculating from industrial Ethernet information to obtain the audio signals and transmitting the audio signals to an explosion-proof sound box, and the explosion-proof sound box is installed on a remote control console and used for receiving the audio signals transmitted by the explosion-proof computer and playing real-time audio.
3. A visualization method for a coal roadway heading machine system as recited in claim 1, comprising the steps of:
step 1, electrifying a tunneling machine and a visualization system, and electrifying and keeping an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D for 5-10 minutes;
step 2, collecting an initial position of the heading machine, scanning the laser target by the explosion-proof three-dimensional laser scanner to obtain coordinate information of the laser target, and then obtaining absolute coordinate information of the heading machine in a roadway which is tunneled to obtain the initial position of the heading machine;
step 3, scanning three-dimensional point cloud data of a tunneled roadway at different angles by using an explosion-proof three-dimensional laser scanner, transmitting absolute coordinate information of the tunneled machine in the tunneled roadway to an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, and transmitting the absolute coordinate information of the tunneled machine in the tunneled roadway and the acquired three-dimensional point cloud data to an explosion-proof signal conversion box;
step 4, collecting video signals, collecting the video signals of the real-time working condition of the development machine by an explosion-proof low-illumination camera, and transmitting the video signals to an explosion-proof audio and video collecting box; the explosion-proof audio and video acquisition box receives video signals transmitted by the explosion-proof low-illumination camera and packages and transmits the video signals to the explosion-proof signal conversion box through the industrial Ethernet;
step 5, collecting a measuring signal, collecting a signal of the lifting distance of the shovel plate by using a displacement sensor A, supporting a signal of the distance from the bottom of the machine body after the signal is collected by using a displacement sensor B, transmitting the collected measuring signal to an explosion-proof airborne data collecting box by using the sensor A and the sensor B, converting the measuring signal into a physical quantity signal after the explosion-proof airborne data collecting box receives the measuring signal, and transmitting the physical signal to an explosion-proof signal converting box;
step 6, collecting operation orientation information, receiving absolute coordinate information of the heading machine in a heading tunnel by an explosion-proof MEMS inertial navigation device C and an explosion-proof MEMS inertial navigation device D, collecting attitude information of the heading machine body under the heading machine operation state by the explosion-proof MEMS inertial navigation device C, transmitting the attitude information of the heading machine body to an explosion-proof signal conversion box, collecting attitude information of a heading machine cantilever under the heading machine operation state by the MEMS inertial navigation device D, and transmitting the attitude information of the heading machine cantilever to the explosion-proof signal conversion box;
step 7, the anti-explosion signal conversion box receives physical quantity signals transmitted by the anti-explosion airborne data acquisition box, video signals transmitted by the anti-explosion audio and video acquisition box, absolute coordinate information and three-dimensional point cloud data of a tunneled tunnel of the tunneled machine transmitted by the anti-explosion three-dimensional laser scanner, attitude information of a tunneled machine body transmitted by the anti-explosion MEMS inertial navigation device C and attitude information of a tunneled machine cantilever transmitted by the anti-explosion MEMS inertial navigation device D, and converts all received information into 4G signals and transmits the 4G signals to the anti-explosion base station;
step 8, the explosion-proof base station receives the 4G signal transmitted by the explosion-proof signal conversion box, converts the 4G signal into industrial Ethernet information and transmits the industrial Ethernet information to the explosion-proof optical fiber junction box through optical fibers;
9, the explosion-proof optical fiber junction box receives industrial Ethernet information transmitted by the explosion-proof base station and transmits the industrial Ethernet information to an explosion-proof computer;
step 10, an explosion-proof computer receives industrial Ethernet information transmitted by an explosion-proof optical fiber junction box, calculates the lifting distance of a shovel plate, the distance between a rear support and the bottom of a machine body, a video signal, the distance between a heading machine and the initial position of the heading machine during operation, the initial position, a three-dimensional model of a tunneled roadway, cantilever attitude information of the heading machine and body attitude information of the heading machine from the industrial Ethernet information, associates all extracted information with a three-dimensional movement mechanism of the heading machine through three-dimensional model splicing software to obtain the movement state of the heading machine in the tunneled roadway, and transmits the three-dimensional model of the tunneled roadway, the movement state of the heading machine in the tunneled roadway and the video signal to an explosion-proof display box;
and step 11, receiving and displaying the tunneled roadway three-dimensional model, the movement state of the tunneling machine in the tunneled roadway and the video signal transmitted by the explosion-proof computer by the explosion-proof display box.
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