CN111119887A - Remote intervention AR inspection system of mine fully-mechanized mining working face under holographic technology - Google Patents
Remote intervention AR inspection system of mine fully-mechanized mining working face under holographic technology Download PDFInfo
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- 238000005065 mining Methods 0.000 title claims abstract description 101
- 238000007689 inspection Methods 0.000 title claims abstract description 39
- 238000005516 engineering process Methods 0.000 title claims abstract description 36
- 239000003245 coal Substances 0.000 claims abstract description 65
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 10
- 230000003993 interaction Effects 0.000 claims description 42
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 7
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- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 238000001093 holography Methods 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000013024 troubleshooting Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 230000003190 augmentative effect Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
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Abstract
The invention discloses a remote intervention AR (augmented reality) inspection system of a mine fully-mechanized coal mining working face under a holographic technology, which comprises a physical fully-mechanized coal mining system, an image acquisition center, a holographic projection center, a centralized control center and an AR inspection system. And the data acquisition and the preliminary processing are carried out by utilizing a physical fully-mechanized mining system, an image acquisition center and a centralized control center, the data are converted into digital signal data and are sent to a holographic projection center, the digital signal data are converted into a three-dimensional holographic image combining a mine fully-mechanized mining working face and fully-mechanized mining equipment through the holographic projection center, and real-time routing inspection monitoring is carried out through AR equipment. By the method, the real-time running condition of the mine fully-mechanized coal mining face can be monitored and controlled by adopting a holographic projection technology, and on the basis, the AR equipment is used for underground manual inspection and remote intervention.
Description
Technical Field
The invention relates to the field of mine inspection, in particular to a remote intervention AR inspection system for a mine fully-mechanized coal mining face under the holographic technology.
Background
In industry 4.0, besides VR technology, holographic projection technology and AR (augmented reality) technology have become one of key technologies for promoting the innovation of various aspects of intelligent manufacturing and the upgrading of industrial industry as a revolutionary cognitive tool and efficiency tool of the "internet era", and have also been applied to intelligent manufacturing production systems. At present, the monitoring of a fully mechanized coal mining face by using a virtual reality technology is disputed and proposed in the field of coal mines, the holographic technology has more advantages in restoring underground real scenes compared with the immersion property of the virtual reality technology, the underground real scenes can be restored in the real world without dead angles of 360 degrees, the three-dimensional geological coal seam structure can be simulated, and the monitoring is not limited to video monitoring, two-dimensional monitoring or virtual reality immersion monitoring.
The patent refers to the field of 'mining or mining of coal, or other materials'.
The application number is 201811110895.9, the name is 'a remote inspection intervention method of a virtual reality mine fully mechanized mining face', the invention constructs virtual software by data and geophysical prospecting data transmitted back by fully mechanized coal mining face equipment in real time, drives the virtual fully mechanized coal mining face by real-time data and presents the data in a fully mechanized coal mining VR tracking and interaction center constructed by various virtual reality hardware and software, virtual operation is carried out on the virtual man-machine interaction interface by utilizing various virtual reality man-machine interaction means, the position, the posture and the action of an operator are captured by virtual reality hardware and software, and converts the virtual operation into a real instruction and accesses the centralized control center to operate the real equipment, and guides the equipment correspondingly operated to finish the adjustment work, and then, remote manual intervention and manual inspection tasks are completed, real operation conditions of a real fully mechanized coal mining face are truly presented, and monitoring is further carried out.
However, the above method has disadvantages in that: firstly, the man-machine interaction step is too complicated, and special wearable equipment, somatosensory interaction equipment, data gloves, data clothes and other interaction equipment are needed; secondly, the immersive picture can be seen only when the operator wears the interactive device, which is also a limitation of the development of the virtual reality technology; and thirdly, although people do not need to go to the underground for inspection, the corresponding underground equipment can be maintained only by reasonably accurately carrying out virtual operation on people wearing the interactive equipment, and the accurate monitoring is also needed, so that the underground equipment is far less convenient to maintain than the field.
Disclosure of Invention
The invention aims to solve the specific technical problem of how to adopt the holographic projection technology to monitor and control the real-time running condition of the mine fully mechanized coal mining face and use AR equipment to carry out underground manual inspection and remote intervention on the basis.
The technical scheme provided by the invention is a remote intervention AR (augmented reality) inspection system of a mine fully-mechanized coal mining working face under a holographic technology, which comprises a physical fully-mechanized coal mining system, an image acquisition center, a holographic projection center, a centralized control center and an AR inspection system;
the physical fully-mechanized mining system is used for acquiring real-time operation data of fully-mechanized mining equipment of a mine fully-mechanized mining working face and geological coal seam data of the current mine fully-mechanized mining working face;
the image acquisition center is used for receiving geological coal seam data of the current mine fully-mechanized working face acquired by the physical fully-mechanized mining system, and converting the geological coal seam data into digital signal data by combining an optical holography technology and a three-dimensional laser scanning technology and a high-precision GPS positioning system;
the centralized control center is used for receiving the real-time operation data of the fully mechanized mining equipment collected by the physical fully mechanized mining system and real-time recording the real-time operation data of the underground fully mechanized mining equipment by utilizing the holographic image technology;
the holographic projection center is connected with the image acquisition center and the centralized control center, carries out image processing on the geological coal seam data and the digital signals of the real-time operation data of the image acquisition center and the centralized control center to obtain a three-dimensional image, and associates the connection relation of the fully mechanized coal mining equipment of the fully mechanized coal mining working face, the digital top and bottom plate and the three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment in the three-dimensional image to be displayed on the holographic projection film so as to carry out real-time monitoring on the fully mechanized coal mining equipment of the fully mechanized coal mining working face of a mine;
the AR inspection system is used for transmitting a field picture back to the holographic projection film in real time at a first person viewing angle through the AR equipment when the AR equipment is used for underground inspection, and has the functions of bidirectional audio and video, character sending, picture sending and marking, so that underground workers are guided to complete troubleshooting, and the problem is solved.
The holographic projection film is a high-performance double-sided display phantom imaging film, so that the image generates a great three-dimensional depth sense and is used for displaying a geological coal bed model, a fully mechanized mining equipment operation picture and an AR picture.
The holographic projection center comprises an image display area and an interaction center;
the image display area is controlled by an interaction center, acquired geological coal seam data and real-time operation data of fully mechanized mining equipment are converted into three-dimensional pictures by an image processing work center through setting a holographic projection film, and meanwhile, the connection relation of the fully mechanized mining face equipment, the digital top and bottom plates and the three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment are truly presented on the holographic projection film;
the interaction center comprises an optical sensor, an application server, a PLC control system and an interaction interface;
the interaction center senses gesture actions of people through the optical sensor, touch screen keys issue commands on an interaction interface to control image picture switching, the application server is driven to control the fully mechanized mining equipment of the mine through the PLC control system, and the interaction interface is used for man-machine interaction.
Wherein, AR system of patrolling and examining includes AR equipment, and AR equipment passes through wireless signal and establishes two-way connection with mutual center, and the picture that the workman saw when patrolling and examining passes back mutual center, and mutual center establishes speech connection with AR equipment to realize that remote commander field personnel carry out the maintenance of equipment.
The invention relates to a remote intervention AR inspection system of a fully mechanized mining working surface of a mine under a holographic technology, which has the following advantages and prominent innovation points:
compared with the two-dimensional video monitoring of the existing underground fully-mechanized mining equipment, the method applies the holographic technology to the underground, scans geological topography and converts the geological topography into a three-dimensional model, and simultaneously carries out three-dimensional stereo monitoring on the fully-mechanized mining working face running in real time, so that the underground scene is truly restored by repeated carving, the goal of transparent mining is really realized, and the method is applied to remote inspection by combining with the AR technology.
The method solves the problems that the visual angle of an inspector is limited, only local less information can be observed, the subjective judgment of workers has limitation, the inspector is easy to cause danger in the full-automatic operation mode process and the like in the existing underground manual inspection, and the visual field picture of the AR inspection is processed by the image processing center and then remotely displayed in a laboratory, so that a field expert remotely guides a worker to carry out equipment inspection and maintenance.
For the problem of underground monitoring of some virtual reality technologies, the virtual reality technologies stay at the animation display stage of VR, and can only realize simple human-computer interaction in the demonstration and are limited in the head-mounted equipment;
the method combines the holographic technology with the coal mine field, and has important significance for the transparent unmanned development of the coal mine field.
Drawings
Fig. 1 is a schematic structural diagram of a remote intervention AR inspection system of a fully mechanized mining face of a mine under a holographic technology.
FIG. 2 is a schematic diagram of the AR equipment worn for inspection in the remote intervention AR inspection system of the fully mechanized mining face of the mine under the holographic technology.
Detailed Description
The technical solution of the present invention will be further described in more detail with reference to the following embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 shows the main contents and flow of the present invention. The system comprises:
the system comprises a physical fully-mechanized mining system, an image acquisition center, a holographic projection center, a centralized control center and an AR (augmented reality) inspection system;
the physical fully-mechanized mining system is used for acquiring real-time operation data of fully-mechanized mining equipment of a mine fully-mechanized mining working face and geological coal seam data of the current mine fully-mechanized mining working face;
the image acquisition center is used for receiving geological coal seam data of the current mine fully-mechanized working face acquired by the physical fully-mechanized mining system, and converting the geological coal seam data into digital signal data by combining an optical holography technology and a three-dimensional laser scanning technology and a high-precision GPS positioning system; the data conversion can be realized by utilizing holographic scanning equipment, the holographic scanning equipment integrates optical holography and three-dimensional laser scanning technology, and a high-precision GPS (global positioning system) is used for converting the detected mine geological coal seam data into a digital signal which can be directly processed;
the centralized control center is used for receiving the real-time operation data of the fully mechanized mining equipment collected by the physical fully mechanized mining system and real-time recording the real-time operation data of the underground fully mechanized mining equipment by utilizing the holographic image technology; the holographic image equipment is a monitoring equipment which utilizes holographic image technology, namely interference and diffraction principle, to real-timely record the real-time running state of the underground fully-mechanized mining equipment;
the holographic projection center is connected with the image acquisition center and the centralized control center, carries out image processing on the geological coal seam data and the digital signals of the real-time operation data of the image acquisition center and the centralized control center to obtain a three-dimensional image, and associates the connection relation of the fully mechanized coal mining equipment of the fully mechanized coal mining working face, the digital top and bottom plate and the three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment in the three-dimensional image to be displayed on the holographic projection film so as to carry out real-time monitoring on the fully mechanized coal mining equipment of the fully mechanized coal mining working face of a mine;
in the specific implementation process, the holographic projection center is a laboratory, two working platforms including an image display area and an interaction center are created, the image display area is controlled by the interaction center, a holographic projection film is built on the working platform, geological coal seam data of a physical fully-mechanized mining system acquired by a holographic scanning device and real-time operation data of fully-mechanized mining equipment acquired by a holographic image device are converted into three-dimensional pictures by using the image processing working center, after the three-dimensional pictures are processed by the image display system, the connection relation of the fully-mechanized mining face equipment, a digital top and bottom plate and three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment are truly presented on the holographic projection film by the holographic projection device, underground scenes are restored and repaired in the laboratory, and the geological coal seam, the fully-mechanized mining face, the three-machine equipment and the like are all displayed, an operator issues an instruction on the interactive interface, and the optical sensor receives the signal and drives the server to control the underground fully-mechanized mining equipment by using the PLC control system.
The image processing work center is a data processing center which converts the digital signals collected by the holographic scanning device and the holographic image device into a three-dimensional model; the image display system is a system for selectively associating three-dimensional models of an image processing work center.
The interaction center comprises an optical sensor, an application server, a control system and an interaction interface, wherein the optical sensor can sense gesture actions of people, and touch screen keys on the interaction interface issue commands to control image picture switching to realize the following functions: (1) issuing commands to the centralized control center, and directly controlling the starting, stopping, running, cutting path and transportation volume of the fully mechanized mining equipment through a PLC; (2) predicting three maneuvers to prevent crisis, such as: the running coal mining machine is called out independently, the projection film can present data such as cutting speed, direction and the like to be carried out next by the coal mining machine and a running real picture, then whether the coal mining machine runs on a predicted track and a predicted position or not is judged automatically, if an error occurs, the interaction center sends an instruction to the centralized control center, and the PLC controls a real scene to be corrected automatically; (3) when the remote operation AR system is used for underground inspection by using the AR equipment, the interaction center controls the AR inspection system by using the wireless signal, and the remote voice can guide field personnel to operate.
The AR inspection system is used for transmitting a field picture back to the holographic projection film in real time at a first person viewing angle through the AR equipment when the AR equipment is used for underground inspection, and has the functions of bidirectional audio and video, character sending, picture sending and marking, so that underground workers are guided to complete troubleshooting, and the problem is solved.
The holographic projection film is a high-performance double-sided display phantom imaging film, so that the image generates a great three-dimensional depth sense and is used for displaying a geological coal bed model, a fully mechanized mining equipment operation picture and an AR picture.
The holographic projection center comprises an image display area and an interaction center;
the image display area is controlled by an interaction center, acquired geological coal seam data and real-time operation data of fully mechanized mining equipment are converted into three-dimensional pictures by an image processing work center through setting a holographic projection film, and meanwhile, the connection relation of the fully mechanized mining face equipment, the digital top and bottom plates and the three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment are truly presented on the holographic projection film;
the interaction center comprises an optical sensor, an application server, a PLC control system and an interaction interface;
the interaction center senses gesture actions of people through the optical sensor, touch screen keys issue commands on an interaction interface to control image picture switching, the application server is driven to control the fully mechanized mining equipment of the mine through the PLC control system, and the interaction interface is used for man-machine interaction.
Wherein, AR system of patrolling and examining includes AR equipment, and AR equipment passes through wireless signal and establishes two-way connection with mutual center, and the picture that the workman saw when patrolling and examining passes back mutual center, and mutual center establishes speech connection with AR equipment to realize that remote commander field personnel carry out the maintenance of equipment.
The following examples further illustrate embodiments of the present invention.
A worker wears AR equipment for inspection under a mine, as shown in figure 2, an expert guides in a holographic projection center laboratory, AR technology provides a high-precision navigation map and reference for an inspector based on identification of equipment states of real images, the AR equipment contains all information of fully mechanized mining equipment after being networked with an interaction center, when a worker is checking a coal mining machine, the voice is input into the model of the coal mining machine, the AR glasses perform comprehensive scanning analysis on the coal mining machine to judge which part fails, the visual field is automatically drawn to the corresponding part, and the picture is transmitted to an image processing center through a wireless signal, the picture is projected to a holographic projection film through holographic projection equipment, experts carefully judge in a laboratory, and after a modification scheme is determined, a remote video conversation is established with workers to guide the workers to process faults according to steps.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. A remote intervention AR inspection system of a mine fully-mechanized coal mining working surface under a holographic technology is characterized by comprising a physical fully-mechanized coal mining system, an image acquisition center, a holographic projection center, a centralized control center and an AR inspection system;
the physical fully-mechanized mining system is used for acquiring real-time operation data of fully-mechanized mining equipment of a mine fully-mechanized mining working face and geological coal seam data of the current mine fully-mechanized mining working face;
the image acquisition center is used for receiving geological coal seam data of the current mine fully-mechanized working face acquired by the physical fully-mechanized mining system, and converting the geological coal seam data into digital signal data by combining an optical holography technology and a three-dimensional laser scanning technology and a high-precision GPS positioning system;
the centralized control center is used for receiving the real-time operation data of the fully mechanized mining equipment collected by the physical fully mechanized mining system and real-time recording the real-time operation data of the underground fully mechanized mining equipment by utilizing the holographic image technology;
the holographic projection center is connected with the image acquisition center and the centralized control center, carries out image processing on the geological coal seam data and the digital signals of the real-time operation data of the image acquisition center and the centralized control center to obtain a three-dimensional image, and associates the connection relation of the fully mechanized coal mining equipment of the fully mechanized coal mining working face, the digital top and bottom plate and the three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment in the three-dimensional image to be displayed on the holographic projection film so as to carry out real-time monitoring on the fully mechanized coal mining equipment of the fully mechanized coal mining working face of a mine;
the AR inspection system is used for transmitting a field picture back to the holographic projection film in real time at a first person viewing angle through the AR equipment when the AR equipment is used for underground inspection, and has the functions of bidirectional audio and video, character sending, picture sending and marking, so that underground workers are guided to complete troubleshooting, and the problem is solved.
2. The holographic remote intervention AR inspection system of the fully mechanized mining face of the mine according to claim 1, wherein the holographic projection film is a high-performance double-sided display phantom imaging film, so that the image has a great stereoscopic depth sense, and is used for displaying geological coal seam models, fully mechanized mining equipment operation pictures and AR pictures.
3. The holographic remote intervention AR inspection system for the fully mechanized mining face of the mine as claimed in claim 1, wherein the holographic projection center comprises an image display area and an interaction center;
the image display area is controlled by an interaction center, acquired geological coal seam data and real-time operation data of fully mechanized mining equipment are converted into three-dimensional pictures by an image processing work center through setting a holographic projection film, and meanwhile, the connection relation of the fully mechanized mining face equipment, the digital top and bottom plates and the three-machine equipment in one or more coal mining cycles and the internal dynamic coupling relation of a three-dimensional geographic environment are truly presented on the holographic projection film;
the interaction center comprises an optical sensor, an application server, a PLC control system and an interaction interface;
the interaction center senses gesture actions of people through the optical sensor, touch screen keys issue commands on an interaction interface to control image picture switching, the application server is driven to control the fully mechanized mining equipment of the mine through the PLC control system, and the interaction interface is used for man-machine interaction.
4. The holographic remote intervention AR inspection system for the fully mechanized mining face of the mine according to claim 3, wherein the AR inspection system comprises AR equipment, the AR equipment establishes bidirectional connection with the interaction center through wireless signals, pictures seen by workers during inspection are transmitted back to the interaction center, and the interaction center establishes voice connection with the AR equipment to remotely command field personnel to maintain the equipment.
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| CN113281406A (en) * | 2021-04-29 | 2021-08-20 | 江苏省特种设备安全监督检验研究院 | Gas storage well inspection system and control method |
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| CN113516903A (en) * | 2021-05-11 | 2021-10-19 | 中钢集团马鞍山矿山研究总院股份有限公司 | Intelligent mine scene oriented digital twin evolution mechanism and method |
| CN114510027A (en) * | 2021-12-22 | 2022-05-17 | 中煤科工开采研究院有限公司 | Underground coal mine equipment inspection method and device based on AR technology |
| CN114612020A (en) * | 2022-05-12 | 2022-06-10 | 北京龙软科技股份有限公司 | Remote inspection method and remote inspection device based on transparent mine |
| CN114972969A (en) * | 2022-05-25 | 2022-08-30 | 众芯汉创（北京）科技有限公司 | Intelligent nuclear reactor inspection device based on augmented reality |
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