CN111140231B - Coal seam roof and floor path virtual planning method oriented to space-time kinematics of fully-mechanized mining equipment - Google Patents

Coal seam roof and floor path virtual planning method oriented to space-time kinematics of fully-mechanized mining equipment Download PDF

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CN111140231B
CN111140231B CN202010102878.1A CN202010102878A CN111140231B CN 111140231 B CN111140231 B CN 111140231B CN 202010102878 A CN202010102878 A CN 202010102878A CN 111140231 B CN111140231 B CN 111140231B
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coal seam
floor
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mining equipment
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李娟莉
姜�硕
谢嘉成
王学文
张鑫
李梦辉
李素华
孙梦帧
崔涛
沈宏达
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Taiyuan University of Technology
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24Remote control specially adapted for machines for slitting or completely freeing the mineral
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Abstract

The invention discloses a coal seam top and bottom plate path virtual planning method facing to space-time kinematics of fully mechanized mining equipment, which comprises the steps of establishing an inherent coal seam top and bottom plate through Unity3d software; the method comprises the following steps of utilizing a physical engine to realize real contact between fully mechanized mining equipment and a coal seam top and bottom plate, constructing a space-time kinematic relationship between the fully mechanized mining equipment and the coal seam top and bottom plate, utilizing a mesh component to dynamically generate a single-cycle coal seam top and bottom plate, and cooperatively propelling a scraper conveyor and a hydraulic support along with the leading of a coal mining machine; predicting the track of the top floor of the coal seam by using MATLAB and a machine learning algorithm, detecting the profile of the top floor of the lower circulating coal seam by using an unmanned aerial vehicle carrying detection equipment, and continuously processing discrete points; and fusing the data detected by the unmanned aerial vehicle and the predicted data to obtain the virtual planning path of the top and bottom plates of the lower circulating coal seam. By the method and the device, the blindness of the track prediction of the top floor and the bottom floor of the coal seam can be avoided, and the prediction of the top floor and the bottom floor of the lower circulation coal seam and the planning of the working path are realized.

Description

Coal seam roof and floor path virtual planning method oriented to space-time kinematics of fully-mechanized mining equipment
Technical Field
The invention relates to the technical field of mine path planning, in particular to a coal seam roof and floor path virtual planning method for fully mechanized mining equipment space-time kinematics.
Background
Since coal mines are dangerous in the process of underground mining, serious loss can be caused once a fault occurs, and therefore underground working conditions need to be displayed at a ground dispatching center. The underground working environment is very severe, a large amount of water mist still exists in the mining process, the underground is dark, and a camera is easy to damage, so that the video monitoring has great limitation in the mining process, and the definition is not high.
The virtual reality technology can construct a virtual model which is completely consistent with the real model in a virtual space, monitor the real model by monitoring the virtual model, guide the working path of the underground fully-mechanized mining equipment by virtually simulating an optimal planning path, and realize the coal mining working condition in the optimal state.
The current coal rock identification technology still has great limitation and can not be applied to the coal mining process. The existing coal mining mode generally adopts a coal mining mode with memory cutting as a main mode and manual intervention as an auxiliary mode, but the memory cutting is only suitable for an ideal mining area and cannot be suitable for a complex terrain. The existing manual intervention mode can only adjust the posture of the coal mining machine by observing the trend of the coal bed by naked eyes, and because the coal bed has great unknown degree, the situation that rocks are cut or a lot of coal which is not mined is reserved in the coal mining process generally exists.
At present, the monitoring of the fully-mechanized mining equipment is mainly carried out under two-dimensional monitoring software, the contact relationship between the fully-mechanized mining equipment and a coal seam top and bottom plate (the contact relationship between a scraper conveyor and the coal seam bottom plate, the support relationship between a hydraulic support and the coal seam top plate, the support space of the hydraulic support and the working space of the fully-mechanized mining equipment) cannot be displayed, the research on the space-time kinematic relationship between the fully-mechanized mining equipment and the coal seam top and bottom plate is lacked, and the Unity3d, as a piece of virtual engine software, can intuitively and obviously observe the working condition of the fully-mechanized mining equipment in the contact posture between the fully-mechanized mining equipment and the coal seam top and bottom plate from various angles and can generate a virtual planning path of the coal seam in real time, so that the research on the space-time kinematic relationship between the fully.
The 'virtual coal mining machine memory cutting method' of publication number CN106407624B is to firstly generate a virtual top and bottom plate environment in a virtual reality engine Unity3d environment, then a virtual scraper conveyor is laid on the virtual bottom plate as a track for the virtual coal mining machine to run, a button of a virtual control panel is clicked to operate the virtual coal mining machine, and a virtual controller stores, analyzes, processes and reads operation data in real time, so as to realize memory cutting simulation on the coal mining machine.
The publication No. CN109783962A discloses a method for simulating the cooperative propulsion of fully mechanized mining equipment based on a virtual reality physical engine, which is characterized in that virtual fully mechanized mining equipment is subjected to model rigid repairing and then is in virtual contact with a virtual coal seam, so that underground operation information of the equipment is simulated, the self-adaptive propulsion process of the equipment in an underground coal seam environment is truly reproduced, the method for performing virtual simulation by positioning the virtual equipment by a coordinate point replaces the conventional method for performing virtual simulation by positioning the virtual equipment, and a theoretical basis is provided for transparent mining and accurate mining.
The publication No. CN109214076A discloses a virtual planning method for supporting the geographical environment and equipment of a fully mechanized coal mining face, which is based on different coal mining geographical environments and equipment conditions; constructing digital three-machine equipment of three machines by utilizing a three-machine model selection design and method module; generating a virtual coal bed model by using the digital coal bed in a virtual environment, extracting the curved surface characteristic data of the coal bed, and converting the curved surface characteristic data into an equipment operation cutting path; and importing the digital equipment model into software, performing virtual simulation by using the coal mining parameter model, and recording planning data in real time to complete performance parameter optimization so as to achieve the aim of guiding production.
The publication No. CN107905786A discloses a coal mining method based on a transparent working face, which constructs an intelligent mining model of the working face through technical means such as coal bed seismic wave CT detection, roadway exploration, drilling and the like; installing a high-precision inertial navigation system on a body of the coal mining machine to obtain the three-dimensional space absolute positioning and the advancing track of the coal mining machine, and fitting and correcting a three-dimensional information system by combining a working face optical fiber microseismic signal and microseismic information of the coal mining machine; the intelligent control of the drum of the coal mining machine based on the cutting template and the intelligent linearity control of the hydraulic support are realized.
The above method has many drawbacks, mainly: 1) the mode of memory cutting is adopted, the coal mining machine is adjusted by means of manual observation in the mining process, the track of the coal seam top and bottom plate has great blindness, and prediction and working path planning of the lower circulating coal seam top and bottom plate are lacked. 2) A virtual reality physical engine-based fully mechanized mining equipment cooperative propulsion simulation method is provided, but the overall research of fully mechanized mining equipment and a coal seam matching method is lacked. 3) A virtual planning method for supporting the geographical environment and equipment of the fully mechanized coal mining face is provided, but the construction of the space-time kinematic relationship between the fully mechanized coal mining equipment and the coal seam is lack of research. 4) A coal mining method based on a transparent working face is provided, but fusion of detection data and prediction data of a coal seam roof and floor is lacked, and optimization of a virtual path of the coal seam roof and floor is lacked.
Disclosure of Invention
The invention provides a method for virtually planning a path of a top floor of a coal seam on the basis of space-time kinematics of fully-mechanized mining equipment, aiming at the path problem of the fully-mechanized mining equipment.
The technical scheme provided by the invention is a coal seam roof and floor path virtual planning method facing to the space-time kinematics of fully mechanized mining equipment, which comprises the following steps:
detecting the contour line of the coal seam in a geological exploration mode, obtaining the trend and discrete points of the coal seam, carrying out interpolation processing on the discrete points, and establishing the inherent coal seam top and bottom plate by using Unity3d software;
the method comprises the steps that real contact between fully mechanized mining equipment and a coal seam top and bottom plate is achieved through a physical engine in a Unity3d software, key points are repaired on a hydraulic support and a scraper conveyor, a space-time kinematic relation between the fully mechanized mining equipment and the coal seam top and bottom plate is constructed, a supporting space of the hydraulic support and a working space of the fully mechanized mining equipment are obtained, the scraper conveyor and the hydraulic support are led by a coal cutter to work on the basis of memory cutting and manual intervention, a single-cycle coal seam top and bottom plate is generated through a mesh component after the coal cutter cuts, and the scraper conveyor and the hydraulic support are cooperatively propelled along with leading of the coal cutter;
predicting the track of the top floor of the coal seam by using MATLAB and a machine learning algorithm, detecting the profile of the top floor of the lower circulating coal seam by using an unmanned aerial vehicle carrying detection equipment, and continuously processing discrete points;
and fusing the data detected by the unmanned aerial vehicle and the predicted data to obtain a virtual planning path of the top and bottom plates of the lower circulating coal seam, guiding the working path of the fully-mechanized mining equipment, and performing reciprocating circulation to realize the space-time kinematic relationship between the coal seam of the mining area and the fully-mechanized mining equipment.
The geological exploration mode is to survey the contour line of the coal seam by using a drilling or geophysical mode.
In the step of utilizing a physical engine to realize real contact between the fully mechanized mining equipment and the coal seam roof and floor, a gravity effect and a collision body are added on the fully mechanized mining equipment, and a mesh collision body is added on the coal seam, so that the fully mechanized mining equipment can realize real contact with the coal seam under the action of gravity.
In the step of repairing key points on the hydraulic support and the scraper conveyor, repairing key position points at a side guard plate pin shaft, a shield beam pin shaft, a rear connecting rod pin shaft, a base rear pin shaft and a lower upright post pin shaft of the hydraulic support respectively, reading the key position points, sequentially connecting the repaired key points at the side guard plate pin shaft, the shield beam pin shaft, the rear connecting rod pin shaft, the base rear pin shaft and the lower upright post pin shaft, constructing a supporting space of a single hydraulic support, and sequentially connecting corresponding key points of each support to construct a supporting space of a hydraulic support group; repairing key position points at the middle groove position of the scraper conveyor, sequentially reading key points for repairing the middle groove of the scraper conveyor, sequentially connecting data points, reading key points of the side protection plate pin shafts of each hydraulic support, sequentially connecting the key points, and respectively connecting the key points of the middle groove and the side protection plate pin shafts of the hydraulic supports at the head and the tail so as to construct a working space of the fully mechanized mining equipment.
The memory cutting and the manual intervention are commands for executing the memory cutting and the manual intervention on the coal mining machine, the top plate data and the bottom plate data are stored in an xml file to be stored, and the stored data are used as a training set for predicting data.
In the step of predicting the track of the top floor of the coal seam by using the MATLAB and the machine learning algorithm, predicting the data of the top floor of the next coal seam by using the MATLAB and the machine learning algorithm, training and learning the historical data of the top floor of the coal seam by using the machine learning algorithm, outputting a predicted planned path of the top floor of the next coal seam, and transmitting the predicted data to the Unity3d software.
The method comprises the steps that after a coal mining machine mines, the profile of a coal seam is detected by the unmanned aerial vehicle to obtain discrete data points, the data are subjected to continuous processing, and the data are stored in an xml file; the exploration of the unmanned aerial vehicle on the coal seam roof and floor is once per working cycle, and the detection method comprises geological radar detection, electromagnetic wave CT detection or infrared scanning detection.
The data predicted by the MATLAB and the data measured by the unmanned aerial vehicle are fused, namely the data detected by the unmanned aerial vehicle carrying detection device and the data predicted by the historical coal seam top and bottom plate data are fused, the accuracy of the two groups of data is comprehensively considered, and the two groups of data are analyzed to obtain the planned path of the coal seam top and bottom plate, so that the working path of the fully mechanized mining equipment is guided.
The guided working path of the fully mechanized mining equipment comprises a roller cutting path of a coal mining machine, a contact posture of a scraper conveyor and a coal bed bottom plate, a contact posture of a hydraulic support and the coal bed bottom plate and a supporting state of the hydraulic support and the coal bed top plate.
Compared with the prior art, the technical scheme of the coal seam roof and floor path virtual planning method for the fully mechanized mining equipment space-time kinematics has the following beneficial effects.
The method can overcome the blindness in the operation of the fully mechanized mining equipment, can obtain the virtual planning path of the coal seam top and bottom plate before the fully mechanized mining equipment works, is used as a target cutting path of the coal mining machine, is cooperatively propelled by the coal mining machine leading hydraulic support and the scraper conveyor, and realizes the real contact posture of the fully mechanized mining equipment and the coal seam top and bottom plate.
The method can construct the space-time kinematic relationship between the fully mechanized mining equipment and the coal seam, the contact posture of the equipment and the coal seam top and bottom plate can be predicted through the virtual planning path of the top and bottom plate, emergency situations can be avoided, the contact posture of the scraper conveyor and the bottom plate and the support posture of the hydraulic support and the top and bottom plate can be observed at various angles in the virtual engine, and the support space of the hydraulic support and the working space of the equipment are constructed.
The method can construct an inherent coal bed in a virtual reality engine, dynamically generate a dynamic single-cycle coal bed top and bottom plate by utilizing the mesh component, and realize real contact between fully mechanized mining equipment and the coal bed through a physical engine.
The method can apply machine learning to path planning of the coal seam top and bottom plates, predict the top and bottom plate data of the next cut through experience learning, realize data transmission between prediction and Unity3d through MATLAB, and transmit the data to the virtual engine Unity3d in real time.
According to the method, the top and bottom plate data predicted through experience learning and the top and bottom plate data detected by the unmanned aerial vehicle carrying the detection equipment can be fused to obtain the optimal top and bottom plate virtual planning path which is used as a target planning path of the coal mining machine to guide the cutting path of the coal mining machine, so that data error is avoided, and the accuracy of the virtual planning path is improved.
Drawings
Fig. 1 is a schematic flow chart of a method for virtually planning a path of a coal seam roof and floor for fully mechanized mining equipment space-time kinematics provided by the invention.
Fig. 2 is a data fusion schematic diagram of a coal seam roof and floor path virtual planning method for fully mechanized mining equipment space-time kinematics provided by the invention.
Fig. 3 is a schematic diagram of the relation between the fully mechanized mining equipment and the coal seam roof and floor in the method for virtually planning the path of the coal seam roof and floor by using the fully mechanized mining equipment space-time kinematics provided by the invention.
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 method comprises the following steps:
detecting the contour line of the coal seam in a geological exploration mode, obtaining the trend and discrete points of the coal seam, carrying out interpolation processing on the discrete points, and establishing the inherent coal seam top and bottom plate by using Unity3d software;
the method comprises the steps that real contact between fully mechanized mining equipment and a coal seam top and bottom plate is achieved through a physical engine in a Unity3d software, key points are repaired on a hydraulic support and a scraper conveyor, a space-time kinematic relation between the fully mechanized mining equipment and the coal seam top and bottom plate is constructed, a supporting space of the hydraulic support and a working space of the fully mechanized mining equipment are obtained, the scraper conveyor and the hydraulic support are led by a coal cutter to work on the basis of memory cutting and manual intervention, a single-cycle coal seam top and bottom plate is generated through a mesh component after the coal cutter cuts, and the scraper conveyor and the hydraulic support are cooperatively propelled along with leading of the coal cutter;
predicting the track of the top floor of the coal seam by using MATLAB and a machine learning algorithm, detecting the profile of the top floor of the lower circulating coal seam by using an unmanned aerial vehicle carrying detection equipment, and continuously processing discrete points;
and fusing the data detected by the unmanned aerial vehicle and the predicted data to obtain a virtual planning path of the top and bottom plates of the lower circulating coal seam, guiding the working path of the fully-mechanized mining equipment, and performing reciprocating circulation to realize the space-time kinematic relationship between the coal seam of the mining area and the fully-mechanized mining equipment.
The geological exploration mode is to survey the contour line of the coal seam by using a drilling or geophysical mode.
In the step of utilizing a physical engine to realize real contact between the fully mechanized mining equipment and the coal seam roof and floor, a gravity effect and a collision body are added on the fully mechanized mining equipment, and a mesh collision body is added on the coal seam, so that the fully mechanized mining equipment can realize real contact with the coal seam under the action of gravity.
In the step of repairing key points on the hydraulic support and the scraper conveyor, repairing key position points at a side guard plate pin shaft, a shield beam pin shaft, a rear connecting rod pin shaft, a base rear pin shaft and a lower upright post pin shaft of the hydraulic support respectively, reading the key position points, sequentially connecting the repaired key points at the side guard plate pin shaft, the shield beam pin shaft, the rear connecting rod pin shaft, the base rear pin shaft and the lower upright post pin shaft, constructing a supporting space of a single hydraulic support, and sequentially connecting corresponding key points of each support to construct a supporting space of a hydraulic support group; repairing key position points at the middle groove position of the scraper conveyor, sequentially reading key points for repairing the middle groove of the scraper conveyor, sequentially connecting data points, reading key points of the side protection plate pin shafts of each hydraulic support, sequentially connecting the key points, and respectively connecting the key points of the middle groove and the side protection plate pin shafts of the hydraulic supports at the head and the tail so as to construct a working space of the fully mechanized mining equipment.
The memory cutting and the manual intervention are commands for executing the memory cutting and the manual intervention on the coal mining machine, the top plate data and the bottom plate data are stored in an xml file to be stored, and the stored data are used as a training set for predicting data.
In the step of predicting the track of the top floor of the coal seam by using the MATLAB and the machine learning algorithm, predicting the data of the top floor of the next coal seam by using the MATLAB and the machine learning algorithm, training and learning the historical data of the top floor of the coal seam by using the machine learning algorithm, outputting a predicted planned path of the top floor of the next coal seam, and transmitting the predicted data to the Unity3d software.
The method comprises the steps that after a coal mining machine mines, the profile of a coal seam is detected by the unmanned aerial vehicle to obtain discrete data points, the data are subjected to continuous processing, and the data are stored in an xml file; the exploration of the unmanned aerial vehicle on the coal seam roof and floor is once per working cycle, and the detection method comprises geological radar detection, electromagnetic wave CT detection or infrared scanning detection.
The data predicted by the MATLAB and the data measured by the unmanned aerial vehicle are fused, namely the data detected by the unmanned aerial vehicle carrying detection device and the data predicted by the historical coal seam top and bottom plate data are fused, the accuracy of the two groups of data is comprehensively considered, and the two groups of data are analyzed to obtain the planned path of the coal seam top and bottom plate, so that the working path of the fully mechanized mining equipment is guided.
The guided working path of the fully mechanized mining equipment comprises a roller cutting path of a coal mining machine, a contact posture of a scraper conveyor and a coal bed bottom plate, a contact posture of a hydraulic support and the coal bed bottom plate and a supporting state of the hydraulic support and the coal bed top plate.
Specifically, as shown in fig. 1, the invention provides a method for virtually planning a top floor path of a coal seam facing to time-space kinematics of fully mechanized mining equipment, which is implemented on the basis of a virtual reality engine Unity3d and mathematic tool MATLAB software, and performs an optimal decision by using top floor prediction data and real data measured at any time during mining to generate a virtual planned path of the top floor of the coal seam in Unity3d, so as to guide and predict a working path of the fully mechanized mining equipment in advance, and the method mainly comprises the steps of constructing a virtual top floor of the coal seam, virtual fully mechanized mining equipment, a support space and a lab working space, predicting the top floor path of the coal seam by using the matmat, transmitting data between the MATLAB and Unity3d, measuring at any time during mining of the top floor of the coal seam, fusing prediction data and detection data, and generating a virtual path of the top floor of the coal seam. The coal seam top and bottom plate is mainly provided with a virtual inherent top and bottom plate and a virtual dynamic top and bottom plate; the virtual fully-mechanized mining equipment is characterized in that real equipment is subjected to equal-proportion transformation and is presented in Unity3d through a modeling technology, and virtual matching between the fully-mechanized mining equipment and a virtual coal seam top and bottom plate and the fully-mechanized mining equipment is realized in a virtual reality environment; repairing key points on the hydraulic support and the scraper conveyor to construct a support space of the hydraulic support and a working space of fully mechanized mining equipment; the MATLAB predicts the path of the coal seam top and bottom plates by training, analyzing and testing historical top and bottom plate data by using machine learning to predict the path data of the future top and bottom plates; the transfer of data between MATLAB and Unity3d is the transfer of MATLAB predicted top and bottom plate data into Unity3 d; the measurement of the coal seam top and bottom plates is to detect the coal seam top and bottom plates by using an unmanned aerial vehicle carrying a detection device before the fully mechanized mining equipment carries out the next cycle work, obtain discrete points and carry out continuous optimization processing on the discrete points, and then fuse predicted data and detected data to obtain a final top and bottom plate virtual planning path; the generation of the coal seam roof and floor virtual path is to program the finally obtained data in Unity3d by using a mesh grid to realize the realization of the virtual planning path.
Establishing a known coal seam top and bottom plate in a virtual reality engine Unity3d according to known coal seam data, and adding a mesh collision body on the coal seam top and bottom plate to simulate the real contact condition of fully mechanized mining equipment and the coal seam top and bottom plate;
and importing the scaled-down fully mechanized mining equipment model into Unity3d for virtual scene building. And adding box collision bodies at the bottoms of the virtual scraper conveyor and the virtual hydraulic support.
In order to simulate the effect of the virtual fully mechanized mining equipment crossing the fault, a capsule collision body is added at the front ends of the bottoms of the virtual scraper conveyer and the virtual hydraulic support, so that the effect of the virtual fully mechanized mining equipment crossing the virtual fault is realized.
The method comprises the steps of connecting a machine body to a sliding shoe in a hinge mode by taking the sliding shoe of the coal mining machine as a parent object, adding a mesh collision body on the sliding shoe, adding a collision body with a box at the bottom of a virtual scraper conveyor, and adding two collision bodies on two sides of a coal shoveling plate of the virtual scraper conveyor respectively, so that a walking track of the coal mining machine is formed, and then completing a contact model of the virtual hydraulic support and the virtual scraper conveyor according to a real condition, so as to complete the matching of the virtual coal mining machine, the virtual scraper conveyor and the virtual hydraulic support.
The virtual fully-mechanized mining equipment is provided with a physical engine to have a gravity effect, and the collision body is contacted with the coal seam top and bottom plate, so that the virtual scraper conveyor and the virtual hydraulic support are placed on the coal seam bottom plate, and the virtual coal mining machine is placed on the virtual scraper conveyor, thereby realizing the matching of the virtual fully-mechanized mining equipment and the virtual coal seam top and bottom plate.
And (3) repairing key position points at a side guard plate pin shaft, a shield beam pin shaft, a rear connecting rod pin shaft, a base rear pin shaft and a lower stand column pin shaft of the hydraulic support respectively, reading the key position points for connection, and constructing a support space of the hydraulic support. And (4) repairing a key position point at the middle groove position of the scraper conveyor, reading the position point and connecting the position point with a key point of a pin shaft of a side protection plate to construct a working space of the fully mechanized mining equipment.
The method is characterized in that a coal mining machine is used as a leading guide, a scraper conveyor and a hydraulic support are cooperatively propelled along with the coal mining machine, a machine body of the coal mining machine is connected with a sliding shoe through a hinge, the sliding shoe is programmed to realize real movement of the coal mining machine, and the code is as follows:
rigidbody.MovePosition(this.transform.position + diryou * 0.08f);
the control of the rocker arm is realized by a program, and the codes are as follows:
zuoyaobiliandong (zuororotang) and youyaobiliandong (yourotang);
in the walking process of the coal mining machine, the walking tracks of the left rocker arm and the right rocker arm of the coal mining machine are recorded, and data are stored in an xml file, and the method is mainly realized by the following procedures:
string ZuoGunTong_ID = CmjZuoGunTongKongZhi.ToString();
string ZuoGunTong_ShuJu = ZuoGunTong_y.ToString();
Get_ZuoGunTong(ZuoGunTong_ID,ZuoGunTong_ShuJu);
the coal mining machine starts to walk, data of the coal seam top and bottom plate are recorded along with the walking of the coal mining machine, the data are stored in an xml file, the coal seam top and bottom plate is generated by clicking a GUI button, and the implementation program is as follows:
if (gui. button (new Rect (140, 40, 120, 30), "next cut floor")) { }
And the code is used for adding a collision body to the dynamic top floor plate, so that the fully mechanized mining equipment is matched with the coal seam top floor plate, and the procedure for realizing the generation of the coal seam is as follows:
triangles[ti + 44 * 6 * wgZeng] = vi + 90 * wgZeng;
triangles[ti + 1 + 44 * 6 * wgZeng] = triangles[ti + 4 + 44 * 6 * wgZeng] = vi + 44 + 1 + 90 * wgZeng;
triangles[ti + 2 + 44 * 6 * wgZeng] = triangles[ti + 3 + 44 * 6 * wgZeng] = vi + 1 + 90 * wgZeng;
triangles[ti + 5 + 44 * 6 * wgZeng] = vi + 44 + 2 + 90 * wgZeng;
the method takes a coal mining machine as a leading guide to realize the cooperative propulsion of a scraper conveyor and a hydraulic support, and is mainly realized by the following codes:
gbj.position = new Vector3(gbj_position_x + 6.4438f, gbj_position_y, gbj_position_z);
GameObject.Find("cmj").GetComponent<Transform>().position = new Vector3(GameObject.Find("cmj").GetComponent<cmj>().cmjPosition_x + 6.438f, GameObject.Find("cmj").GetComponent<cmj>().cmjPosition_y, GameObject.Find("cmj").GetComponent<cmj>().cmjPosition_z);
after the fully mechanized mining equipment runs for 8 cycles in a circulating mode, the data of the top plate and the bottom plate are sent to MATLAB, the prediction of the next top plate and bottom plate track is realized through an extreme learning machine and rolling prediction, and the training of the data and the prediction of the data are mainly realized through the following codes:
[IW,B,LW,TF,TYPE] = elmtrain(Pn_train,Tn_train,4,'sig',0);
tn_sim = elmpredict(Pn_test,IW,B,LW,TF,TYPE);
and then, the coal seam top and bottom plate track predicted by learning the historical empirical data is transmitted to Unity3d, so that data transmission between Unity3d and MATLAB is realized.
When the fully mechanized mining equipment is propelled to the propelling direction, in order to obtain a more accurate coal seam top and bottom plate virtual planning path, geological initial exploration needs to be carried out on the coal seam top and bottom plate in a detection mode, preliminary coal seam top and bottom plate data are obtained, and the data accuracy of the exploration is not enough because the coal rock identification technology is not applied to an industrial level all the time, so that the exploration data and the forecast data are fused to obtain a final coal seam top and bottom plate virtual planning path.
Before the fully mechanized mining equipment is propelled to the propelling direction, the unmanned aerial vehicle is adopted to carry the detection device to detect the outline of the top bottom plate, discrete points are obtained, the discrete points are subjected to continuous processing, and detected data are stored.
The detection modes mainly used include geological radar detection, electromagnetic wave CT detection, laser scanning detection and the like.
And fusing the detected data with next cut data predicted by historical coal seam top and bottom plate data to obtain a final coal seam top and bottom plate virtual planning path.
The data fusion mode mainly uses data detected by an unmanned aerial vehicle as a basis, optimization of the detected data is achieved by using data predicted through experience, if the data detected by the unmanned aerial vehicle is relatively off-spectrum data or the terrain change is relatively obvious, if a coal mining machine continues to work according to a detected track, the danger of cutting rocks can occur, at the moment, the data detected by the unmanned aerial vehicle needs to be optimized by using corresponding data predicted through historical data, the detected data is replaced by the predicted data, and therefore a final coal seam top and bottom plate virtual planning path is obtained, and fig. 2 is a simple schematic diagram of top plate data fusion.
Storing the final data into an xml file, and reading the data through codes, wherein the codes are as follows:
DingBan[i] = Instantiate(DingBanDian, new Vector3(16.884f + j, LoadXml(i + 1), (-831.85f) - 15 * i), Quaternion.identity) as GameObject;
clicking to generate a next cut path virtual button to generate a virtual planning path of the coal seam top and bottom plate, and programming by using a mesh grid, so as to generate a virtual coal seam top and bottom plate through data, wherein the implementation codes are as follows:
if (gui. button (new Rect (140, 40, 120, 30), "next cut floor")) { }
And recording the data of the top and the bottom of the coal bed of each working cycle as historical experience data, adding the historical experience data into a training set of a prediction algorithm, and improving the prediction accuracy by increasing the data.
The steps are repeated, so that the virtual path planning of the coal seam roof and floor facing to the space-time kinematics of the fully mechanized mining equipment is realized, the working path of the fully mechanized mining equipment is guided, and the contact condition of the equipment and the coal seam roof and floor can be predicted in Unity3 d. And connecting the coal seam top and bottom plates established in each cycle, and constructing a space-time kinematic relationship between the fully mechanized mining equipment and the coal seam top and bottom plates, wherein the space-time kinematic relationship between the fully mechanized mining equipment and the coal seam top and bottom plates is shown in fig. 3.
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 (9)

1. A coal seam roof and floor path virtual planning method for fully mechanized mining equipment space-time kinematics is characterized by comprising the following steps:
detecting the contour line of the coal seam in a geological exploration mode, obtaining the trend and discrete points of the coal seam, carrying out interpolation processing on the discrete points, and establishing the inherent coal seam top and bottom plate by using Unity3d software;
the method comprises the steps that real contact between fully mechanized mining equipment and a coal seam top and bottom plate is achieved through a physical engine in a Unity3d software, key points are repaired on a hydraulic support and a scraper conveyor, a space-time kinematic relation between the fully mechanized mining equipment and the coal seam top and bottom plate is constructed, a supporting space of the hydraulic support and a working space of the fully mechanized mining equipment are obtained, the scraper conveyor and the hydraulic support are led by a coal cutter to work on the basis of memory cutting and manual intervention, a single-cycle coal seam top and bottom plate is generated through a mesh component after the coal cutter cuts, and the scraper conveyor and the hydraulic support are cooperatively propelled along with leading of the coal cutter;
predicting the track of the top floor of the coal seam by using MATLAB and a machine learning algorithm, detecting the profile of the top floor of the lower circulating coal seam by using an unmanned aerial vehicle carrying detection equipment, and continuously processing discrete points;
and fusing the data detected by the unmanned aerial vehicle and the predicted data to obtain a virtual planning path of the top floor of the lower circulating coal seam, guiding the working path of the fully-mechanized mining equipment, continuously and circularly executing the steps, planning the virtual path of the top floor of the coal seam of each working cycle, continuously guiding the working path of the fully-mechanized mining equipment, and realizing the space-time kinematic relationship between the coal seam of the mining area and the fully-mechanized mining equipment.
2. The method for virtually planning the path of the coal seam roof and floor facing to the space-time kinematics of the fully mechanized mining equipment according to claim 1, wherein the geological exploration is performed by surveying the contour line of the coal seam by drilling or geophysical exploration.
3. The method for virtually planning the path of the coal seam roof and floor facing to the space-time kinematics of the fully mechanized mining equipment according to claim 1, wherein in the step of utilizing a physical engine to realize the real contact between the fully mechanized mining equipment and the coal seam roof and floor, a gravity effect and a collision body are added on the fully mechanized mining equipment, and a mesh collision body is added on the coal seam, so that the fully mechanized mining equipment can realize the real contact with the coal seam under the action of gravity.
4. The method for virtually planning the path of the coal seam roof and floor facing to the space-time kinematics of fully mechanized mining equipment according to claim 1, wherein in the step of repairing key points on the hydraulic support and the scraper conveyor, key position points are repaired at a breast board pin shaft, a breast beam pin shaft, a rear connecting rod pin shaft, a base rear pin shaft and a lower upright post pin shaft of the hydraulic support respectively, the key position points are read, the repaired key points at the breast board pin shaft, the breast beam pin shaft, the rear connecting rod pin shaft, the base rear pin shaft and the lower upright post pin shaft are connected in sequence, a supporting space of a single hydraulic support is constructed, and corresponding key points of each support are connected in sequence to construct a supporting space of a hydraulic support group; repairing key position points at the middle groove position of the scraper conveyor, sequentially reading key points for repairing the middle groove of the scraper conveyor, sequentially connecting data points, reading key points of the side protection plate pin shafts of each hydraulic support, sequentially connecting the key points, and respectively connecting the key points of the middle groove and the side protection plate pin shafts of the hydraulic supports at the head and the tail so as to construct a working space of the fully mechanized mining equipment.
5. The method for virtually planning the path of the top floor and the bottom floor of the coal seam facing to the space-time kinematics of the fully mechanized mining equipment according to claim 1, wherein the memory cutting and the manual intervention are commands for executing the memory cutting and the manual intervention on the coal mining machine, the data of the top floor and the bottom floor are stored in an xml file to be stored, and the stored data are used as a training set for predicting the data.
6. The method for virtually planning the path of the top floor of the coal seam facing to the space-time kinematics of the fully mechanized mining equipment as claimed in claim 1, wherein in the step of predicting the trajectory of the top floor of the coal seam by using an MATLAB and a machine learning algorithm, the MATLAB and the machine learning algorithm are used for predicting the top floor data of the next coal seam, the machine learning is used for training and learning the historical data of the top floor of the coal seam, the predicted planned path of the top floor of the next coal seam is output, and the predicted data is transmitted to Unity3d software.
7. The method for virtually planning the path of the top floor of the coal seam facing to the space-time kinematics of the fully mechanized mining equipment according to claim 6, wherein the step of measuring the data of the top floor of the next coal seam by using the unmanned aerial vehicle is that after the coal mining machine mines, the unmanned aerial vehicle is used for detecting the outline of the coal seam to obtain discrete data points, the data is continuously processed, and the data is stored in an xml file; the exploration of the unmanned aerial vehicle on the coal seam roof and floor is once per working cycle, and the detection method comprises geological radar detection, electromagnetic wave CT detection or infrared scanning detection.
8. The method for virtually planning the path of the coal seam roof and floor facing to the space-time kinematics of fully mechanized mining equipment according to claim 1, wherein the step of fusing MATLAB predicted data and unmanned aerial vehicle measured data is to fuse data detected by an unmanned aerial vehicle carried detection device and lower cycle roof and floor data predicted by historical coal seam roof and floor data, comprehensively considering the accuracy of the two sets of data, and analyzing the two sets of data to obtain the planned path of the coal seam roof and floor, thereby guiding the working path of the fully mechanized mining equipment.
9. The method for virtually planning the path of the top floor of the coal seam facing the space-time kinematics of the fully mechanized mining equipment according to claim 8, wherein the guided working path of the fully mechanized mining equipment comprises a drum cutting path of a coal mining machine, a contact posture of a scraper conveyor and the bottom floor of the coal seam, a contact posture of a hydraulic support and the bottom floor of the coal seam, and a support state of the hydraulic support and the top floor of the coal seam.
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