CN112666845A - Simulation test system and simulation test method for fully mechanized coal mining face - Google Patents
Simulation test system and simulation test method for fully mechanized coal mining face Download PDFInfo
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Abstract
The application discloses a simulation test system and method for a fully mechanized coal mining face. The system comprises: the three-dimensional simulation model building module is used for building an underground working face three-dimensional model, a roadway environment three-dimensional model and a three-dimensional model of fully mechanized coal mining face equipment; the data generation module is used for simulating a three-dimensional model of the fully mechanized coal mining face equipment according to historical data of the fully mechanized coal mining face entity equipment acquired by the fully mechanized coal mining face to generate a working state of the fully mechanized coal mining face; a plurality of controllers; the control console is used for sending a control command to the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment, wherein the control console is connected with the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through the virtual-real switching component; and the simulation disc module simulates the entity equipment of the fully mechanized coal mining face according to the control command issued by the control console and displays the simulation feedback result. The method and the device can solve the problem that the traditional test method needs to depend on a real machine.
Description
Technical Field
The application relates to the field of simulation test of fully mechanized coal mining faces, in particular to a simulation test system and a simulation test method of a fully mechanized coal mining face.
Background
At present, the climax of intelligent construction of coal mines is comprehensively rising, and intelligent mining gradually changes from a semi-intelligent mode based on visual remote intervention to an intelligent self-adaptive control mode. A plurality of scientific research institutions are put into the construction of the intelligent control system of the fully mechanized mining face in a dispute, and a series of new technologies such as working face straightness control, digital coal cutting based on a transparent working face, support and surrounding rock self-adaptive control, fully mechanized mining equipment health state evaluation and the like are brought out through the fusion of computer science, artificial intelligence and mining knowledge. Before the novel intelligent self-adaptive mining control technology is applied to the ground, a large number of tests are required to verify. However, the fully mechanized coal mining face is a core production place of a coal mine, and the development of experiments on the face can seriously affect the production of the mine, thereby causing serious economic loss to the coal mine industry; in addition, the fully mechanized coal mining face has the characteristics of complex environment and high risk, and generally, non-underground workers are prohibited to enter the face strictly, so that researchers are difficult to carry out real experiments on the spot. At present, researchers mainly perform simulation tests on a control system by building an equipment simulation model or a ground online test mode.
However, the device simulation model cannot be linked with the control system, and can only complete corresponding device actions in a manual control mode, so that the coal mining process is simulated, researchers in the computer field can be helped to know the control object, and simple single-machine control effect verification is completed; fully mechanized mining equipment belongs to large-scale complete equipment, and is bulky, expensive, and experimental resources are scarce, and researchers can only often carry out ground joint debugging test by using newly purchased equipment of coal mine enterprises, and it is more impossible to carry out destructive fault simulation experiments by using a real machine. The two kinds of physical experiments are carried out under the condition of being separated from the occurrence environment of a coal bed, and the support quality and the coal cutting effect of a coal cutter cannot be verified; in addition, different mining technologies and mining equipment correspond to different control modes, and a laboratory is difficult to build all physical environments for researchers to experiment.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
Therefore, the first purpose of the application is to provide a simulation test system of the fully mechanized mining face. The simulation test system solves the problem that the traditional test method must depend on a real machine, can realize comprehensive test on a tested system (namely an intelligent fully-mechanized coal mining face monitoring system) under a closed-loop condition, and simultaneously provides an experimental platform for research personnel of an intelligent mining technology.
The second purpose of the application is to provide a simulation test method for the fully mechanized coal mining face.
In order to achieve the above object, a simulation test system for a fully mechanized mining face according to an embodiment of a first aspect of the present application includes:
the three-dimensional simulation model building module is used for building an underground working face three-dimensional model, a roadway environment three-dimensional model and a three-dimensional model of fully mechanized coal mining face equipment;
the data generation module is used for simulating the three-dimensional model of the fully mechanized coal mining face equipment according to the historical data of the fully mechanized coal mining face entity equipment collected by the fully mechanized coal mining face under the underground working face three-dimensional model and the roadway environment three-dimensional model so as to generate the working state of the fully mechanized coal mining face;
each controller corresponds to one entity device of the fully mechanized coal mining face;
the control console is used for sending a control command to the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment, wherein the control console is in control connection with the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through a virtual-real switching component;
the simulation panel module comprises a gateway monitoring center and a communication physical link of the fully mechanized coal mining face entity equipment, wherein a control node in the communication physical link adopts a controller of the fully mechanized coal mining face entity equipment and is assisted by an electromagnetic driver to simulate equipment action; the simulation disc module is used for simulating the entity equipment of the fully mechanized coal mining face according to the control command issued by the control console and displaying a simulation feedback result.
The simulation test method for the fully mechanized coal mining face provided by the embodiment of the second aspect of the application is applied to a simulation test system for the fully mechanized coal mining face, and the simulation test system for the fully mechanized coal mining face comprises
The system comprises a three-dimensional simulation model building module, a data generation module, a plurality of controllers, a console and a simulation disk module, wherein the method comprises the following steps:
constructing a three-dimensional model of an underground working face, a three-dimensional model of a roadway environment and a three-dimensional model of fully mechanized mining face equipment through the three-dimensional simulation model construction module;
simulating the three-dimensional model of the fully mechanized coal mining face equipment to generate the working state of the fully mechanized coal mining face according to the historical data of the fully mechanized coal mining face entity equipment, which is acquired by the fully mechanized coal mining face, under the underground working face three-dimensional model and the roadway environment three-dimensional model through the data generation module;
sending a control command to a three-dimensional model of the fully mechanized coal mining face equipment or a controller of the fully mechanized coal mining face entity equipment through the control console, wherein the control console establishes control connection with the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through a virtual-real switching component;
simulating the entity equipment of the fully mechanized coal mining face according to a control command issued by the console through the simulation panel module, and displaying a simulation feedback result; the simulation panel module comprises a gateway monitoring center and a communication physical link of the fully mechanized coal mining face entity equipment, and a control node in the communication physical link adopts a controller of the fully mechanized coal mining face entity equipment and is assisted by an electromagnetic driver to simulate equipment action.
According to the technical scheme of the embodiment of the application, a set of complete and configurable intelligent fully-mechanized coal mining face control system test environment is provided, the control effect of the fully-mechanized coal mining face intelligent control system on the equipment is verified by constructing a three-dimensional experimental environment of the face and simulating the operation of fully-mechanized coal mining equipment, and the problem that a traditional test method needs to depend on a real machine is solved. In addition, the simulation integration of equipment models such as a support, a coal mining machine, a scraper plate and a pump station can be completed, and meanwhile, the model integration of physical links among modules can be completed. And under the condition that the true part is not in place, the hardware environment of each tested system control unit can be simulated. In addition, the fault analysis of the control link is solidified into software, and testers are prompted to locate fault points in a visual mode. And simultaneously, each simulation node can perform virtual-real switching. In addition, the digital twin model of the equipment is constructed by using a digital twin technology, and the problem that the fault data of the fully mechanized mining equipment cannot be obtained is solved. In addition, simulation of geological information behaviors, fully mechanized mining equipment operation process behaviors and equipment fault behaviors is added in the three-dimensional simulation model, and the simulation model is adjusted and optimized periodically through application of big data. In addition, the test process is managed through a unified test management platform, and interaction between the tested system and the test environment is realized.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a simulation test system of a fully mechanized coal mining face according to an embodiment of the present application.
FIG. 2 is an illustration of a downhole face global three-dimensional model according to an embodiment of the application.
Fig. 3 is an exemplary diagram of physical movement characteristics and constraints of the test platform built-in fully mechanized mining equipment, and cooperative movement and constraint relations among the equipment according to the embodiment of the application.
FIG. 4 is a schematic view of a communication topology of a fully mechanized coal mining face monitoring system according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram of a simulation test system of a fully mechanized mining face according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a simulation test system of a fully mechanized mining face according to another embodiment of the present application.
Fig. 7 is a schematic structural diagram of a simulation test system of a fully mechanized mining face according to yet another embodiment of the present application.
Fig. 8 is a schematic diagram of controlling the whole simulation flow by the simulation test system according to the embodiment of the application.
Fig. 9 is an exemplary diagram of virtual-to-real switching performed by each simulation node according to an embodiment of the present application.
FIG. 10 is a flow chart of a method for simulation testing of a fully mechanized coal face according to one embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The simulation test system and the simulation test method of the fully mechanized coal mining face according to the embodiment of the present application are described below with reference to the drawings.
Fig. 1 is a schematic structural diagram of a simulation test system of a fully mechanized coal mining face according to an embodiment of the present application. The intelligent fully-mechanized coal mining face monitoring system can control the entity equipment of the fully-mechanized coal mining face in the system. The simulation test system of the fully mechanized coal mining face can realize simulation test on the intelligent fully mechanized coal mining face monitoring system. As shown in fig. 1, the simulation testing system 100 of the fully mechanized mining face may include: a three-dimensional simulation model building module 101, a data generation module 102, a simulated disk module 103, a plurality of controllers 104, and a console 105. Wherein each controller 104 corresponds to one piece of fully mechanized coal mining face physical equipment. That is, each of the fully mechanized face physical equipment may be controlled by a corresponding controller 104.
Specifically, the three-dimensional simulation model building module 101 is used for building a three-dimensional model of an underground working face, a three-dimensional model of a roadway environment and a three-dimensional model of fully mechanized coal mining face equipment.
In some embodiments of the present application, the three-dimensional simulation model building module 101 may differentiate the working faces of the strike longwall and the inclined longwall according to the arrangement requirements of the mine and the mine roadway, and build a three-dimensional model of the mine production system. In a longwall mining system, a thin coal seam, a medium-thickness coal seam and a thick coal seam are selected according to the thickness of the coal seam, and a three-dimensional model (wherein the three-dimensional model is a three-dimensional simulation model) equipped with an underground working face, a roadway environment and a fully mechanized mining working face is established. For example, as shown in fig. 2, the working face production process "break, load, transport, branch, place", coal cutting method, stope supporting method, working face transfer method, working face end supporting, roof management method, and working face working method are solidified into a model to form an organic whole.
As an example, the three-dimensional simulation model building module 101 may perform three-dimensional modeling on the fully mechanized coal mining face equipment according to drawing dimensions of a coal mining machine, a hydraulic support, a scraper, a reversed loader, and the like. Corresponding coal seam occurrence conditions can be set according to needs before experiments, and matching and model selection of fully mechanized mining equipment can be carried out. As shown in fig. 3, the simulation test system according to the embodiment of the application can be internally provided with the physical motion characteristics and constraints of the equipment of the fully mechanized mining face, and the cooperative motion and constraint relationship between the equipment, and performs digital analog simulation through a program.
The data generation module 102 is configured to, under the three-dimensional model of the underground working face and the three-dimensional model of the roadway environment, simulate the three-dimensional model of the equipment of the fully mechanized mining face according to historical data of the equipment of the fully mechanized mining face collected by the fully mechanized mining face to generate a working state of the fully mechanized mining face.
In some embodiments of the present application, the data generation module 102 may generate a plurality of sensor data (e.g., travel, pressure, mining height, inclination angle, infrared, encoder, etc.) of the equipment of the fully-mechanized mining face in a simulation manner according to historical data, collected by the fully-mechanized mining face, of the equipment of the fully-mechanized mining face, and infer some indexes that cannot be directly measured originally through machine learning by means of a large sample library. And comprehensively calculating the accurate state of the fully mechanized coal mining face, and displaying the accurate state in a three-dimensional mode.
The console 105 is used to send control commands to the three-dimensional model of the full face equipment or the controller 104 of the full face physical equipment.
Therefore, according to the embodiment of the application, the three-dimensional model of the underground working face, the three-dimensional model of the roadway environment and the three-dimensional model of the fully mechanized mining face equipment are built through the three-dimensional simulation model building module, the three-dimensional model of the fully mechanized mining face equipment is simulated by the data generating module under the underground working face three-dimensional model and the roadway environment three-dimensional model according to the historical data of the fully mechanized mining face equipment collected by the fully mechanized mining physical system to generate the working state of the fully mechanized mining face, and therefore the simulation test of the intelligent fully mechanized mining face monitoring system is achieved based on the simulation test result, namely the control effect of the intelligent control system of the fully mechanized mining face on the equipment is verified through building of the three-dimensional experimental environment of the working face and simulating the operation of the fully mechanized mining equipment, and the problem that the traditional test method needs to depend on a real machine is solved.
It should be noted that, in the embodiment of the present application, the console 105 establishes a control connection with the three-dimensional model of the equipment of the fully mechanized mining face or the controller of the physical equipment of the fully mechanized mining face through the virtual-real switching component. In some embodiments of the present application, the simulation test system may further include a shearer control subsystem, a rack control subsystem, and a video subsystem controlled by the console.
The simulation disc module 103 comprises a communication physical link of the gateway monitoring center and the fully mechanized coal mining face entity equipment, and a control node in the communication physical link adopts a controller 104 of the fully mechanized coal mining face entity equipment and is assisted by an electromagnetic driver to simulate equipment action. The simulation panel module 103 is configured to simulate the fully mechanized coal mining face equipment according to a control command issued by the console 105, and display a simulation feedback result.
As an example, as shown in fig. 4, the simulation test system of the embodiment of the present application uses a centralized console 105 and an analog board to construct a typical communication physical link including a gateway monitoring center and a working plane device, and a control node in the link uses a local controller of the device itself and an electromagnetic driver to simulate the device action. The control commands are issued by the centralized console 105 and the feedback of the control signals is observed by the analog disk module 103. An example of a control link emulation unit based on a typical working surface control system is given, as shown in table 1 below:
table 1 control link simulation unit based on typical working plane control system
Optionally, in some embodiments of the present application, as shown in fig. 5, the simulation test system 100 of the embodiments of the present application may further include: a control link failure diagnostic expert module 106. The control link fault diagnosis expert module 106 may be configured to diagnose a fault of a communication physical link of the physical equipment of the fully mechanized coal mining face. As an example, the control link failure diagnostic expert module 106 may consolidate expert knowledge into software. Because the control logic of the single-machine equipment (group) of the working face automation system is taken charge of by the field programmable controller, when the monitoring center or the access network has a fault, the remote monitoring and data storage analysis functions of the system cannot be used, but the local control is not influenced. The fault is usually more specific in performance, and the fault node is displayed on a monitoring software interface.
That is to say, the three-dimensional simulation model of the underground working face, the roadway environment and the fully mechanized working face equipment is used as a carrier, real Information from a GIS (Geographic Information System), laser scanning and various sensors is used for driving, and the three-dimensional multi-source Information real data driving virtual reality visualization control System with high integration of the working face automation System is established. The field condition of the working face is simulated in real time by simulating the three-dimensional physical kinematics of the fully mechanized mining working face environment and equipment and combining the organic fusion of multi-source real driving data. After the centralized control system developed by researchers is verified through a typical working face application scene, the remote control of the three-dimensional physical scene driven by real-time data is realized through the high integration with the fully mechanized working face automatic system software based on virtual motion simulation. The real driving of the three-dimensional data is to realize real-time driving of a ground three-dimensional model with real-time underground data change, and the real driving has the capability of controlling field equipment according to the action reaction of the three-dimensional model in the later period.
Optionally, the simulation test system of the embodiment of the present application may further include a display module. The display module is configured to display the working state of the fully mechanized mining face generated by the data generation module 102, and display the fault node diagnosed by the control link fault diagnosis expert module 106. For example, the display module can receive the accurate state of the fully mechanized mining face comprehensively calculated by the data generation module and display the accurate state in a three-dimensional mode. For another example, the display module may obtain a fault node diagnosed by the control link fault diagnosis expert module 106, and display the fault node on the monitoring interface, so as to prompt a tester to locate the fault point in a visual manner, thereby improving the testing efficiency.
Optionally, in some embodiments of the present application, as shown in fig. 6, the simulation test system 100 of the embodiments of the present application may further include: a digital twin model creation module 107. The digital twin model creating module 107 is used for creating a digital twin model of the fully mechanized working face entity equipment, adjusting and optimizing the digital twin model to match with the measured data, adding the behavior of the fault component into the digital twin model, and creating a fault generation algorithm by using machine learning. That is, the digital twin model creation module 107 creates a digital twin model of the fully mechanized face physical equipment, and performs the operation failure simulation of the equipment using the digital twin model. Firstly, a digital twin model of actual equipment is created, then the digital twin model is optimized to match with measured data, finally the behavior of a fault component is added into the digital twin model, and a fault generation algorithm is created by using machine learning. Therefore, a digital twin model of the equipment is constructed by using a digital twin technology, and the problem that failure data of the fully mechanized mining equipment cannot be obtained is solved.
Optionally, in some embodiments of the present application, as shown in fig. 7, the simulation test system 100 of the embodiments of the present application may further include: a digital simulation model building module 108 and a simulation module 109. The digital simulation model building module 108 is used for building an environment information flow model, a process control information flow model, an equipment state information flow model and a mining information flow model; the simulation module 109 is configured to simulate test results according to the environmental information flow model, the process control information flow model, the equipment state information flow model, and the mining information flow model.
In the embodiment of the present application, the digital simulation model may include 4 information flows, for example, an environmental information flow (e.g., hydrogeology, coal seam change condition, etc.), a process control information flow, an equipment status information flow (e.g., status information, operation fault information, equipment fault information), and a mining information flow (e.g., coal mining and coal seam dynamic pressure, mine pressure and release, etc.), and the motion, status, and fault of the fully-mechanized mining physical system are simulated comprehensively through the 4 information flows, so that the monitoring effect of the system under test is effectively verified.
Therefore, the core control unit of the equipment is accessed into the simulation loop of the working face three-dimensional simulation test system by building the semi-physical simulation test system. In the whole test platform, each test unit, the system host to be tested and other simulation nodes are connected through a real-time network, and the whole simulation process is controlled through a test management system during simulation, as shown in fig. 8. Meanwhile, each simulation node can perform virtual-real switching, as shown in fig. 9. In addition, a unified standard test management system is built by using the test management tool, and the work flow of the whole experiment is completely defined in the test management system. The experimenter executes the test and manages the test environment through the test management platform, and the data interaction between the tested system and the test platform is also completed through the test management system.
The method aims to establish a complete set of semi-physical simulation test environment of the fully mechanized coal mining face, and comprehensively tests a tested system (an intelligent fully mechanized coal mining face monitoring system) under a closed-loop condition, wherein the comprehensive tests comprise a function test, a performance test, a safety test, a reliability test and the like; meanwhile, an experiment platform is provided for research personnel of the intelligent mining technology.
In order to realize the embodiment, the application also provides a simulation test method of the fully mechanized coal mining face.
FIG. 10 is a flow chart of a method for simulation testing of a fully mechanized coal face according to one embodiment of the present application. It should be noted that the simulation test method for the fully mechanized coal mining face according to the embodiment of the present application can be applied to a simulation test system for the fully mechanized coal mining face according to the embodiment of the present application, and the simulation test system may include a three-dimensional simulation model building module, a data generating module, a simulation tray module, a plurality of controllers, and a console. The simulation test system of the fully mechanized coal mining face further comprises a coal mining machine control subsystem, a support control subsystem and a video subsystem which are controlled by a control console. As an example, the structure and the function of the simulation test system can refer to the structure and the function description of the simulation test system shown in any one of the embodiments shown in fig. 1 to fig. 9, and are not described herein again.
As shown in fig. 10, the simulation test method for the fully mechanized mining face may include:
and 1001, constructing a three-dimensional model of an underground working face, a three-dimensional model of a roadway environment and a three-dimensional model of fully mechanized coal mining face equipment through a three-dimensional simulation model construction module.
And 1002, simulating the three-dimensional model of the fully mechanized coal mining face equipment to generate the working state of the fully mechanized coal mining face according to the historical data of the fully mechanized coal mining face entity equipment, which is acquired by the fully mechanized coal mining face, under the underground working face three-dimensional model and the roadway environment three-dimensional model through the data generation module.
And 1003, sending a control command to the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through the control console, wherein the control console establishes control connection with the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through the virtual-real switching component.
And 1004, simulating the entity equipment of the fully mechanized coal mining face through the simulation panel module according to the control command issued by the console, and displaying a simulation feedback result.
In the embodiment of the application, the simulation disc module comprises a gateway monitoring center and a communication physical link of the entity equipment of the fully mechanized mining face, and a control node in the communication physical link adopts a controller of the entity equipment of the fully mechanized mining face and is assisted by an electromagnetic driver to simulate the action of equipment.
Optionally, in some embodiments of the present application, the simulation test system of the fully mechanized mining face further includes a control link fault diagnosis expert module. In the embodiment of the application, the fault of the communication physical link of the entity equipment of the fully mechanized coal mining face can be diagnosed through the control link fault diagnosis expert module.
In some embodiments of the present application, the simulation testing system for a fully mechanized mining face further comprises a digital twin model creation module. In the embodiment of the application, a digital twin model of the fully mechanized coal mining face entity equipment can be created through a digital twin model creation module, the digital twin model is adjusted and optimized to match with measured data, the behavior of a fault component is added to the digital twin model, and a fault generation algorithm is created through machine learning.
In some embodiments of the present application, the simulation testing system for a fully mechanized mining face further includes a digital simulation model building module and a simulation module. In the embodiment of the application, an environment information flow model, a process control information flow model, an equipment state information flow model and a mining information flow model can be built through a digital simulation model building module; and simulating the motion, the state and the fault of the intelligent control system of the simulation fully mechanized coal mining face through the simulation module according to the environment information flow model, the process control information flow model, the equipment state information flow model and the mining information flow model.
In summary, the application provides a set of complete and configurable intelligent fully-mechanized coal mining face control system test environment, the control effect of the fully-mechanized coal mining face intelligent control system on equipment is verified by constructing a three-dimensional experimental environment of a working face and simulating the operation of fully-mechanized coal mining equipment, and the problem that a traditional test method must depend on a real machine is solved. In addition, the simulation integration of equipment models such as a support, a coal mining machine, a scraper plate and a pump station can be completed, and meanwhile, the model integration of physical links among modules can be completed. And under the condition that the true part is not in place, the hardware environment of each tested system control unit can be simulated. In addition, the fault analysis of the control link is solidified into software, and testers are prompted to locate fault points in a visual mode. And simultaneously, each simulation node can perform virtual-real switching. In addition, the digital twin model of the equipment is constructed by using a digital twin technology, and the problem that the fault data of the fully mechanized mining equipment cannot be obtained is solved. In addition, simulation of geological information behaviors, fully mechanized mining equipment operation process behaviors and equipment fault behaviors is added in the three-dimensional simulation model, and the simulation model is adjusted and optimized periodically through application of big data. In addition, the test process is managed through a unified test management platform, and interaction between the tested system and the test environment is realized.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A simulation test system of a fully mechanized mining face is characterized by comprising:
the three-dimensional simulation model building module is used for building an underground working face three-dimensional model, a roadway environment three-dimensional model and a three-dimensional model of fully mechanized coal mining face equipment;
the data generation module is used for simulating the three-dimensional model of the fully mechanized coal mining face equipment according to the historical data of the fully mechanized coal mining face entity equipment collected by the fully mechanized coal mining face under the underground working face three-dimensional model and the roadway environment three-dimensional model so as to generate the working state of the fully mechanized coal mining face;
each controller corresponds to one entity device of the fully mechanized coal mining face;
the control console is used for sending a control command to the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment, wherein the control console is in control connection with the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through a virtual-real switching component;
the simulation panel module comprises a gateway monitoring center and a communication physical link of the fully mechanized coal mining face entity equipment, wherein a control node in the communication physical link adopts a controller of the fully mechanized coal mining face entity equipment and is assisted by an electromagnetic driver to simulate equipment action; the simulation disc module is used for simulating the entity equipment of the fully mechanized coal mining face according to the control command issued by the control console and displaying a simulation feedback result.
2. The fully mechanized mining face simulation test system of claim 1, further comprising:
and the control link fault diagnosis expert module is used for diagnosing the fault of the communication physical link of the entity equipment of the fully mechanized coal mining face.
3. The fully mechanized mining face simulation test system of claim 2, further comprising:
and the display module is used for displaying the working state of the fully mechanized coal mining face generated by the data generation module and displaying the fault node diagnosed by the control link fault diagnosis expert module.
4. The fully mechanized mining face simulation test system of claim 1, further comprising:
and the digital twin model creating module is used for creating a digital twin model of the entity equipment of the fully mechanized mining face, adjusting and optimizing the digital twin model to match with the measured data, adding the behavior of the fault component into the digital twin model, and creating a fault generation algorithm by using machine learning.
5. The fully mechanized mining face simulation test system of claim 1, further comprising:
the digital simulation model building module is used for building an environment information flow model, a process control information flow model, an equipment state information flow model and a mining information flow model;
and the simulation module is used for simulating the motion, the state and the fault of the intelligent control system of the fully mechanized coal mining face according to the environment information flow model, the process control information flow model, the equipment state information flow model and the mining information flow model.
6. The fully mechanized mining face simulation test system of claim 1, wherein the console and the plurality of controllers are connected via a real-time network.
7. The fully mechanized mining face simulation test system of claim 1, further comprising:
the coal mining machine control subsystem, the support control subsystem and the video subsystem are controlled by the control console.
8. A simulation test method of a fully mechanized coal mining face is applied to a simulation test system of the fully mechanized coal mining face, and the simulation test system of the fully mechanized coal mining face comprises a three-dimensional simulation model building module, a data generation module, a plurality of controllers, a console and a simulation disc module, wherein the method comprises the following steps:
constructing a three-dimensional model of an underground working face, a three-dimensional model of a roadway environment and a three-dimensional model of fully mechanized mining face equipment through the three-dimensional simulation model construction module;
simulating the three-dimensional model of the fully mechanized coal mining face equipment to generate the working state of the fully mechanized coal mining face according to the historical data of the fully mechanized coal mining face entity equipment, which is acquired by the fully mechanized coal mining face, under the underground working face three-dimensional model and the roadway environment three-dimensional model through the data generation module;
sending a control command to a three-dimensional model of the fully mechanized coal mining face equipment or a controller of the fully mechanized coal mining face entity equipment through the control console, wherein the control console establishes control connection with the three-dimensional model of the fully mechanized coal mining face equipment or the controller of the fully mechanized coal mining face entity equipment through a virtual-real switching component;
simulating the entity equipment of the fully mechanized coal mining face according to a control command issued by the console through the simulation panel module, and displaying a simulation feedback result; the simulation panel module comprises a gateway monitoring center and a communication physical link of the fully mechanized coal mining face entity equipment, and a control node in the communication physical link adopts a controller of the fully mechanized coal mining face entity equipment and is assisted by an electromagnetic driver to simulate equipment action.
9. The simulation testing method of the fully mechanized mining face of claim 8, further comprising:
and diagnosing the fault of the communication physical link of the entity equipment of the fully mechanized coal mining face by a control link fault diagnosis expert module.
10. The simulation testing method of the fully mechanized mining face of claim 8, further comprising:
and creating a digital twin model of the entity equipment of the fully mechanized mining face through the digital twin model creating module, adjusting and optimizing the digital twin model to match with the measured data, adding the behavior of the fault component into the digital twin model, and creating a fault generating algorithm by using machine learning.
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