CN113033006A - Method for reducing three-dimensional model of underground coal mine mining working face - Google Patents
Method for reducing three-dimensional model of underground coal mine mining working face Download PDFInfo
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Abstract
The invention discloses a method for restoring a three-dimensional model of a mining working face under a mine, which comprises the following steps of S1, scanning and measuring action parts of a coal mining machine, a scraper conveyor and a hydraulic support to obtain digital information of the coal mining machine, the scraper conveyor and the hydraulic support; s2, establishing a three-dimensional virtual space model according to an actual mining working face in simulation software; s3, mounting inclination angle sensors on a base, a connecting rod, a tail beam, a top beam and a side protection plate of the hydraulic support to acquire attitude information of the hydraulic support; s4, the main control computer and the bracket controller receive the data collected by each inclination angle sensor, the infrared transmitting and receiving device, the pressure sensor, the displacement sensor, the shaft encoder, the position encoder and the current detection device in real time; and S5, binding the driving data with the virtual equipment driving data points in the three-dimensional virtual space model, thereby reflecting the real state of the actual underground coal mine mining working face in real time.
Description
Technical Field
The invention relates to the technical field of coal mining automation, in particular to a method for reducing a three-dimensional model of a coal mine underground mining working face.
Background
The unmanned mining of the underground coal mine is a necessary trend of development of the coal industry, can improve the coal mining efficiency, and provides an important guarantee for the underground safe production of the coal mine. However, the realization of the goal still faces a plurality of difficulties, wherein the perception and real-time feedback of the equipment state of the underground coal mine working face are an important link in the goal. At present, a video monitoring system is mostly adopted for a mining working face, and the detection of the running condition of the mining working face is realized through returned video information. However, the underground environment of the coal mine is complex, light is weak, dust and water mist are large in the coal mining process, so that the definition of visual information captured by the monitoring equipment is poor, and the judgment and monitoring of working face conditions by workers are affected. Meanwhile, the mining working face is long, key information needing to be detected is more, and enough cameras need to be installed to meet monitoring requirements, so that the cost is increased, and extra workload is brought to later-stage cleaning and maintenance.
Disclosure of Invention
The invention aims to provide a three-dimensional model reduction method for a coal mine underground mining working face, so as to realize remote monitoring of a mining working face by a worker.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a method for reducing a three-dimensional model of a coal mine underground mining working face, which comprises the following steps:
s1, acquiring the digital information of the coal mining machine, the scraper conveyor and the hydraulic support by scanning and measuring the action parts of the coal mining machine, the scraper conveyor and the hydraulic support; carrying out three-dimensional reduction on each action part of the coal mining machine, the scraper conveyor and the hydraulic support by utilizing a Unity3D development platform data simulation software, and drawing a three-dimensional simulation model of the coal mining machine, the scraper conveyor and the hydraulic support; splicing according to the assembly rule and the action rule of the coal mining machine, the scraper conveyor and the hydraulic support, providing corresponding data point interfaces for all the action parts, and driving all the action parts by data;
s2, establishing a three-dimensional virtual space model according to an actual mining working face in the Unity3D development platform data simulation software, adding the number of virtual hydraulic supports according to the requirement of the actual mining working face in a coordinate system of the three-dimensional virtual space model, and placing the virtual hydraulic supports according to the actual space positions of a coal cutter, a scraper conveyor and the hydraulic supports of the actual mining working face; designing a logic structure according to the interdependence relation among the coal mining machine, the scraper conveyor and the hydraulic support so as to meet the action requirement during subsequent data driving;
s3, mounting inclination angle sensors on a base, a connecting rod, a tail beam, a top beam and a side protection plate of the hydraulic support to acquire attitude information of the hydraulic support; installing an infrared receiving device on an upright post of the hydraulic support, and determining the serial number of the hydraulic support corresponding to the position of the coal mining machine by matching with an infrared transmitting device; a pressure sensor is arranged at the bottom end of the hydraulic support upright post to detect the pressure of the top beam; a displacement sensor is arranged in a pushing jack in the base and used for detecting the distance between pushing and sliding and a moving frame; installing a shaft encoder between the coal mining machine body and the left and right rocker arms for measuring an included angle between the rocker arms and the coal mining machine body; an infrared transmitting device is arranged in the middle of the body of the coal mining machine, and the position of the coal mining machine is determined by the mutual matching of the infrared transmitting device and the infrared receiving device; a position encoder is arranged at the joint of the coal mining machine and the scraper conveyor and used for measuring the travel distance of the coal mining machine on a track provided by the scraper conveyor; detecting the working current of the coal mining machine and the scraper conveyor through a current detection device;
s4, the main control computer and the bracket controller receive the data collected by each tilt angle sensor, the infrared transmitting and receiving device, the pressure sensor, the displacement sensor, the shaft encoder, the position encoder and the current detection device in real time, and perform denoising and calculation processing to obtain driving data for driving the three-dimensional virtual space model;
s5, binding the driving data with corresponding driving data points of a virtual coal cutter, a virtual scraper conveyor and a virtual hydraulic support in the three-dimensional virtual space model; when the actual underground coal mine mining working face acts, the main control computer and each support controller feed back driving data to the three-dimensional virtual space model in real time, and control corresponding virtual coal mining machines, virtual scraper conveyors and virtual hydraulic supports in the three-dimensional simulation model to perform the same action, so that the real state of the actual underground coal mine mining working face is reflected in real time.
The data points required for the three-dimensional virtual space model are as follows:
a. coal cutter position data points:
the infrared receiving devices are respectively arranged on each hydraulic support at equal intervals, and the intervals are set to be
When the number is
After the hydraulic support receives an infrared signal transmitted by the coal mining machine, the pulse number acquired by a position encoder of the coal mining machine is set to be zero; the coal mining machine continues to travel, the coal mining machine position encoder starts to count pulses, and the distance of the coal mining machine traveling on the scraper conveyor is calculated by using the transmission ratio between the gears
At the moment, the position of the coal mining machine is
(ii) a When it comes to
When a support controller of the hydraulic support receives an infrared signal transmitted by the coal mining machine, resetting the pulse number of a position encoder of the coal mining machine, continuously traveling and counting, and calculating to obtain the position of the coal mining machine;
b. pushing data points and moving data points:
the method comprises the following steps that a support displacement sensor acquires the pushed length of a pushing jack at each moment, and the pushing amount of the pushing jack is obtained by solving the difference between the front moment and the rear moment;
1, when the difference value is larger than zero, performing push-sliding operation; if the difference value at the previous moment is smaller than zero, subtracting a clearance error from the current difference value to be used as the forward movement length of the part of the scraper conveyor corresponding to the hydraulic support at the current moment; if the difference value at the previous moment is larger than zero, directly taking the difference value at the current moment as the forward movement length of the part of the scraper conveyor corresponding to the hydraulic support at the current moment;
2, when the difference value is less than zero, carrying out frame moving operation; if the difference value at the previous moment is larger than zero, subtracting a clearance error from the absolute value of the current difference value to be used as the forward moving length of the hydraulic support at the current moment; if the difference value at the previous moment is smaller than zero, directly taking the absolute value of the difference value at the current moment as the forward movement length of the hydraulic support at the current moment;
c. coal cutter rocker arm inclination angle data points:
information of included angle between front and rear rocker arms and the body is collected through a shaft encoder arranged between the body and the rocker arms of the coal mining machine
And
；
d. mining height data points and bedding amount data points on the coal mining machine:
by applyingInclination angle sensor arranged on coal mining machine body obtains inclination angle of machine body relative to horizontal plane
(ii) a When the length of the rocker arm is known to be
The radius of the roller is
The height of the body of the coal mining machine relative to the bottom of the scraper conveyor
When in use, the included angle between the front and rear rocker arms and the machine body is utilized
And
calculating the mining height of the coal mining machine
The quantity of the bottom lying of the rear drum of the coal mining machine is
；
e. Top plate pressure data points:
acquiring a pressure value of a top plate by using a pressure sensor arranged in an upright post of the hydraulic support;
f. inclination angle data points of the hydraulic support connecting rod, the tail beam, the top plate and the side protection plate are as follows:
acquiring the inclination angles of a connecting rod, a tail beam, a top plate and a side protection plate by installing inclination angle sensors on the connecting rod, the tail beam, the top beam and the side protection plate of the hydraulic support;
g. scraper conveyor current data points:
the type of the data point is Boolean, when the current value is detected, the data point is true, otherwise the data point is zero;
h. coal cutter current data points: the data point is of the type boolean, true when a current value is detected, and zero otherwise.
In the three-dimensional simulation model, the coal mining machine position data points are used for driving the running state of the coal mining machine on a track provided by a scraper conveyor; the pushing and sliding data points are used for driving the motion state of the scraper conveyor part corresponding to each hydraulic support; the support moving data points are used for driving the motion state of the hydraulic support; the data points of the rocker arms of the coal mining machine are used for driving the postures of the front rocker arm and the rear rocker arm of the coal mining machine; the mining height data points and the bottom lying data points on the coal mining machine are used for driving the track of the coal mining machine, and the bottom lying data points are also used for driving the bottom lifting height of each hydraulic support; the top plate pressure data points are used for driving the color of the hydraulic support, and when the pressure is greater than a set value, the color of the graph of the hydraulic support is red; inclination angle data points of the hydraulic support connecting rod, the tail beam, the top plate and the side protection plate are used for driving motion information of each action part of the hydraulic support; the coal mining machine current data points are used for driving a coal mining machine roller to rotate, when the data is true, the roller rotates, otherwise, the roller is static; and the scraper conveyor current data points are used for driving the working state of the scraper conveyor, and when the data is true, the scraper conveyor starts to rotate, otherwise, the scraper conveyor is static.
According to the invention, the three-dimensional virtual space model and the three-dimensional simulation model of the mining working face are established, the data information acquired by the actual mining working face is used for driving, the equipment state in the actual mining working face is dynamically restored, the running state of each equipment in the actual mining working face is effectively reflected, the remote monitoring of the mining working face by workers is realized, the requirement of the automatic fully-mechanized mining working face is met, and the method has important significance for the digital mining under the coal mine.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic view of the installation arrangement of the sensing component used in the method of the present invention for acquiring the state of the hydraulic mount. In the figure: reference numerals 1.1 to 1.5 are inclination angle sensors, respectively; reference numeral 2 is an infrared receiving device; reference numeral 3 is a pressure sensor; reference numeral 4 is a carriage displacement sensor.
Fig. 3 is a schematic view of the mounting arrangement of sensing components used in the method of the present invention for acquiring the position status of the shearer and the face conveyor. In the figure: reference numeral 5 is a high-precision shaft encoder; reference numeral 6 is a shearer position encoder; reference numeral 7 is an infrared emitting device.
Fig. 4 and 5 are schematic diagrams of three-dimensional reduction of the mining working face.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.
As shown in FIG. 1, the method for reducing the three-dimensional model of the underground coal mine working face comprises the following steps:
s1, acquiring the digital information of the coal mining machine, the scraper conveyor and the hydraulic support by scanning and measuring the action parts of the coal mining machine, the scraper conveyor and the hydraulic support; carrying out three-dimensional reduction on each action part of the coal mining machine, the scraper conveyor and the hydraulic support by utilizing a Unity3D development platform data simulation software, and drawing a three-dimensional simulation model of the coal mining machine, the scraper conveyor and the hydraulic support; splicing according to the assembly rule and the action rule of the coal mining machine, the scraper conveyor and the hydraulic support, providing corresponding data point interfaces for all the action parts, and driving all the action parts by data;
s2, in the Unity3D development platform data simulation software, establishing a three-dimensional virtual space model according to an actual mining working face, selecting a reference point in a coordinate system of the three-dimensional virtual space model, adding the number of virtual hydraulic supports according to the requirements of the actual mining working face, arranging the virtual scraper conveyors in sequence, placing the virtual scraper conveyors in front of bases of the virtual hydraulic supports and keeping the virtual scraper conveyors on the same horizontal plane, wherein each section of the virtual scraper conveyor is connected together through a pushing jack arranged at the bottom end of the virtual hydraulic support; the virtual coal mining machine is placed on the track of the virtual scraper conveyor, as shown in fig. 4 and 5; designing a logic structure according to the interdependence relation among the coal mining machine, the scraper conveyor and the hydraulic support so as to meet the action requirement during subsequent data driving;
s3, as shown in FIG. 2, mounting inclination angle sensors 1.1-1.5 on a base, a connecting rod, a tail beam, a top beam and a side protection plate of the hydraulic support to collect attitude information of the hydraulic support; an infrared receiving device 2 is arranged on an upright post of the hydraulic support, and the number of the hydraulic support corresponding to the position of the coal mining machine is determined by matching with an infrared transmitting device 7; a pressure sensor 3 is arranged at the bottom end of the upright post of the hydraulic support to detect the pressure of the top beam; a displacement sensor 4 is arranged in a pushing jack in the base and used for detecting the distance between pushing and sliding and a moving frame;
as shown in fig. 3, a high-precision shaft encoder 5 is installed between the body of the coal mining machine and the left and right rocker arms for measuring the included angle between the rocker arms and the body of the coal mining machine; an infrared transmitting device 7 is arranged in the middle of the body of the coal mining machine, and the position of the coal mining machine is determined by the mutual matching of the infrared transmitting device 7 and the infrared receiving device 2; a position encoder 6 is arranged at the joint of the coal mining machine and the scraper conveyor and used for measuring the travel distance of the coal mining machine on a track provided by the scraper conveyor; detecting the working current of the coal mining machine and the scraper conveyor through a current detection device;
s4, the main control computer and the bracket controller receive the data collected by the tilt sensors 1.1-1.5, the infrared emission device 7, the infrared receiving device 2, the pressure sensor 3, the displacement sensor 4, the shaft encoder 5, the position encoder 6 and the current detection device in real time, and perform denoising and calculation processing to obtain driving data for driving the three-dimensional virtual space model;
s5, binding the driving data with corresponding driving data points of a virtual coal cutter, a virtual scraper conveyor and a virtual hydraulic support in the three-dimensional virtual space model; when the actual underground coal mine mining working face acts, the main control computer and each support controller feed back driving data to the three-dimensional virtual space model in real time, and control corresponding virtual coal mining machines, virtual scraper conveyors and virtual hydraulic supports in the three-dimensional simulation model to perform the same action, so that the real state of the actual underground coal mine mining working face is reflected in real time.
The data points required for the three-dimensional virtual space model are as follows:
a. coal cutter position data points:
the infrared receiving devices are respectively arranged on each hydraulic support at equal intervals, and the intervals are set to be
When the number is
After the hydraulic support receives the infrared signal transmitted by the coal mining machine, the pulse number acquired by the position encoder 6 of the coal mining machine is set to be zero; the coal mining machine continues to travel, the coal mining machine position encoder 6 starts to count pulses, and the distance of the coal mining machine traveling on the scraper conveyor is calculated by using the transmission ratio between the gears
At the moment, the position of the coal mining machine is
(ii) a When it comes to
When a support controller of the hydraulic support receives an infrared signal transmitted by the coal mining machine, resetting the pulse number of a position encoder 6 of the coal mining machine, continuously traveling and counting, and calculating to obtain the position of the coal mining machine;
b. pushing data points and moving data points:
the support displacement sensor 4 acquires the pushed length of the pushing jack at each moment, and the pushing amount of the pushing jack is obtained by solving the difference between the front moment and the rear moment;
1, when the difference value is larger than zero, performing push-sliding operation; if the difference value at the previous moment is smaller than zero, subtracting a clearance error from the current difference value to be used as the forward movement length of the part of the scraper conveyor corresponding to the hydraulic support at the current moment; if the difference value at the previous moment is larger than zero, directly taking the difference value at the current moment as the forward movement length of the part of the scraper conveyor corresponding to the hydraulic support at the current moment;
2, when the difference value is less than zero, carrying out frame moving operation; if the difference value at the previous moment is larger than zero, subtracting a clearance error from the absolute value of the current difference value to be used as the forward moving length of the hydraulic support at the current moment; if the difference value at the previous moment is smaller than zero, directly taking the absolute value of the difference value at the current moment as the forward movement length of the hydraulic support at the current moment;
c. coal cutter rocker arm inclination angle data points:
information of included angles between the front and rear rocker arms and the body is collected by a shaft encoder 5 installed between the body and the rocker arms of the coal mining machine
And
；
d. mining height data points and bedding amount data points on the coal mining machine:
acquiring the inclination angle of a body relative to a horizontal plane through an inclination angle sensor installed on the body of a coal mining machine
(ii) a When the length of the rocker arm is known to be
The radius of the roller is
The height of the body of the coal mining machine relative to the bottom of the scraper conveyor
When in use, the included angle between the front and rear rocker arms and the machine body is utilized
And
calculating the mining height of the coal mining machine
The quantity of the bottom lying of the rear drum of the coal mining machine is
；
e. Top plate pressure data points:
acquiring a pressure value of a top plate by using a pressure sensor 3 arranged inside a hydraulic support upright post;
f. inclination angle data points of the hydraulic support connecting rod, the tail beam, the top plate and the side protection plate are as follows:
acquiring the inclination angles of a connecting rod, a tail beam, a top plate and a side protection plate by utilizing inclination angle sensors which are arranged on the connecting rod, the tail beam, the top beam and the side protection plate of the hydraulic support and are provided with inclination angle sensors 1.1-1.5;
g. scraper conveyor current data points:
the type of the data point is Boolean, when the current value is detected, the data point is true, otherwise the data point is zero;
h. coal cutter current data points: the data point is of the type boolean, true when a current value is detected, and zero otherwise.
In the three-dimensional simulation model, the coal mining machine position data points are used for driving the running state of the coal mining machine on a track provided by a scraper conveyor; the pushing and sliding data points are used for driving the motion state of the scraper conveyor part corresponding to each hydraulic support; the support moving data points are used for driving the motion state of the hydraulic support; the data points of the rocker arms of the coal mining machine are used for driving the postures of the front rocker arm and the rear rocker arm of the coal mining machine; the mining height data points and the bottom lying data points on the coal mining machine are used for driving the track of the coal mining machine, and the bottom lying data points are also used for driving the bottom lifting height of each hydraulic support; the top plate pressure data points are used for driving the color of the hydraulic support, and when the pressure is greater than a set value, the color of the graph of the hydraulic support is red; inclination angle data points of the hydraulic support connecting rod, the tail beam, the top plate and the side protection plate are used for driving motion information of each action part of the hydraulic support; the coal mining machine current data points are used for driving a coal mining machine roller to rotate, when the data is true, the roller rotates, otherwise, the roller is static; and the scraper conveyor current data points are used for driving the working state of the scraper conveyor, and when the data is true, the scraper conveyor starts to rotate, otherwise, the scraper conveyor is static.
Claims (3)
1. A coal mine underground mining working face three-dimensional model reduction method is characterized by comprising the following steps: the method comprises the following steps:
s1, acquiring the digital information of the coal mining machine, the scraper conveyor and the hydraulic support by scanning and measuring the action parts of the coal mining machine, the scraper conveyor and the hydraulic support; carrying out three-dimensional reduction on each action part of the coal mining machine, the scraper conveyor and the hydraulic support by utilizing a Unity3D development platform data simulation software, and drawing a three-dimensional simulation model of the coal mining machine, the scraper conveyor and the hydraulic support; splicing according to the assembly rule and the action rule of the coal mining machine, the scraper conveyor and the hydraulic support, providing corresponding data point interfaces for all the action parts, and driving all the action parts by data;
s2, establishing a three-dimensional virtual space model according to an actual mining working face in the Unity3D development platform data simulation software, adding the number of virtual hydraulic supports according to the requirement of the actual mining working face in a coordinate system of the three-dimensional virtual space model, and placing the virtual hydraulic supports according to the actual space positions of a coal cutter, a scraper conveyor and the hydraulic supports of the actual mining working face; designing a logic structure according to the interdependence relation among the coal mining machine, the scraper conveyor and the hydraulic support so as to meet the action requirement during subsequent data driving;
s3, mounting inclination angle sensors on a base, a connecting rod, a tail beam, a top beam and a side protection plate of the hydraulic support to acquire attitude information of the hydraulic support; installing an infrared receiving device on an upright post of the hydraulic support, and determining the serial number of the hydraulic support corresponding to the position of the coal mining machine by matching with an infrared transmitting device; a pressure sensor is arranged at the bottom end of the hydraulic support upright post to detect the pressure of the top beam; a displacement sensor is arranged in a pushing jack in the base and used for detecting the distance between pushing and sliding and a moving frame; installing a shaft encoder between the coal mining machine body and the left and right rocker arms for measuring an included angle between the rocker arms and the coal mining machine body; an infrared transmitting device is arranged in the middle of the body of the coal mining machine, and the position of the coal mining machine is determined by the mutual matching of the infrared transmitting device and the infrared receiving device; a position encoder is arranged at the joint of the coal mining machine and the scraper conveyor and used for measuring the travel distance of the coal mining machine on a track provided by the scraper conveyor; detecting the working current of the coal mining machine and the scraper conveyor through a current detection device;
s4, the main control computer and the bracket controller receive the data collected by each tilt angle sensor, the infrared transmitting and receiving device, the pressure sensor, the displacement sensor, the shaft encoder, the position encoder and the current detection device in real time, and perform denoising and calculation processing to obtain driving data for driving the three-dimensional virtual space model;
s5, binding the driving data with corresponding driving data points of a virtual coal cutter, a virtual scraper conveyor and a virtual hydraulic support in the three-dimensional virtual space model; when the actual underground coal mine mining working face acts, the main control computer and each support controller feed back driving data to the three-dimensional virtual space model in real time, and control corresponding virtual coal mining machines, virtual scraper conveyors and virtual hydraulic supports in the three-dimensional simulation model to perform the same action, so that the real state of the actual underground coal mine mining working face is reflected in real time.
2. The coal mine underground mining working face three-dimensional model reduction method according to claim 1, characterized by comprising the following steps: the data points required for the three-dimensional virtual space model are as follows:
a. coal cutter position data points:
the infrared receiving devices are respectively arranged on each hydraulic support at equal intervals, and the intervals are set to be
When the number is
Said hydraulic branch ofAfter the frame receives the infrared signal transmitted by the coal mining machine, setting the pulse number acquired by the position encoder of the coal mining machine to zero; the coal mining machine continues to travel, the coal mining machine position encoder starts to count pulses, and the distance of the coal mining machine traveling on the scraper conveyor is calculated by using the transmission ratio between the gears
At the moment, the position of the coal mining machine is
(ii) a When it comes to
When a support controller of the hydraulic support receives an infrared signal transmitted by the coal mining machine, resetting the pulse number of a position encoder of the coal mining machine, continuously traveling and counting, and calculating to obtain the position of the coal mining machine;
b. pushing data points and moving data points:
the method comprises the following steps that a support displacement sensor acquires the pushed length of a pushing jack at each moment, and the pushing amount of the pushing jack is obtained by solving the difference between the front moment and the rear moment;
1, when the difference value is larger than zero, performing push-sliding operation; if the difference value at the previous moment is smaller than zero, subtracting a clearance error from the current difference value to be used as the forward movement length of the part of the scraper conveyor corresponding to the hydraulic support at the current moment; if the difference value at the previous moment is larger than zero, directly taking the difference value at the current moment as the forward movement length of the part of the scraper conveyor corresponding to the hydraulic support at the current moment;
2, when the difference value is less than zero, carrying out frame moving operation; if the difference value at the previous moment is larger than zero, subtracting a clearance error from the absolute value of the current difference value to be used as the forward moving length of the hydraulic support at the current moment; if the difference value at the previous moment is smaller than zero, directly taking the absolute value of the difference value at the current moment as the forward movement length of the hydraulic support at the current moment;
c. coal cutter rocker arm inclination angle data points:
by installation ofAn angle encoder between the body and the rocker arm of the coal mining machine collects the information of the included angle between the front rocker arm and the rear rocker arm and the body
And
；
d. mining height data points and bedding amount data points on the coal mining machine:
acquiring the inclination angle of a body relative to a horizontal plane through an inclination angle sensor installed on the body of a coal mining machine
(ii) a When the length of the rocker arm is known to be
The radius of the roller is
The height of the body of the coal mining machine relative to the bottom of the scraper conveyor
When in use, the included angle between the front and rear rocker arms and the machine body is utilized
And
calculating the mining height of the coal mining machine
The quantity of the bottom lying of the rear drum of the coal mining machine is
；
e. Top plate pressure data points:
acquiring a pressure value of a top plate by using a pressure sensor arranged in an upright post of the hydraulic support;
f. inclination angle data points of the hydraulic support connecting rod, the tail beam, the top plate and the side protection plate are as follows:
acquiring the inclination angles of a connecting rod, a tail beam, a top plate and a side protection plate by installing inclination angle sensors on the connecting rod, the tail beam, the top beam and the side protection plate of the hydraulic support;
g. scraper conveyor current data points:
the type of the data point is Boolean, when the current value is detected, the data point is true, otherwise the data point is zero;
h. coal cutter current data points: the data point is of the type boolean, true when a current value is detected, and zero otherwise.
3. The coal mine underground mining working face three-dimensional model reduction method according to claim 1 or 2, characterized by comprising the following steps: in the three-dimensional simulation model, the coal mining machine position data points are used for driving the running state of the coal mining machine on a track provided by a scraper conveyor; the pushing and sliding data points are used for driving the motion state of the scraper conveyor part corresponding to each hydraulic support; the support moving data points are used for driving the motion state of the hydraulic support; the data points of the rocker arms of the coal mining machine are used for driving the postures of the front rocker arm and the rear rocker arm of the coal mining machine; the mining height data points and the bottom lying data points on the coal mining machine are used for driving the track of the coal mining machine, and the bottom lying data points are also used for driving the bottom lifting height of each hydraulic support; the top plate pressure data points are used for driving the color of the hydraulic support, and when the pressure is greater than a set value, the color of the graph of the hydraulic support is red; inclination angle data points of the hydraulic support connecting rod, the tail beam, the top plate and the side protection plate are used for driving motion information of each action part of the hydraulic support; the coal mining machine current data points are used for driving a coal mining machine roller to rotate, when the data is true, the roller rotates, otherwise, the roller is static; and the scraper conveyor current data points are used for driving the working state of the scraper conveyor, and when the data is true, the scraper conveyor starts to rotate, otherwise, the scraper conveyor is static.
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