CN114298530A - Man-made core HCPS man-machine co-fusion intelligent production system for fully mechanized coal mining face - Google Patents
Man-made core HCPS man-machine co-fusion intelligent production system for fully mechanized coal mining face Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent mining of fully mechanized coal mining faces, in particular to a man-machine co-fusion intelligent production system of a fully mechanized coal mining face HCPS with a man-made core. The system comprises remote cooperative workers, a VR information system, an AR information system and an intelligent mining physical system, wherein the remote cooperative workers comprise centralized control center operators and production site intelligent patrol operators, the centralized control center operators are located in an aboveground centralized control center, and the overall operation condition of a working face is monitored and mastered through multi-path signals; the VR information system is a high-simulation virtual mirror image of the constructed fully mechanized coal mining working face, is integrated in an aboveground centralized control center, and provides global three-dimensional visual state information of the fully mechanized coal mining working face production system for operators of the centralized control center; the AR information system is a constructed virtual-real fusion channel of the fully mechanized coal mining face and provides localized virtual-real fusion operation and maintenance information of the fully mechanized coal mining face production system for production site intelligent patrol personnel; the intelligent mining physical system comprises intelligent fully-mechanized mining face equipment.
Description
Technical Field
The invention relates to the technical field of intelligent mining of fully mechanized coal mining faces, in particular to a man-machine co-fusion intelligent production system of a fully mechanized coal mining face HCPS with a man-made core.
Background
In recent years, coal mine intellectualization has become a core technical support for high-quality development of the coal industry and a new direction for technological development of the coal industry. The development of the integration of new-generation intelligent information technologies such as 5G, cloud computing, big data, Internet of things, artificial intelligence, VR and AR and the coal industry is promoted, the intelligent level of a coal mine is improved, and the coal mine intelligent system becomes a wide consensus in academic and industrial fields.
The fully-mechanized coal mining face is a labor-intensive and operation-intensive scene with complex production scene environment and various devices, and the problems that the equipment intelligentization degree is low, an accurate and reasonable operation and maintenance mode is lacked, people and the equipment cannot be deeply blended and the like exist in the existing fully-mechanized coal mining face operation system. The method constructs a complete fully-mechanized coal mining face intelligent production system integrating perception, interconnection, analysis, cognitive learning and decision control, and has important significance for promoting the coal mine intelligent process in practice.
The authorization notice number CN102102519B discloses a method for fully mechanized mining face production automation, a face production automation system integrates hydraulic support electrohydraulic control, fully mechanized mining equipment intelligent automation control, an integrated liquid supply system, a network, data integration, video, audio and communication, and performs centralized automation control on fully mechanized mining equipment such as a hydraulic support, a coal mining machine, a scraper conveyor, a reversed loader, a crusher, a crossheading belt conveyor, an electrical switch and a pump station of a fully mechanized mining face.
The system comprises a summary three-dimensional model establishing module, a patrol inspection assembly, a mobile device positioning module, a fully mechanized mining device positioning module, a sensor module and a model establishing module, can obtain physical association between a mobile device and a fully mechanized mining device at a fixed position in a working surface and the working surface, establishes a fully mechanized mining working surface digital mining model, and provides a reference and a basis for intelligent control of the fully mechanized mining device and the mobile device.
However, in the two schemes, only centralized automatic control of the fully mechanized mining equipment and monitoring of the operation state of the fully mechanized mining face based on a digital mining model are respectively completed, and a complete production operation flow of the fully mechanized mining face with bidirectional closed-loop feedback iterative optimization of monitoring and controlling is not formed.
The intelligent mining system for the fully mechanized coal mining face is disclosed in the publication No. CN205605213U, the intelligent control system monitors equipment, environment and personnel of the fully mechanized coal mining face in real time, the power supply system, the liquid supply system and the support electro-hydraulic control system are matched with the intelligent control system to control the intelligent automatic operation of the coal mining machine, the support and the intelligent conveying equipment, the environment monitoring system and the personnel positioning system monitor the environment and the safety condition of the fully mechanized coal mining face in real time, and the intelligent automatic operation of the fully mechanized coal mining face equipment is realized.
The technical scheme comprises monitoring and controlling of the fully mechanized coal mining face, but only the environment monitoring system is integrated to monitor gas, smoke, temperature, humidity and personnel safety conditions, the monitoring of the equipment running condition of the fully mechanized coal mining face is not involved, and the depth perception of the fully mechanized coal mining face is difficult to achieve.
The system and the method for transparent digital twin self-adaptive mining of the fully mechanized coal mining face of the coal mine have an authorization notice number CN112392485B, a digital twin three-dimensional virtual mining scene based on a unified geodetic coordinate system is constructed, and equipment end information is obtained in real time by using an intelligent sensing technology; by driving the twin model in the virtual scene through information, transparent sensing of the mining environment of the underground coal mining operation site, intelligent monitoring of equipment, visual self-adaptive mining, failure prediction and the like are achieved, coal mining operation personnel are reduced, and the intelligent mining level of a coal mine is improved.
The patent paper discloses a design and operation mode of a digital twin-based fully mechanized mining face production system, realizes iterative operation of production element management configuration, production process pre-simulation, real-time monitoring and the like on a physical fully mechanized mining face, a virtual fully mechanized mining face and a fully mechanized mining face under the drive of a fully mechanized mining design and monitoring service system, realizes integration and fusion of full elements, full flows and full data, achieves the purposes of optimal configuration of the production system and equipment collaborative safe and efficient mining, and provides a core technology and a platform support for intelligent unmanned mining.
According to the two schemes, the digital twin model is introduced into the fully mechanized coal mining face production system, the entity and the virtual object are connected in a two-way mode, the real-time operation data driven virtual monitoring and control closed loop is realized, the position and the effect of a person in the fully mechanized coal mining face production system are not highlighted, and the human-computer cooperation relation, the human-computer interaction mode and the human-computer interaction logic between the person and the robot and between fully mechanized intelligent equipment are not deeply analyzed.
Disclosure of Invention
The invention provides a human-centered fully mechanized mining face HCPS man-machine co-fusion intelligent production system, which aims to solve the problems that the equipment intelligence degree is low, an accurate and reasonable operation and maintenance mode is lacked, people and equipment cannot be deeply co-fused and the like in the fully mechanized mining face production system.
The invention adopts the following technical scheme: a comprehensive mining working face HCPS man-machine co-fusion intelligent production system with human as a core comprises remote cooperative workers, a VR information system, an AR information system and an intelligent mining physical system, wherein the remote cooperative workers comprise centralized control center operators and production site intelligent inspection personnel, the centralized control center operators are located in an aboveground centralized control center, the overall operation condition of the working face is monitored and mastered through multiple paths of signals, on-line visual supervision and intelligent remote centralized control are realized on each production element, and manual remote intervention is completed under the dangerous condition; the VR information system is a constructed high-simulation virtual mirror image of the fully mechanized coal mining face, is integrated in an underground centralized control center, and provides global three-dimensional visual state information of the fully mechanized coal mining face production system for operators of the centralized control center; the AR information system is a constructed virtual-real fusion channel of the fully mechanized mining working face, is integrated in the head-mounted AR equipment, and provides local virtual-real fusion operation and maintenance information of the fully mechanized mining working face production system for production site intelligent inspection personnel; the intelligent mining physical system comprises intelligent fully-mechanized mining face equipment.
The VR information system comprises a high-fidelity virtual three-dimensional scene, a data processing module, a knowledge model module and an information fusion calculation module, wherein the knowledge model module is embedded into the bottom layer of the VR information system, the information fusion calculation module fuses data preprocessed by the data processing module and a knowledge model in the knowledge model module, and the high-fidelity virtual three-dimensional scene is a built virtual fully-mechanized mining working face production system.
The high-fidelity virtual three-dimensional scene is a constructed virtual fully-mechanized coal mining face production system, comprises a fully-mechanized coal mining face virtual equipment group and a fully-mechanized coal mining face virtual operation space, establishes a parent-child relationship of equipment, and adds a physical engine to form a physical model of the complex fully-mechanized coal mining face.
The AR information system comprises an equipment identification and tracking module, a pose identification and analysis module and a key operation and maintenance information virtual-real fusion module, wherein the equipment identification and tracking module identifies and tracks equipment in the area where the intelligent inspection personnel on the production site belongs to, determines which equipment is in the field of view, and ensures that the subsequent superposed virtual-real fusion operation and maintenance information corresponds to the equipment one to one; the pose recognition and analysis module carries out non-contact pose measurement on equipment in the area where the intelligent patrol personnel belong to the production field to acquire sensing information; and the key operation and maintenance information virtual-real fusion module accesses the sensing information after the equipment type and the model are identified by the equipment identification and tracking module, displays the key operation and maintenance information in the head-mounted AR equipment and superposes the key operation and maintenance information on the real equipment.
The intelligent sensing module is responsible for effectively acquiring real-time data of the entity work of the fully mechanized mining face equipment and necessary information of environmental data of a production field, and acquiring, processing and transmitting the information; the intelligent decision module is responsible for receiving the information acquired by the intelligent sensing module so as to realize data analysis and decision of the equipment; and the intelligent cooperative control module is responsible for carrying out operation adjustment on the system according to a decision result of the intelligent decision module so as to realize the system target.
The centralized control center operator in the remote cooperative worker and the intelligent patrol worker in the production field can interact with each other, and meanwhile, the information interaction can respectively occur with the VR information system, the AR information system and the intelligent mining physical system.
Monitoring the whole monitoring by using a VR information system by centralized control center operators, and carrying out information prompt on intelligent inspection personnel on a production site, wherein the centralized control center operators are communicated remotely through the AR information system; the centralized control center operator receives information from the intelligent mining physical system through video, image and data multi-path signal monitoring, and can send a control instruction to the intelligent mining physical system through an entity button of the centralized control center console; and an operator of the centralized control center receives information from the VR information system through the high-fidelity virtual three-dimensional scene and sends a control instruction to the VR information system through a virtual UGUI control panel in the VR information system.
The intelligent inspection personnel in the production field directly receives information from the intelligent mining physical system through observation, and sends a control instruction to the intelligent mining physical system through a hydraulic support electrohydraulic controller and a coal mining machine remote controller configured by the intelligent mining physical system; and the intelligent inspection personnel in the production field receives information from the AR information system through the key operation and maintenance information virtual-real fusion module and sends a control instruction to the AR information system through the multi-mode man-machine interaction channel.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention aims at the actual requirements and the particularity of an application scene of a fully mechanized coal mining face production system, and provides a man-machine co-fusion HCPS framework with a man-made core aiming at the current situations that underground geological conditions of a coal mine are complex and changeable, the working environment of equipment is severe, information isolated islands are serious, the safety monitoring and ensuring means is poor, and no humanization is basically impossible to realize, so that the core status of a person is highlighted, the knowledge and experience and subjective activity of the person are fully exerted, and the person can make a decision and judge better under the support of advanced technology;
(2) according to the invention, three components of a person, an information system and a physical system in the traditional HCPS framework are upgraded into four components, wherein the information system is upgraded into two parts of a VR information system and an AR information system, and different-place cooperative workers form an information closed loop by real-time fusion, remote cooperation and mutual driving of the VR information system and the AR information system, so that the range and the level of the functions of the information system are improved;
(3) the invention completes the organic integration and deep cooperation of four subsystems by a 3C technology consisting of a communication technology, a calculation technology and a control technology, wherein the communication is basic, the calculation is fundamental, the control is based, the 3C is mutually supported, the closed-loop propulsion is carried out, and the 3C finally acts on an intelligent mining physical system to carry out the cooperative coal mining; interaction is carried out between an operator of the centralized control center and a working face inspection worker, the running target of co-fusion of a human and a 3C is achieved, and the HCPS runs the safe driving and protection navigation under the condition of complex working conditions;
(4) the VR information system applies a high-fidelity virtual three-dimensional scene construction technology driven by the fusion of 'knowledge + data', not only accurately describes the geometric state of each device, but also reflects all information such as the characteristics of each physical device, the physical rules of connotation, the dynamic operation condition of the device and the like, and enables the production processes such as cutting, coal charging, transportation, support and the like in the high-fidelity virtual three-dimensional scene to automatically operate according to the real motion rules under the fusion drive of the 'knowledge + data', so as to form the real depiction of the physical model of the complex fully mechanized mining face;
(5) the invention provides a distributed computing mode of human-edge computing, and the hydraulic support electrohydraulic controller, the coal mining machine controller and the head-mounted AR equipment can be used as edge computing nodes, so that the computing pressure of the central node of the centralized control center is greatly reduced; complex calculation results obtained by fusion calculation of the central node and the edge nodes need to be returned to a human-computer interface accurately and with low delay, so that remote cooperative workers can further analyze and make decisions, and the intelligence of people is fully exerted;
(6) the invention provides a 'VR + sensing + vision' fusion method, which is used for fusing and solving simulation pose information of a VR information system, sensor monitoring pose information of an intelligent mining physical system and vision pose information of an AR information system in real time, providing real-time accurate pose information of each device in a fully mechanized mining face production system, expanding a pose information data source and improving the monitoring reliability;
(7) the invention completes the integration and conflict resolution of the traditional control mode and the VR/AR control mode, performs control priority planning, forms a complex control system which takes the precise action of the intelligent mining physical system as the target, expands the mode and dimension of control, and improves the robustness and stability of the control system.
Drawings
FIG. 1 is a system composition diagram of the present invention;
FIG. 2 is a diagram comparing the present invention with a conventional HCPS system architecture;
FIG. 3 is a diagram of interaction between a remote cooperative worker and the remaining three systems in the present invention;
FIG. 4 is a 3C technical constitution diagram in the present invention;
fig. 5 is a basic operation framework diagram of the system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described are only for illustrating the present invention and are not to be construed as limiting the present invention. 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.
As shown in fig. 1, the invention provides a human-centered fully mechanized mining face HCPS man-machine integration intelligent production system, which comprises: the system comprises four subsystems of a remote cooperative worker, a VR information system, an AR information system and an intelligent mining physical system.
The remote cooperative workers are workers which are in different working environments and participate in the coal mining task of the fully mechanized coal face together, and comprise centralized control center operators and production site intelligent inspection personnel.
The centralized control center is used for monitoring and mastering the overall operation condition of a working face through multiple signals such as videos, images, data, VR (virtual reality), and the like, is mainly responsible for realizing online visual supervision and intelligent remote centralized control on various production elements such as equipment operation, personnel positioning and the like, can complete manual remote intervention under dangerous conditions, and plays an important role in well information intercommunication, safety early warning, rapid decision making and scientific command.
The intelligent inspection personnel of the production site is positioned in the first-line production site of the underground fully-mechanized coal mining face, regularly inspects in the region where the intelligent inspection personnel belong, provides local detailed operation conditions of the working face which are difficult to be completely mastered and covered by the centralized control center, is mainly responsible for inspection and maintenance of equipment, instruments and meters in the region where the intelligent inspection personnel belong and simple maintenance work, ensures normal operation of the equipment, and synchronously transmits information to the centralized control center operator, wherein the safety operation hidden danger which cannot be obtained through multi-path signal monitoring is discovered by the centralized control center operator.
The information system in the conventional HCPS architecture is upgraded to the VR information system and the AR information system in the present invention, and the comparison between the system architecture of the present invention and the conventional HCPS architecture is shown in fig. 2.
The VR information system is a constructed high-simulation virtual mirror image of the fully mechanized coal mining face, comprises a high-fidelity virtual three-dimensional scene, a data processing module, a knowledge model module and an information fusion calculation module, is integrated in an aboveground centralized control center, and provides global three-dimensional visual state information of the fully mechanized coal mining face production system for operators of the centralized control center.
The high-fidelity virtual three-dimensional scene is a virtual fully-mechanized coal mining face production system constructed by using Unity3D software, integrates a fully-mechanized coal mining face virtual equipment group taking a fully-mechanized coal mining face 'three-machine' virtual prototype as a main part and a fully-mechanized coal mining face virtual operation space taking a virtual coal seam top and bottom plate as a main part, establishes a parent-child relationship of the equipment, and adds a physical engine to form a real depiction of a physical model of the complex fully-mechanized coal mining face.
The data processing module stores, analyzes and preprocesses design data, dynamic data generated by operation, simulation derivative data after optimization iteration and other data of the fully mechanized coal mining face by using a data persistence storage function and a localization processing function of the Unity 3D.
The knowledge model module integrates rich knowledge models such as a high-efficiency virtual memory cutting model of the coal mining machine, a hydraulic support group memory attitude and scraper conveyor form prediction model, an attitude big data analysis model and an attitude coupling analysis model, and a model algorithm is embedded into a VR information system bottom layer in a C # script mode.
The information fusion calculation module has stronger information calculation capacity, can fuse the data preprocessed by the data processing module with the knowledge model in the knowledge model module to form a 'knowledge + data' fusion driving system, and provides double constraints of a data layer and a mechanism layer for the operation of the high-fidelity virtual three-dimensional scene.
The AR information system is a constructed virtual-real fusion channel of the fully mechanized coal mining face, comprises an equipment identification and tracking module, a pose identification and analysis module and a key operation and maintenance information virtual-real fusion module, is integrated in the head-wearing AR equipment, and provides localized virtual-real fusion operation and maintenance information of the fully mechanized coal mining face production system for production site intelligent inspection personnel.
The equipment identification and tracking module identifies and tracks equipment in the area to which the intelligent inspection personnel belongs in the production field by using a computer vision identification and tracking method based on AR identification and natural characteristics, determines which equipment is in the field of view, and ensures that the subsequent superposed virtual and real fused operation and maintenance information corresponds to the equipment one to one.
The pose recognition and analysis module utilizes IMUs, visible light camera depth sensors and the like built in the head-mounted AR equipment to carry out non-contact pose measurement on equipment in the area where the intelligent patrol personnel on the production site belong to, obtains sensing information, has a good effect particularly when measuring relative pose relations among various equipment such as a plurality of hydraulic supports, and makes up important information lost by contact sensors arranged in an intelligent mining physical system.
The key operation and maintenance information virtual-real fusion module can access the sensing information after the equipment type and the model are identified by the equipment identification and tracking module, displays the key operation and maintenance information in the head-mounted AR equipment, and superposes the key operation and maintenance information on the real equipment to set a proper refreshing frequency for the information so as to avoid discomfort of intelligent inspection personnel on a production site.
The intelligent mining physical system refers to a fully-mechanized working face equipment entity with certain degree of intellectualization, and an intelligent sensing module, an intelligent decision-making module and an intelligent cooperative control module which are integrated on the fully-mechanized working face equipment entity.
The fully mechanized coal mining face equipment entity comprises three machines of a fully mechanized coal mining face, namely a coal mining machine, a hydraulic support and a scraper conveyor.
The intelligent sensing module is responsible for effectively acquiring necessary information such as real-time data of the entity work of the fully mechanized coal mining face equipment and environmental data of a production field, and the necessary information comprises information acquisition, processing and transmission.
The intelligent decision module is responsible for receiving the information acquired by the intelligent sensing module so as to realize data analysis and decision of the equipment.
And the intelligent cooperative control module is responsible for operating and adjusting the system according to the decision result so as to realize the system target.
As shown in fig. 3, two different-place cooperative workers may interact with each other, or may interact with the other three systems.
Wherein, the usable VR of centralized control center operating personnel monitoring performance is whole to be kept watch on the advantage, and production site intelligence patrols and examines personnel and carries out more careful inspection under former's information prompt, and the usable AR technique of both realizes long-range timely effectual intercommunication, distributes and accomplishes the cooperation in different places.
The centralized control center operator can receive information from the intelligent mining physical system through monitoring of multiple signals such as videos, images and data, and can send a control instruction to the intelligent mining physical system through an entity button of the centralized control center operating platform.
The centralized control center operator can receive information from the VR information system through the high-fidelity virtual three-dimensional scene and can send a control instruction to the VR information system through a virtual UGUI control panel in the VR information system.
The intelligent patrol personnel in the production field can directly receive information from the intelligent energy mining physical system through human eye observation, and can send a control instruction to the intelligent mining physical system through the hydraulic support electro-hydraulic controller and the coal mining machine remote controller configured by the intelligent mining physical system.
The production site intelligent patrol personnel can receive information from the AR information system through the key operation and maintenance information virtual-real fusion module and can send control instructions to the AR information system through multi-mode human-computer interaction channels such as gestures, voice and staring.
The four subsystems are organically integrated and deeply cooperated through a 3C technology composed of a communication technology, a computing technology and a control technology, the 3C technology is composed as shown in figure 4, and a basic operation framework of the system supported by the 3C technology is shown in figure 5.
The communication technology comprises network infrastructure construction and information closed loop bidirectional interaction;
the network infrastructure construction refers to the establishment of a wired and wireless combined communication network platform, the adoption of a kilomega industrial ring network switch and wireless WiFi realizes network coverage, and the construction of a VR information transmission channel and an AR information transmission channel can realize reliable communication and information interaction among four subsystems.
The information closed-loop bidirectional interaction refers to bidirectional flow of system information flow, wherein forward information flow is collection of monitoring information, information of an equipment pose sensor is obtained through a network system, virtual simulation pose information is obtained through VR simulation, visual information is obtained through AR, and preparation is made for calculation; the reverse information is a return drive of the control information, after the calculation result is sent, the information is respectively sent back through a computer control program and a centralized control center button, the information is sent back through a VR interface, and the control information is sent back through AR gesture interaction. The information closed-loop bidirectional interaction provides a basis for calculation and control, and the high-precision return of a calculation fusion result and a control result can be ensured.
The computing technology comprises a distributed computing mode of blending human and edge computing and a blending method of 'VR + sensing + vision'.
In a distributed computing mode of human-edge computing fusion, a hydraulic support electrohydraulic controller, a coal mining machine controller, a head-mounted AR device and the like are used as edge computing nodes, intelligent equipment sensor data, VR simulation data and related scanning data obtained by AR are fully computed and fused, a real virtual picture is constructed, and criteria are provided for manual inspection.
The fusion method of VR, sensing and vision is characterized in that sensor monitoring data in an intelligent mining physical system, comprehensive mining working face virtual simulation data based on a physical engine in a VR information system and comprehensive mining working face visual data obtained by scanning in an AR information system are fused, real-time solution is carried out, and a final result is used as a control basis.
The control technology comprises control method integration and control priority planning.
The control method is integrated into a traditional control method and a VR/AR control method, wherein the traditional control method is that a centralized control center operator controls through an entity button of an operation table of the centralized control center, and a hydraulic support electrohydraulic controller and a remote controller of a coal mining machine are controlled by an intelligent inspection worker on a production site; the VR/AR control method is characterized in that an operator of a centralized control center controls through a virtual UGUI control panel, and an intelligent inspection worker in a production field controls through a multi-mode man-machine interaction channel.
The control priority planning follows the logic that the priority of a control system is taken as the main priority, the local operation information of the intelligent inspection personnel on the production site is greater than the operation information of the operation personnel of the centralized control center, and the problems of conflict resolution and integration among several control modes are considered.
The invention provides a man-made core HCPS man-machine co-fusion intelligent production system for a fully mechanized mining face, wherein an intelligent mining physical system is taken as a main body, is an executor of mining activity energy flow and material flow, and is a completer of mining activity; an information system composed of VR and AR becomes the leading factor, is the core of mining activity information flow, and helps people to perform necessary perception, cognition, analysis decision and control on a physical system to a great extent, so that the physical system operates in an optimal mode as far as possible; the remote cooperative staff are users and managers of the physical system and the information system, and the highest decision and control of the system are completed by two operators.
The role of the operator in the overall system will gradually shift from "operator" to "supervisor" as the most motivating factor for the mining system. Under the conditions of limited labor force, increased labor cost and higher safety pressure, personnel configuration is optimized, the matching between manual operation and machine operation is improved, and efficient cooperation is further realized.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. The utility model provides an use man-made intelligent production system that fuses is together adopted to full-mechanized working face HCPS man-machine which is as core which characterized in that: the remote cooperative system comprises remote cooperative workers, a VR information system, an AR information system and an intelligent mining physical system, wherein the remote cooperative workers comprise centralized control center operators and production site intelligent patrol operators, the centralized control center operators are located in an aboveground centralized control center, the global operation condition of a working face is monitored and mastered through multi-path signals, on-line visual supervision and intelligent remote centralized control on each production element are realized, and manual remote intervention is completed under the dangerous condition; the VR information system is a constructed high-simulation virtual mirror image of the fully mechanized coal mining face, is integrated in an underground centralized control center, and provides global three-dimensional visual state information of the fully mechanized coal mining face production system for operators of the centralized control center; the AR information system is a constructed virtual-real fusion channel of the fully mechanized mining working face, is integrated in the head-mounted AR equipment, and provides local virtual-real fusion operation and maintenance information of the fully mechanized mining working face production system for production site intelligent inspection personnel; the intelligent mining physical system comprises intelligent fully-mechanized mining face equipment.
2. The human-core fully mechanized mining face HCPS man-machine co-fusion intelligent production system of claim 1, wherein: the VR information system comprises a high-fidelity virtual three-dimensional scene, a data processing module, a knowledge model module and an information fusion calculation module, wherein the knowledge model module is embedded into the bottom layer of the VR information system, the information fusion calculation module fuses data preprocessed by the data processing module and a knowledge model in the knowledge model module, and the high-fidelity virtual three-dimensional scene is a constructed virtual fully-mechanized mining working face production system.
3. The human-centered fully mechanized mining face HCPS man-machine fusion intelligent production system of claim 2, wherein: the high-fidelity virtual three-dimensional scene comprises a fully mechanized coal mining face virtual equipment group and a fully mechanized coal mining face virtual operation space, a parent-child relationship of the equipment is established, and a physical engine is added to form a physical model of the complex fully mechanized coal mining face.
4. The human-core fully mechanized mining face HCPS man-machine co-fusion intelligent production system of claim 3, wherein: the AR information system comprises an equipment identification tracking module, a pose identification analysis module and a key operation and maintenance information virtual-real fusion module,
the equipment identification tracking module identifies and tracks equipment in the area where the intelligent inspection personnel on the production site belong to, determines which equipment is in the field of view, and ensures that the subsequent superposed virtual and real fused operation and maintenance information corresponds to the equipment one to one;
the pose recognition and analysis module carries out non-contact pose measurement on equipment in the area where the intelligent patrol personnel belong to the production field to acquire sensing information;
and the key operation and maintenance information virtual-real fusion module accesses the sensing information after the equipment type and the model are identified by the equipment identification tracking module, displays the key operation and maintenance information in the head-mounted AR equipment and superposes the key operation and maintenance information on the real equipment.
5. The human-centered fully mechanized mining face HCPS man-machine co-fusion intelligent production system of claim 4, wherein: the intelligent sensing module is responsible for effectively acquiring real-time data of the entity work of the fully mechanized coal mining face equipment and necessary information of environmental data of a production field, and acquiring, processing and transmitting the information;
the intelligent decision module is responsible for receiving the information acquired by the intelligent sensing module so as to realize data analysis and decision of the equipment;
and the intelligent cooperative control module is responsible for carrying out operation adjustment on the system according to a decision result of the intelligent decision module so as to realize the system target.
6. The human-core fully mechanized mining face HCPS man-machine-integration intelligent production system of claim 5, wherein: the centralized control center operator and the intelligent inspection personnel in the production field in the remote cooperative workers can interact with each other, and meanwhile, the information interaction can be respectively carried out with the VR information system, the AR information system and the intelligent mining physical system.
7. The human-core fully mechanized mining face HCPS man-machine-integration intelligent production system of claim 6, wherein: the centralized control center operators monitor the whole monitoring by utilizing the VR information system and carry out information prompt on intelligent inspection personnel on a production site, and the centralized control center operators are communicated remotely through the AR information system;
the centralized control center operator receives information from the intelligent mining physical system through video, image and data multi-channel signal monitoring, and can send a control instruction to the intelligent mining physical system through an entity button of the centralized control center console;
and the centralized control center operator receives information from the VR information system through the high-fidelity virtual three-dimensional scene and sends a control instruction to the VR information system through a virtual UGUI control panel in the VR information system.
8. The human-centered fully mechanized mining face HCPS man-machine-integration intelligent production system of claim 7, wherein: the intelligent inspection personnel in the production field directly receives information from the intelligent mining physical system through observation, and sends a control instruction to the intelligent mining physical system through a hydraulic support electrohydraulic controller and a coal mining machine remote controller configured by the intelligent mining physical system; and the intelligent inspection personnel in the production field receives information from the AR information system through the key operation and maintenance information virtual-real fusion module and sends a control instruction to the AR information system through the multi-mode man-machine interaction channel.
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| CN116291659A (en) * | 2023-05-24 | 2023-06-23 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116291659A (en) * | 2023-05-24 | 2023-06-23 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
| CN116291659B (en) * | 2023-05-24 | 2023-08-08 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
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