CN115547139A

CN115547139A - Coal mine underground automatic drilling machine virtual training system and method

Info

Publication number: CN115547139A
Application number: CN202211514963.4A
Authority: CN
Inventors: 马斌; 王天龙; 董洪波; 张阳阳; 范强; 彭光宇; 张甲迪; 刘奕琨
Original assignee: XI'AN RESEARCH INSTITUTE OF CHINA COAL RESEARCH INSTITUTE
Current assignee: XI'AN RESEARCH INSTITUTE OF CHINA COAL RESEARCH INSTITUTE
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2022-12-30
Anticipated expiration: 2042-11-30
Also published as: CN115547139B

Abstract

The invention discloses a coal mine underground automatic drilling machine virtual training system and a method, wherein the system comprises a drilling machine console, a computer and virtual training software installed in the computer; the method comprises the steps of creating a virtual scene and a drilling machine model, loading the drilling machine model into the virtual scene, binding the master-slave relation of the actions of all parts in the drilling machine model, and creating single-step and combined actions of the drilling machine to obtain a virtual training model of the drilling machine; associating the virtual training model of the drilling machine with a training system and a drilling machine console thereof; and carrying out automatic drilling machine virtual training under different drilling machine scenes. The invention can shorten the training period of the underground coal mine automatic drilling machine, reduce the labor cost of training and improve the interestingness and safety of training.

Description

Coal mine underground automatic drilling machine virtual training system and method

Technical Field

The invention relates to a system and a method for training a coal mine underground drilling machine, in particular to a system and a method for virtual training of an automatic drilling machine under different working conditions of a coal mine underground automatic drilling machine.

Background

The virtual reality technology is widely applied to virtual training of various industries, and is gradually applied to virtual training of underground coal mine equipment in recent years, such as a fully mechanized coal mining face equipment training system, a heading machine training system and the like.

Along with the development of automation and intellectualization of coal mines, underground coal mine tunnel drilling rigs (hereinafter referred to as drilling rigs) are rapidly developed. The drilling machine is developed from the original split drilling machine and the original crawler drilling machine to the present remote control drilling machine and the automatic drilling machine. The automatic drilling machine (hereinafter referred to as automatic drilling machine) for underground tunnels of coal mines improves the efficiency of coal mine drilling construction, reduces the labor intensity of workers, improves the construction safety and ensures the safe and efficient production of coal mines. On the other hand, the automatic drilling machine is an automatic device integrating electromechanical and hydraulic, and higher requirements are put forward for coal miners in the aspects of training, operation and maintenance of the automatic drilling machine. At present, the training of coal mine workers for the automatic drilling machine is the teaching operation of using a hand handle of the automatic drilling machine on the mine removal of field technicians. A large amount of time is wasted, and the phenomena of damage of a drilling machine and the like can occur when a novice user operates improperly, so that the training period is restricted. And the actual operation is no-load operation, so that workers cannot be familiar with the operation conditions of the automatic drilling machine under different geological conditions. Therefore, the development of an automatic drilling machine training system aiming at different working conditions has important significance. At present, relatively few underground automatic drilling machines for coal mines in the market exist, and an automatic drilling machine training system which can be used for simulating various geological conditions does not exist.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a virtual training system and method for an underground coal mine automatic drilling machine, which solve the problems of boring theoretical training and high training difficulty of the underground coal mine automatic drilling machine.

In order to solve the technical problems, the invention adopts the following technical scheme:

a coal mine underground automatic drilling machine virtual training system comprises a drilling machine console, a computer and virtual training software installed in the computer;

the drilling machine console is used for inputting a drilling machine control instruction and communicating with a computer and comprises an input component, a circuit module and a communication module; the input component is arranged on the control panel and comprises a knob and a handle for inputting analog quantity, and a switch key and a button for inputting switching value; the communication module is used for controlling the transmission of instructions and the downloading of programs, and the circuit module is used for completing the acquisition and output of analog quantity and switching value;

the virtual training software comprises a virtual scene building module, a drilling machine scene operation module, a drilling machine model programming module and a virtual disassembling and assembling module; the virtual scene building module is used for loading and building a drilling machine model and a drilling site scene through light, a camera and a renderer, wherein the drilling site scene comprises four types of normal stratum, water-bearing stratum, high gas stratum and high rock burst stratum; the drilling machine scene operation module is used for selecting one of four types of drilling site scenes; the virtual disassembling and assembling module is used for disassembling and assembling the whole drilling machine model and all parts; the drilling machine model programming module is used for realizing the single-step action of the drilling machine and the full-automatic action of the drilling machine through the drilling machine action programming.

The invention also comprises the following technical characteristics:

specifically, the input components are arranged on the control panel as follows: the system comprises a display area, a starting area, a state selection area, an emergency stop area, a fishing and breaking-out area, an inclination angle and azimuth lifting control area, a transporter action control area, a rod bin mechanical arm control area, a host mechanical arm control area, a rod bin position automatic selection area, a gripper breaking-out control area, a crawler walking control area, a construction state control area and a main pump control area.

Specifically, the display area is provided with a fault indicator lamp, a communication indicator lamp and a power indicator lamp;

the starting area is provided with a starting key, a power supply key, a pause key, a previous step key and a next step key;

the state selection area is provided with a driller/standby/angle modulation walking switch key, a full-automatic/manual/semi-automatic switch key, a rod adding/rod removing switch key and an upward hole/downward hole switch key;

the emergency stop area is provided with an emergency stop button;

the fishing and breaking area is provided with a fishing and breaking point/fishing and breaking point switching key;

the dip angle and azimuth angle lifting control area is provided with an azimuth angle increasing/azimuth angle decreasing switching key, a dip angle increasing/dip angle decreasing switching key and a lifting and lifting/lifting lowering switching key;

the transporter action control area is provided with a manipulator/rod bin position switching key and a limiting extending and retracting key;

the control area of the mechanical arm of the rod bin is provided with a vertical lifting switching key, a horizontal increasing and decreasing switching key, a horizontal vertical automatic switching key and a paw II grasping and releasing switching key;

the control area of the mechanical arm of the host machine is provided with a large arm inclination angle increasing/decreasing switching key, a small arm extending/retracting switching key, a small arm forward/backward swinging switching key and a paw I clamping/loosening switching key;

the automatic rod bin position selection area is provided with a horizontal/vertical selection switching key, an additional key and a reduction key;

the gripper shackle control area is provided with a front gripper clamping/loosening switching key, a rear gripper clamping/loosening switching key and a shackle oil cylinder extending/retracting switching key;

the crawler walking control area is provided with a left crawler advancing/retreating key and a right crawler advancing/retreating key;

the construction state control area is provided with an overflow pressure adjusting knob, a pressure reducing pressure adjusting knob, a forward rotation speed adjusting knob, a reverse rotation speed adjusting knob, a mud pump pressure adjusting knob, an auxiliary pump feeding/pulling switching key, a screwing/unscrewing switching key, a water supply/water cut-off switching key, a forward rotation/reverse rotation switching key, a motor holding/loosening switching key and a forward rotation/reverse rotation pressure limiting switching key;

the main pump control area is provided with a power head forward rotation/reverse rotation button and a main pump feeding/pulling button.

A method for constructing a virtual training model of an underground coal mine automatic drilling machine comprises the following steps:

step a1, using a virtual scene building module to create a basic scene: loading a drill site scene, a camera, light and a renderer by utilizing scene, camera, light and render modules in a virtual scene building module respectively;

step a2, modeling a drilling machine model by using a virtual disassembly and assembly module, dividing components in the drilling machine model into a moving component and a static component, establishing an external outline of the static component, keeping the external dimension, simplifying the internal treatment, and disassembling the moving component for independent modeling;

step a3, loading the drilling machine model in the step a2 into the basic scene established in the step a1, and setting parameters of a camera, light and a renderer in the basic scene according to the loaded drilling machine model;

step a4, binding the master-slave relation of the actions of each part in the drilling machine model:

step a41, binding the master-slave relation of the actions of the crawler body: when the crawler body moves, the driving wheel moves to drive the crawler sheet and the driven wheel to move;

step a42, binding host action master-slave relationship: the whole host machine moves up and down on the upright post and is realized through a lifting oil cylinder; when the power head moves back and forth on the feeding device, the power head can drive the main shaft and the driving drill rod to rotate clockwise or anticlockwise, the clamp holder and the shackle device oil cylinder at the front part of the feeding device can extend out and retract, and the shackle device is driven to rotate when the shackle device oil cylinder extends out;

step a43, binding master-slave relation of actions of the mechanical arm of the host computer: the main machine large arm can rotate around the rotary support center, and the small arm assembly is driven to integrally rotate through the swing oil cylinder during rotation; the paws of the small arms can extend and retract under the driving of the telescopic oil cylinders, and can rotate to realize the opening and closing of the paws;

step a44, binding the master-slave relation of the actions of the mechanical arm of the rod bin: the whole rod bin mechanical arm can move left and right on the rod bin, a small arm of the rod bin mechanical arm can drive a paw to move up and down when the oil cylinder extends and retracts, and the paw can grab a drill rod in the rod bin;

step a45, binding the action master-slave relation of the transporter: the sliding part of the transporter can slide left and right under the driving of the transporter oil cylinder; the limiting block of the transporter can extend and retract under the driving of the limiting block oil cylinder;

step a5, programming the drill model in a single-step motion manner: the position of each part can be adjusted by changing coordinate parameters of each part of the drilling machine model in the x direction, the y direction and the z direction, two degrees of freedom are respectively horizontally moved and rotated in the three directions, and the movement and/or rotation of each part of the drilling machine model in a certain direction can be realized by adjusting the six degrees of freedom;

step a6, programming the combined action of the drilling machine model: combining the single-step actions of the drilling machine models in the step a5 to realize the combined action of the drilling machine models according to the master-slave relation of each part in the drilling machine models bound in the step a 4; and finally obtaining the coal mine underground automatic drilling machine virtual training model.

Specifically, the static part in the step a2 is a part which keeps static when the drilling machine moves, and comprises an oil tank, a console, a motor pump set, a welding vehicle body, a clamp holder main body, a controller, an electromagnetic starter, a rod bin and an azimuth angle rotary table;

the moving part comprises a host, a host mechanical arm, a rod bin mechanical arm, a transporter, a crawler body and a drill rod; the moving components on the main machine comprise a gripper oil cylinder, a gripping slip, a shackle device main body, a shackle device oil cylinder, a shackle slip, a shackle oil cylinder, a feeding oil cylinder, a planker, a power head main shaft, a driving drill rod and a lifting oil cylinder; the moving parts on the mechanical arm of the host machine comprise a gripper, a small arm component, a small arm extending oil cylinder, a swinging oil cylinder, a large arm component and a large arm rotary support; the moving part of the transporter comprises a transporter oil cylinder, a transporter limiting block oil cylinder and a transporter sliding part; the moving part of the rod bin mechanical arm comprises a rod bin mechanical hand cylinder barrel assembly, a cross beam, a paw connecting rod, a hand grip and a rod bin mechanical hand oil cylinder; the moving parts of the crawler body comprise a driving wheel, a driven wheel and a crawler shoe.

A method for associating a virtual training model of an underground coal mine automatic drilling machine with a drilling machine console is characterized in that the drilling machine virtual training model constructed by the method for constructing the virtual training model of the underground coal mine automatic drilling machine is associated with a training system and the drilling machine console thereof; the method comprises the following steps:

b1, when the driller/standby/angle modulation walking switching key is operated to be positioned at a middle standby position, the drilling machine model is not moved;

b2, operating the driller/standby/angle modulation walking switching key to be in the angle modulation walking position, outputting an angle modulation/walking control command by a circuit module of a drill control platform, transmitting the angle modulation/walking control command to virtual training software through a communication module, and executing an angle modulation walking action by a drill model;

and b3, operating the driller/standby/angle modulation walking switching key to be at the driller position, then operating the full-automatic/manual/semi-automatic switching key, when the full-automatic/manual/semi-automatic switching key is at different positions, outputting the control command by a circuit module of a drill console, then transmitting the control command to virtual training software through a communication module, and executing corresponding drilling operation by the drill model.

Specifically, in the step b2, the step of executing the angle-adjusting walking action by the drill model includes:

the left crawler forward/backward key and the right crawler forward/backward key are pushed, control instructions can be output by a circuit module of a drilling machine console, then the control instructions are transmitted to virtual training software through a communication module to drive the crawler to walk, and through the binding action master-slave relation of the crawler body, the crawler body driving wheel moves forwards or backwards to drive the crawler sheet and the driven wheel to move;

operating a lifting/lowering switching key, wherein a control instruction can be continuously output by a circuit module of a drilling machine console to obtain a current value, then the current value is transmitted to virtual training software through a communication module to drive a host to integrally lift or lower, and all parts on the host ascend or descend together with the host through the action master-slave relation of the bound host; when the azimuth increasing/reducing switching key is operated, the host integrally rotates; when the inclination angle increasing/decreasing switching key is operated, the feeding device rotates, and the power head, the clamp holder and the shackle device on the feeding device rotate together with the feeding device.

Specifically, in the step b3, the step of executing the corresponding drilling operation by the drill model includes:

when the full-automatic/manual/semi-automatic switching key is switched to be manual, when a main pump feeding/pulling key is operated, the control instruction is output by a circuit module of a drill console and then is transmitted to virtual training software through a communication module, and a power head of a drill model moves on a feeding device to realize feeding action; when the forward/reverse rotation key of the power head is operated, the control instruction is output by a circuit module of a drilling machine console and then is transmitted to virtual training software through a communication module, and a main shaft of the power head of a drilling machine model drives a driving drill rod to rotate;

when the switching full-automatic/manual/semi-automatic switching key is in semi-automatic state, a control instruction is output by a circuit module of a drill console and is transmitted to virtual training software through a communication module, and a drill model executes corresponding drilling operation under a set program;

when the full-automatic/manual/semi-automatic switching key is switched to be in full-automatic state, a control instruction is output by a circuit module of a drill console and is transmitted to the virtual training software through a communication module, and the drill model can execute complete automatic drilling operation according to a combined program set in the virtual training software.

The method for the virtual training of the underground automatic drilling machine of the coal mine can realize the virtual training of the automatic drilling machine under different scenes after the virtual training model and the drilling machine console are associated by the method for associating the virtual training model and the drilling machine console of the underground automatic drilling machine of the coal mine, and comprises the following steps:

the driller/standby/angle modulation walking switching key of the drill console is arranged at the angle modulation walking position, and the azimuth angle increasing/azimuth angle decreasing switching key, the inclination angle increasing/inclination angle decreasing switching key and the lifting rising/lifting lowering switching key on the drill console are operated to realize the adjustment of the azimuth, inclination angle and lifting of a drill model; then the driller/standby/angle modulation walking switching key is arranged at the driller position, and the drilling operation under different scenes is as follows:

(1) When the drill site scene in the virtual training model is loaded as a normal stratum:

when the full-automatic/manual/semi-automatic switching key is arranged at a manual position, a feeding device, a power head, a main machine mechanical arm and a rod bin mechanical arm of a drilling machine model respectively act in sequence according to the operation sequence of an operator under the control of a main pump feeding/pulling key, an auxiliary pump feeding/pulling switching key, a power head forward/reverse rotation key, a paw I clamping/loosening switching key, a paw II clamping/loosening switching key, a large arm inclination angle increasing/decreasing switching key, a small arm extending/retracting switching key and a small arm forward/reverse swinging switching key;

when the full-automatic/manual/semi-automatic switching key is arranged at the full-automatic position, the rod adding/unloading and the upward hole/downward inclined hole are selected through the rod adding/unloading switching key and the upward hole/downward hole switching key, and finally the starting key is pressed to enable the drilling machine model to carry out full-automatic drilling construction under a set program;

(2) When the drill site scene in the virtual training model is loaded into a high gas stratum:

when the full-automatic/manual/semi-automatic switching key is arranged at a manual position or a full-automatic position, if abnormal prompt of 'gas is large and feeding is difficult' occurs, the feeding of the drilling machine model is slow or immovable, at the moment, the interface monitoring parameter is that the displacement speed of the power head is very small or 0, the moving speed of the power head is very small or unchanged, and the feeding pressure keeps the maximum set parameter; the method for processing the abnormity comprises the steps of operating a full-automatic/manual/semi-automatic switch key to be manually operated, operating an auxiliary pump feeding/pulling switch key to be positioned at a feeding position, clockwise adjusting a pressure reduction adjusting knob until the driving power head normally moves, monitoring parameters to display that the displacement of the power head is increased, the moving speed is increased, the feeding pressure is reduced, and then, the manual and full-automatic operations of the drilling machine can be normally executed; if the abnormal prompt of 'gas is large and drill jamming' occurs, the drilling machine model drilling machine is clamped in a rotating mode, the drilling machine model does not act when the power head is operated to rotate forwards or backwards through a key, at the moment, the interface monitoring parameter is that the rotating speed of the power head is 0, and the rotating pressure reaches the maximum value; the exception handling method comprises the following steps: operating a full-automatic/manual/semi-automatic switching key to be manually operated, operating a main pump to feed/pull a key back and forth, operating a water supply/water cut-off switching key to be arranged at a water supply position, and operating a forward/reverse rotation key of the power head at the same time until the power head starts to rotate to indicate that the drill sticking treatment is successful, and continuing to operate according to normal operation logic;

if the abnormal processing method is not successfully executed within the given time, the system reminds the use of strong pulling processing, when the strong pulling is performed, firstly, the interface reminds whether the stability is supported in place or not, after the main pump is selected to be supported in place, the main pump feeding/pulling button is operated, the strong pulling is performed by using the pulling all the time, at the moment, the monitoring interface displays the pulling pressure as the maximum value, if the stuck drill is removed, the pulling pressure is reduced to be normal, the power head forward/reverse rotation button is operated, the power head rotates normally, and the subsequent normal operation can be continued; when the monitoring interface has 'gas overrun, stop construction', a stop button needs to be operated, and the handles are all arranged in the middle position;

(3) When a drill site scene in the virtual training model is loaded to a high rock burst stratum:

when the full-automatic/manual/semi-automatic switching key is manually or fully automatically operated, if the interface has 'impact ground pressure is large and feeding is difficult', the feeding of the drilling machine model is slow or the feeding is not moved, at the moment, the interface monitoring parameters are that the displacement speed of the power head is very small or 0, the moving speed of the power head is very small or unchanged, and the feeding pressure keeps the maximum set parameter unchanged; the method for processing the abnormity comprises the steps of operating a full-automatic/manual/semi-automatic switch key to be manually operated, operating an auxiliary pump feeding/pulling switch key to be positioned at a feeding position, clockwise adjusting a pressure reduction adjusting knob until the driving power head normally moves, displaying the displacement increase, the movement speed increase and the feeding pressure decrease of the power head on a monitoring interface, and then normally executing the manual and full-automatic operation of the drilling machine; if 'rock burst is large and drill jamming occurs', the drill model is clamped in a rotating mode, the drill model does not act when the power head is operated to rotate forwards or backwards through a key, the interface monitoring parameter is that the rotating speed of the power head is 0, and the rotating pressure reaches the maximum value; the exception handling method comprises the following steps: operating a full-automatic/manual/semi-automatic switching key to be manually operated, operating a main pump to feed/pull a key back and forth, operating a water supply/water cut-off switching key to be arranged at a water supply position, operating a power head forward rotation/reverse rotation key to rotate forward at the same time until the power head model starts to rotate to indicate that the drill clamping treatment is successful, and continuing to operate according to normal operation logic;

if the abnormal processing method is not successfully executed within the given time, the system reminds the use of strong pulling processing, when the strong pulling is performed, firstly, the interface reminds whether the stability is supported in place or not, after the main pump is selected to be supported in place, the main pump feeding/pulling button is operated, the strong pulling is performed by using the pulling all the time, at the moment, the monitoring interface displays the pulling pressure as the maximum value, if the stuck drill is removed, the pulling pressure is reduced to be normal, the power head forward/reverse rotation button is operated, the power head rotates normally, and the subsequent normal operation can be continued; when the 'ground pressure is abnormal and construction is stopped' on the monitoring interface, a stop button needs to be operated, the handles are all placed in the middle position, and the operation is finished;

(4) When a drill site scene in the virtual training model is loaded into a water-bearing stratum:

popping up a selection interface during drilling construction, selecting water/wind as a flushing medium, and if water is selected as the flushing medium, the water quantity is not large and drilling is performed normally; if the water quantity is large, reminding that the construction can be carried out only by installing a stop valve at the orifice; if wind is selected as the flushing medium, the water quantity is not large, and drilling is carried out normally; if the water quantity is large, the user can be reminded that the slag cannot be discharged and the construction is difficult, the stop button needs to be operated, the handles are all placed in the middle position, and the operation is finished.

Specifically, when a drilling site scene in the virtual training model is loaded to a normal stratum for full-automatic drilling construction, if the stratum is drilled, the pressure reduction pressure adjusting knob is operated anticlockwise, the moving speed of the power head is reduced, the forward rotation speed adjusting knob is adjusted anticlockwise, and the rotating speed of the power head is reduced; if the coal bed is prompted to enter, the pressure reduction pressure adjusting knob is operated clockwise, the moving speed of the power head model is increased, the forward rotation speed adjusting knob is adjusted clockwise, and the rotating speed of the power head is increased.

Compared with the prior art, the invention has the following technical effects:

according to the invention, drilling machine scenes under different geological conditions are constructed, and the construction conditions of the drilling machine under different working conditions are simulated, so that an operator can master the operation and accident handling capacity of the automatic drilling machine.

The invention can shorten the training period of the underground coal mine automatic drilling machine, reduce the labor cost of training and improve the interestingness and safety of training.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic view of a rig console of the present invention;

FIG. 3 is a flow chart of virtual scene construction and rig model programming of the present invention;

fig. 4 is a flow chart of the driving of the automatic drilling machine under different drilling fields.

The reference numerals mean:

1-1, arranging a fault indicator lamp, 1-2, a communication indicator lamp and 1-3, a power indicator lamp and 1-3 in the display area; 2-1, the starting area is provided with a starting key, 2-2 power supply keys, 2-3 pause keys, 2-4 previous step keys and 2-5 next step keys; 3-1, a driller/standby/angle modulation walking switching key is arranged in the state selection area, 3-2, a full-automatic/manual/semi-automatic switching key, 3-3, a rod adding/rod unloading switching key and 3-4, an upward hole/downward hole lifting switching key are arranged in the state selection area; 4-1, arranging an emergency stop button in the emergency stop area; 5-1, a shackle finding point/shackle finding point switching key is arranged in the shackle finding area; 6-1. The dip angle azimuth lifting control area is provided with an azimuth angle increasing/reducing switching key, 6-2. The dip angle increasing/reducing switching key and 6-3. The lifting/lifting reducing switching key; 7-1, a manipulator/rod bin position switching key is arranged in the transporter action control area, and 7-2, a limit extending and retracting key is arranged in the transporter action control area; 8-1. The control area of the mechanical arm of the rod bin is provided with a vertical lifting switching key, 8-2. A horizontal increasing and decreasing switching key, 8-3. A horizontal vertical automatic switching key, and 8-4. A paw II grasps and releases the switching key; 9-1, a main machine mechanical arm control area is provided with a large arm inclination angle increasing/decreasing switching key, 9-2, a small arm extending/retracting switching key, 9-3, a small arm forward/backward swinging switching key and 9-4, a paw I clamps/releases the switching key; 10-1, a horizontal/vertical selection switching key is arranged in the automatic rod bin position selection area, 10-2, a key is added, and 10-3, a key is reduced; 11-1. The gripper shackle control area is provided with a front clamp clamping/loosening switching key, 11-2. The rear clamp clamping/loosening switching key and 11-3. The shackle oil cylinder extension/retraction switching key; 12-1. The crawler travel control area is provided with a left crawler forward/backward key, and 12-2. A right crawler forward/backward key; 13-1. The construction state control area is provided with an overflow pressure adjusting knob, 13-2. A pressure reducing pressure adjusting knob, 13-3. A forward rotation speed adjusting knob, 13-4. A reverse rotation speed adjusting knob, 13-5. A mud pump pressure adjusting knob, 13-6. An auxiliary pump feeding/pulling switching key, 13-7. A screwing/unscrewing switching key, 13-8. A water supply/water cut-off switching key, 13-9. A forward rotation/reverse rotation switching key, 13-10. A motor clasping/loosening switching key, and 13-11. A forward rotation/reverse rotation pressure limiting switching key; 14-1, a power head forward rotation/reverse rotation button is arranged in the main pump control area, and 14-2, a main pump feeding/pulling button is arranged in the main pump control area.

Detailed Description

The following embodiments of the present invention are provided, and it should be noted that the present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention are within the protection scope of the present invention.

Example 1:

the embodiment provides a virtual training system for an automatic underground coal mine drilling machine, which comprises a drilling machine console, a computer and virtual training software installed in the computer, as shown in fig. 1 and 2;

the drilling machine console is used for inputting drilling machine control instructions and communicating with a computer and comprises an input component, a circuit module and a communication module; the input component is arranged on the control panel and comprises a switch key, a relay and a button for inputting analog quantity and switching value; the device specifically comprises 4 proportional handles, 5 potentiometers, 7 keys, 28 shaking switches, 1 scram switch and 3 indicator lamps; the communication module is used for controlling the transmission of instructions and the downloading of programs and comprises an RS485-USB module and a DB9 module; specifically, the RS485-USB module is connected with a USB port of a computer by a USB data line, so that the serial port communication between a control console of the drilling machine and the computer can be realized; the circuit module is used for completing acquisition and output of analog quantity and switching value and comprises an STM32 series main chip, an analog signal processing circuit, a power management module, an RS485 bus isolation module and a DB9 connector; specifically, the input components of the drilling machine console are distributed on the control panel as follows: the system comprises a display area, a starting area, a state selection area, an emergency stop area, a fishing and breaking-out area, an inclination angle and azimuth lifting control area, a transporter action control area, a rod bin mechanical arm control area, a host mechanical arm control area, a rod bin position automatic selection area, a gripper breaking-out control area, a crawler walking control area, a construction state control area and a main pump control area. The display area is provided with a fault indicator lamp 1-1, a communication indicator lamp 1-2 and a power indicator lamp 1-3; the starting area is provided with a starting key 2-1, a power supply key 2-2, a pause key 2-3, a previous step key 2-4 and a next step key 2-5; the state selection area is provided with a driller/standby/angle modulation walking switch key 3-1, a full-automatic/manual/semi-automatic switch key 3-2, a rod adding/rod unloading switch key 3-3 and an upward hole/downward hole switch key 3-4; the emergency stop area is provided with an emergency stop button 4-1; the fishing and breaking area is provided with a fishing and breaking point/fishing and breaking point switching key 5-1; the dip angle azimuth lifting control area is provided with an azimuth angle increasing/decreasing switching key 6-1, a dip angle increasing/decreasing switching key 6-2 and a lifting/lowering switching key 6-3; the action control area of the transporter is provided with a manipulator/rod bin position switching key 7-1 and a limiting extending and retracting key 7-2; the control area of the mechanical arm of the rod bin is provided with a vertical lifting switch key 8-1, a horizontal increasing and decreasing switch key 8-2, a horizontal and vertical automatic switch key 8-3 and a paw II grasping and loosening switch key 8-4; the main machine mechanical arm control area is provided with a large arm inclination angle increasing/decreasing switching key 9-1, a small arm extending/retracting switching key 9-2, a small arm forward/backward swinging switching key 9-3 and a paw I clamping/loosening switching key 9-4; the automatic selection area of the rod bin position is provided with a horizontal/vertical selection switch key 10-1, an increase key 10-2 and a decrease key 10-3; the gripper shackle control area is provided with a front gripper clamping/unclamping switching key 11-1, a rear gripper clamping/unclamping switching key 11-2 and a shackle oil cylinder extending/retracting switching key 11-3; the crawler traveling control area is provided with a left crawler advancing/retreating button 12-1 and a right crawler advancing/retreating button 12-2; the construction state control area is provided with an overflow pressure adjusting knob 13-1, a pressure reducing pressure adjusting knob 13-2, a forward rotation speed adjusting knob 13-3, a reverse rotation speed adjusting knob 13-4, a mud pump pressure adjusting knob 13-5, an auxiliary pump feeding/pulling switching key 13-6, a screwing/unscrewing switching key 13-7, a water supply/water cut-off switching key 13-8, a forward rotation/reverse rotation switching key 13-9, a motor holding/loosening switching key 13-10 and a forward rotation/reverse rotation pressure limiting switching key 13-11; the main pump control area is provided with a power head forward/reverse rotation button 14-1 and a main pump feeding/pulling button 14-2.

The computer is used for displaying a training interface, communicating with a drilling machine console and inputting data; more specifically, a display of the computer is used for displaying a training interface, an RS485-USB module of the computer is used for communicating with a drilling machine console, and a mouse keyboard of the computer is used for data input;

the computer, the mouse, the keyboard, the display and the drilling machine console form a hardware part of the training system, the drilling machine console core comprises an STM32F103ZET6 chip, and the main chip outputs 3.3VDC voltage to stably supply power to a USB port of the communication part through the power management module; the UART port of the main chip is a serial communication interface and is connected with the RS485-USB converter through a communication circuit isolation module to realize serial communication of control instructions; the SWD module of the main chip is used for connecting a DB9 connector and downloading a console program; the main chip can realize the input and output of components through the ADC module and the GPIO module: the handle and the potentiometer are used for completing the input of analog quantity through the ADC module through the signal processing circuit, the key switch is used for realizing the input of switching value through the GPIO module, and meanwhile, the GPIO module can output the switching value to be used for lightening the LED indicator lamp; the console is divided into a plurality of areas according to the handle, the keys, the switch and the LED indicator lamp.

The virtual training software comprises a virtual scene building module, a drilling machine scene operation module, an automatic drilling machine operation programming module, a virtual disassembly and assembly module and a virtual training module; specifically, in the embodiment, the virtual training software is used as a software part and is built in a browser by using a three.js library;

the virtual scene building module is used for building a drilling machine model and a drilling site scene in a loading mode through light, a camera and a renderer, wherein the drilling site scene comprises four types of normal stratum, water-bearing stratum, high gas stratum and high rock burst stratum; the drilling machine scene operation module is used for selecting one of four types of drilling site scenes; the virtual dismounting module is used for dismounting the whole drilling machine model and all parts; the whole machine of the drilling machine model is disassembled and assembled into main parts of the automatic drilling machine, and the parts display different color areas when the parts are clicked by a mouse and are separated from the whole drilling machine and provided with the text description of the parts; the disassembly and assembly of the parts are to sequentially disassemble and assemble main parts of the automatic drilling machine, such as a main machine, a rod taking manipulator, a rod grabbing manipulator and the like, and the disassembly and assembly must be performed according to a specified sequence, otherwise, the disassembly and assembly cannot be completed; the drilling machine model programming module is used for realizing the single-step action and the full-automatic action of the drilling machine through the drilling machine action programming; in the embodiment, the virtual training software further comprises a virtual training examination module which comprises a theoretical examination module and an operation examination module, wherein the theoretical examination is carried out aiming at the structure, hydraulic principle, electric control component, maintenance and operation process of the automatic drilling machine; in the operation test, an examiner operates the console to simulate the action of the automatic drilling machine and performs the test of the flow operation of the automatic drilling machine.

Example 2:

the embodiment provides a method for constructing a virtual training model of an underground coal mine automatic drilling machine, which comprises the following steps:

step a1, creating a basic scene by using a three. Respectively loading a drill site scene, a camera, light and a renderer by utilizing scene, camera, light and renderer modules in a three.js software virtual scene building module; the renderer can designate the whole page window as a rendering area through window size setting; setting an internal reference visual field angle, an aspect ratio, a near section and a far section in the camera module; setting the type, brightness degree and light color of internal reference light in the light module;

step a2, modeling a drilling machine model by using an MAYA software virtual disassembly and assembly module, carrying out 3D modeling topology on the drilling machine model established by industrial design software by using MAYA in order to reduce the size of the model and ensure that the model is consistent with the actual size, simplifying and omitting internal unimportant parts, ensuring the size and the size of the model, classifying all parts in the drilling machine model into a moving part and a static part, establishing external outlines for all parts of the static part, keeping the outline size, simplifying the internal part, and disassembling all parts of the moving part for independent modeling; specifically, the static part in the step a2 is a part which keeps static when the drilling machine moves and comprises an oil tank, a console, a motor pump set, a welding vehicle body, a clamp holder main body, a controller, an electromagnetic starter, a rod bin and an azimuth angle rotary table; the moving parts comprise a host, a host mechanical arm, a rod bin mechanical arm, a transporter, a crawler body and a drill rod; the moving components on the main machine comprise a gripper oil cylinder, a gripping slip, a shackle device main body, a shackle device oil cylinder, a shackle slip, a shackle oil cylinder, a feeding oil cylinder, a planker, a power head main shaft, a driving drill rod and a lifting oil cylinder; the moving part on the main machine mechanical arm comprises a gripper, a small arm assembly, a small arm extending oil cylinder, a swinging oil cylinder, a large arm assembly and a large arm rotary support; the moving part of the transporter comprises a transporter oil cylinder, a transporter limiting block oil cylinder and a transporter sliding part; the moving part of the rod bin mechanical arm comprises a rod bin mechanical hand cylinder barrel assembly, a cross beam, a paw connecting rod, a hand grip and a rod bin mechanical hand oil cylinder; the moving parts of the crawler body comprise a driving wheel, a driven wheel and a crawler sheet.

Step a3, loading the drilling machine model in the step a2 into the basic scene established in the step a1 by using a loader module in three.js software, and setting a camera, light and renderer parameter in the basic scene according to the loaded drilling machine model;

step a4, binding the master-slave relationship of the actions of each part in the drilling machine model by using three.

Step a41, binding the master-slave relation of the actions of the crawler body: when the crawler body moves, the driving wheel moves to drive the crawler sheet and the driven wheel to move, and other components on the crawler body move together with the crawler;

step a42, binding host action master-slave relationship: the host machine integrally moves up and down on the upright post and is realized by a lifting oil cylinder; when the power head moves back and forth on the feeding device, the power head can drive the main shaft and the driving drill rod to rotate clockwise or anticlockwise, the clamp holder and the shackle device oil cylinder at the front part of the feeding device can extend out and retract, and the shackle device is driven to rotate when the shackle device oil cylinder extends out;

step a43, binding the master-slave relation of the actions of the mechanical arm of the host machine: the main machine large arm can rotate around the rotary support center, and the small arm assembly is driven to integrally rotate through the swing oil cylinder during rotation; the paw of the small arm can extend and retract under the driving of the telescopic oil cylinder, and the paw can rotate to realize the opening and closing of the paw;

step a45, binding the action master-slave relationship of the transporter: the sliding part of the transporter can slide left and right under the driving of the transporter oil cylinder; the transporter limiting block can extend out and retract under the driving of the limiting block oil cylinder;

step a5, programming the single-step action of the drilling machine model: the position of each part can be adjusted by changing coordinate parameters of each part of the drilling machine model in the x direction, the y direction and the z direction, two degrees of freedom are respectively horizontally moved and rotated in the three directions, and the movement and/or rotation of each part of the drilling machine model in a certain direction can be realized by adjusting the six degrees of freedom;

step a6, programming the combined action of the drilling machine model: combining the single-step actions of the drilling machine models in the step a5 to realize the combined action of the drilling machine models according to the master-slave relation of each part in the drilling machine models bound in the step a 4; specifically, through timer nesting, the action of the former timer is finished, and the action of the next timer is started; and finally obtaining the coal mine underground automatic drilling machine virtual training model.

Specifically, as shown in fig. 3, in this embodiment, a basic scene is first created, which includes a scene, a camera, and a renderer object, and is loaded by respectively using scene, camera, renderer; after the path is set, loading the model into a memory and then loading the model into a three-dimensional scene; and adjusting the positions of the components by utilizing the movement and rotation of the model in the x, y and z directions for 6 degrees of freedom, constructing a tree structure according to a logical relation, dividing the structure according to the divided components of the drilling machine, and assembling the whole drilling machine. And setting a camera, a controller and a scaling in the scene to achieve the display effect of the drilling machine and the scene. Constructing a single-step action of the drilling machine: aiming at the movement and rotation actions of the drilling machine, the coordinates and the angle of the model are changed through a timer to realize single-step action; and after the single-step action is finished, the independent motion actions are combined according to the operation logic of the drilling machine to realize the full-automatic action. And finally, detecting whether a control instruction sent by the serial port is received by the software, if so, executing related actions, and if not, keeping the model in a static state.

Example 3:

the embodiment provides a method for associating a virtual training model of an underground coal mine automatic drilling machine with a drilling machine console, which associates the virtual training model of the drilling machine constructed by the method for constructing the virtual training model of the underground coal mine automatic drilling machine in the embodiment 2 with the training system and the drilling machine console in the embodiment 1; the method comprises the following steps:

b2, operating a driller/standby/angle modulation walking switching key to be in an angle modulation walking position, outputting an angle modulation/walking control command through a GPIO (general purpose input/output) interface of an STM32 series main chip of a circuit module of a drilling machine console, transmitting the angle modulation/walking control command to virtual training software through an RS485-USB (Universal Serial bus) module of a communication module, and executing an angle modulation walking action by a drilling machine model; specifically, in the step b2, the step of executing the angle-adjusting walking action by the drilling machine model comprises the following steps:

the left track advancing/retreating key and the right track advancing/retreating key are pushed, a control command can be output by an ADC (analog to digital converter) interface of an STM32 series main chip of a circuit module of a drilling machine console, and then is transmitted to virtual training software through an RS485-USB (Universal Serial bus) module of a communication module to drive the track to walk, when an advancing or retreating handle is pushed to a limit position at the same time, the output current value of the STM32 series main chip is the largest, through the binding track vehicle body action master-slave relation, a driving wheel of the track vehicle body starts to move forwards or backwards at the maximum speed to drive a track sheet and a driven wheel to act, and meanwhile, other parts on the track vehicle body realize that other parts move at the same speed along with the track vehicle body through the binding master-slave relation;

operating a lifting/lowering switching key, wherein a control instruction can be transmitted to virtual training software through a communication module by an STM32 series main chip of a circuit module of a drilling machine console to continuously output a current value, the current value is transmitted to the virtual training software through the communication module to drive the host to integrally lift or lower, all parts on the host move in a master-slave relationship through the bound host, and sub parts such as a feeding device, a power head, a clamp holder, a shackle device and the like lift or lower together with the host; when an azimuth angle increasing/reducing switching key is operated, the whole host rotates by taking the Z axis of the rotary support model as a rotating axis, the whole host rotates clockwise around the Z axis when the azimuth angle increases, and the whole host rotates anticlockwise around the Z axis when the azimuth angle reduces; when the inclination angle increasing/decreasing switching key is operated, the feeding device starts to rotate by taking the X axis of the rotary support model on the angle adjusting device as the center, the rotating range is-20 degrees to +90 degrees, and the power head, the clamp, the shackle device and the feeding device on the feeding device are bound to keep rotating together in a master-slave relationship.

B3, operating the driller/standby/angle modulation walking switching key to be at the driller position, then operating the full-automatic/manual/semi-automatic switching key, when the full-automatic/manual/semi-automatic switching key is at different positions, outputting the control command by a circuit module of a drill console, then transmitting the control command to virtual training software through a communication module, and executing corresponding drilling operation by the drill model; specifically, in step b3, the drilling machine model performs the corresponding drilling operation, which includes:

when the full-automatic/manual/semi-automatic switching key is switched to be manual, when a main pump feeding/pulling key is operated, the control instruction is output by a circuit module of a drill console and then is transmitted to virtual training software through a communication module, a feeding oil cylinder of a drill model extends out to drive a power head to move on a feeding device to realize feeding action, the larger the current value output by the circuit module is, the higher the feeding speed is, the movement is stopped when the displacement of the oil cylinder reaches the limit, and at the moment, the feeding pressure reaches the maximum value; when a forward rotation/reverse rotation key of the power head is operated, the control instruction is output by a circuit module of a drilling machine console and then is transmitted to virtual training software through a communication module, a main shaft of the power head of a drilling machine model drives a driving drill rod to rotate around the Y direction of the main shaft together through binding a master-slave relationship, the larger the output current value is, the faster the rotation speed is, and the rotation speed and the rotation pressure can be displayed on an operation interface;

when the switching full-automatic/manual/semi-automatic switching key is in semi-automatic state, a control instruction is output by a circuit module of a drill console and is transmitted to virtual training software through a communication module, and a drill model executes corresponding drilling operation under a set program; for example: the inclination angle of the main machine is 30 degrees, the main machine mechanical arm can rotate clockwise when executing a semi-automatic function, and the main machine mechanical arm stops acting when the angle is 30 degrees;

when the full-automatic/manual/semi-automatic switching key is switched to be in full-automatic state, a control instruction is output by a circuit module of a drill console and is transmitted to virtual training software through a communication module, and a drill model can execute complete automatic drilling operation according to a combined program set in the virtual training software; for example, the automatic rod-loading process: the rod bin manipulator moves on the rod bin, moves to specified rows and columns to grab a drill rod, and places the drill rod on a transporter after grabbing the drill rod, a transporter oil cylinder stretches out to slide the transporter, a transporter limiting block oil cylinder retracts to clamp the drill rod, a host mechanical arm forearm stretches out to grab the drill rod, a swing cylinder is rotated to move to a rod placing position to put down the drill rod, a clamp oil cylinder stretches out to clamp the drill rod, a host mechanical arm retreats a power head to move forwards to drive a driving drill rod to be rotationally connected with the drill rod, the clamp oil cylinder retracts to loosen the drill rod, the power head drives the driving drill rod to continue to move forwards and rotate to be screwed up with a front end drill rod, a shackle oil cylinder retracts to loosen the drill rod, and the power head drives the connected drill rod to move forwards and rotate to simulate drilling.

Example 4:

the embodiment provides a virtual training method for an underground coal mine automatic drilling machine, which is implemented by associating a virtual training model with a drilling machine console through the association method for the underground coal mine automatic drilling machine virtual training model and the drilling machine console in the embodiment 3, and can implement the virtual training of the automatic drilling machine in different scenes, as shown in fig. 4, and comprises the following steps:

arranging a driller/standby/angle modulation walking switch key of a drill console at an angle modulation walking position, operating an azimuth angle increasing/azimuth angle decreasing switch key, an inclination angle increasing/inclination angle decreasing switch key and a lifting and lowering switch key on the drill console, and realizing the adjustment of the azimuth, inclination and lifting of a drill model; then the driller/standby/angle modulation walking switching key is arranged at the driller position, and the drilling operation under different scenes is as follows:

when the full-automatic/manual/semi-automatic switching key is arranged at a manual position, a feeding device, a power head, a main machine mechanical arm and a rod bin mechanical arm of a drilling machine model sequentially act according to the operation sequence of an operator under the control of a main pump feeding/pulling key, an auxiliary pump feeding/pulling switching key, a power head forward/reverse rotation key, a paw I clamping/loosening switching key, a paw II grasping/loosening switching key, a large arm inclination angle increasing/decreasing switching key, a small arm extending/retracting switching key and a small arm forward/reverse swinging switching key respectively;

when the full-automatic/manual/semi-automatic switching key is arranged at a full-automatic position, the rod adding/unloading and upward/downward inclined holes are selected through the rod adding/unloading switching key and the upward/downward inclined hole switching key, finally, the starting key is pressed down to enable the drilling machine model to carry out full-automatic drilling construction under a set program, and pressure, rotating speed and displacement parameters are displayed on a monitoring interface; normal operations are divided into coal seam drilling and rock stratum drilling; if the rock stratum is drilled, the decompression pressure adjusting knob is operated anticlockwise during operation, the moving speed of the power head is reduced, the forward rotation speed adjusting knob is adjusted anticlockwise, and the rotating speed of the power head is reduced; if the coal seam is prompted to enter, the pressure reducing pressure adjusting knob is operated clockwise, the moving speed of the power head model is increased, the forward rotation speed adjusting knob is adjusted clockwise, and the rotating speed of the power head is increased.

when the full-automatic/manual/semi-automatic switching key is arranged at a manual position or a full-automatic position, abnormal prompts such as difficult gas feeding, drill jamming and gas overrun can occur; if the interface suddenly appears abnormal prompt of 'gas is large and feeding is difficult', the phenomenon of the drill model is that the drill is slowly fed or the feeding is not moved, at the moment, the interface monitoring parameter is that the displacement speed of the power head is very small or 0, the moving speed of the power head is very small or unchanged, and the feeding pressure basically keeps the maximum set parameter; the method for processing the abnormity comprises the steps of operating a full-automatic/manual/semi-automatic switch key to be manually operated, operating an auxiliary pump feeding/pulling switch key to be positioned at a feeding position, clockwise adjusting a pressure reduction adjusting knob until the driving power head normally moves, monitoring parameters to display that the displacement of the power head is increased, the moving speed is increased, the feeding pressure is reduced, and then, the manual and full-automatic operations of the drilling machine can be normally executed; if the abnormal prompt of 'gas is large and drill jamming' occurs, the phenomenon of drill rotation jamming occurs in the drill model, the drill model does not act when the power head forward/reverse rotation key is operated, at the moment, the interface monitoring parameter is that the power head rotation speed is 0, and the rotation pressure reaches the maximum value; the processing method for the exception is as follows: operating a full-automatic/manual/semi-automatic switching key to be manually operated, operating a main pump to feed/pull a key back and forth, operating a water supply/water cut-off switching key to be arranged at a water supply position, and operating a forward/reverse rotation key of the power head at the same time until the power head starts to rotate to indicate that the drill sticking treatment is successful, and continuing to operate according to normal operation logic;

if the abnormal processing method is not successfully executed within the set time of the timer, the system reminds the user of using strong pulling processing, during the strong pulling, firstly, the interface reminds whether the stability is supported in place or not, after the main pump is selected to be supported in place, the main pump feeding/pulling button is operated, the pulling is always used for strong pulling, at the moment, the monitoring interface displays the pulling pressure as the maximum value, if the drill sticking is removed, the pulling pressure is reduced to normal, the power head forward/reverse rotation button is operated, the power head rotates normally, and then the subsequent normal operation can be continued; when the monitoring interface has 'gas overrun, stop construction', a stop button needs to be operated, and the handle is completely arranged in the middle position.

(3) When a drill site scene in the virtual training model is loaded into a high rock burst stratum:

when the full-automatic/manual/semi-automatic switching key is manually or fully automatically operated, prompts such as difficult feeding, drill jamming, too high rock burst, danger and the like due to large rock burst can appear; the method comprises the following steps: if the interface suddenly appears 'rock burst is large and feeding is difficult', the phenomenon of the drill model is that the feeding of the drill is slow or the feeding is not moved, at the moment, the interface monitoring parameter is that the displacement speed of the power head is very small or 0, the moving speed of the power head is very small or unchanged, and the feeding pressure basically keeps the maximum set parameter unchanged; the method for processing the abnormity comprises the steps of operating a full-automatic/manual/semi-automatic switch key to be manually operated, operating an auxiliary pump feeding/pulling switch key to be positioned at a feeding position, clockwise adjusting a pressure reduction adjusting knob until the driving power head normally moves, displaying the displacement increase, the movement speed increase and the feeding pressure decrease of the power head on a monitoring interface, and then normally executing the manual and full-automatic operation of the drilling machine; if 'rock burst is large and drill jamming occurs', the drill model is clamped in a rotating mode, the drill model does not act when the power head is operated to rotate forwards or backwards through a key, the interface monitoring parameter is that the rotating speed of the power head is 0, and the rotating pressure reaches the maximum value; the processing method for the exception is as follows: operating a full-automatic/manual/semi-automatic switching key to be manually operated, operating a main pump to feed/pull a key back and forth, operating a water supply/water cut-off switching key to be arranged at a water supply position, operating a power head forward rotation/reverse rotation key to rotate forward at the same time until the power head model starts to rotate to indicate that the drill clamping treatment is successful, and continuing to operate according to normal operation logic;

if the abnormal processing method is not successfully executed within the given time of the timer, the system reminds the use of strong pulling processing, when the strong pulling is performed, firstly, the interface reminds whether the stability is supported in place, after the main pump is selected to be supported in place, the main pump feeding/pulling button is operated, the strong pulling is performed by using the pulling all the time, at the moment, the monitoring interface displays the pulling pressure as the maximum value, if the stuck drill is removed, the pulling pressure is reduced to be normal, the forward/reverse rotation button of the power head is operated, the power head rotates normally, and then the subsequent normal operation can be continued; when the 'ground pressure is abnormal and construction is stopped' on the monitoring interface, a stop button needs to be operated, the handles are all placed in the middle position, and operation is finished.

(4) When the drill site scene in the virtual training model is loaded into a water-bearing stratum:

popping up a selection interface during drilling construction, selecting water/wind as a flushing medium, and if water is selected as the flushing medium, the water quantity is not large and drilling is performed normally; if the water quantity is large, reminding that the construction can be carried out only by installing a stop valve at the orifice; if wind is selected as the flushing medium, the water quantity is not large, and drilling is carried out normally; if the water quantity is large, the user is reminded that the slag cannot be discharged and the construction is difficult, a stop button needs to be operated, and the handle is completely arranged in the middle position to finish the operation.

Claims

1. A coal mine underground automatic drilling machine virtual training system is characterized by comprising a drilling machine console, a computer and virtual training software installed in the computer;

the virtual training software comprises a virtual scene building module, a drilling machine scene operation module, a drilling machine model programming module and a virtual disassembling and assembling module; the virtual scene building module is used for loading and building a drilling machine model and a drilling site scene through light, a camera and a renderer, wherein the drilling site scene comprises four types of normal stratum, water-bearing stratum, high gas stratum and high rock burst stratum; the drilling rig scene operation module is used for selecting one of four types of drilling site scenes; the virtual disassembling and assembling module is used for disassembling and assembling the whole drilling machine model and all parts; the drilling machine model programming module is used for realizing the single-step action of the drilling machine and the full-automatic action of the drilling machine through the drilling machine action programming.

2. The virtual training system for the coal mine underground automatic drilling machine as claimed in claim 1, wherein the input components are arranged on the control panel as follows: the system comprises a display area, a starting area, a state selection area, an emergency stop area, a fishing and breaking-out area, an inclination angle and azimuth lifting control area, a transporter action control area, a rod bin mechanical arm control area, a host mechanical arm control area, a rod bin position automatic selection area, a gripper breaking-out control area, a crawler walking control area, a construction state control area and a main pump control area.

3. The coal mine underground automatic drilling machine virtual training system according to claim 2, wherein the display area is provided with a fault indicator lamp (1-1), a communication indicator lamp (1-2) and a power indicator lamp (1-3);

the starting area is provided with a starting key (2-1), a power supply key (2-2), a pause key (2-3), a previous step key (2-4) and a next step key (2-5);

the state selection area is provided with a driller/standby/angle modulation walking switch key (3-1), a full-automatic/manual/semi-automatic switch key (3-2), a rod adding/rod unloading switch key (3-3) and an upward hole/downward hole switching key (3-4);

the emergency stop area is provided with an emergency stop button (4-1);

the fishing and breaking area is provided with a switching key (5-1) for finding and breaking points/finding and fishing points;

the dip angle and azimuth angle lifting control area is provided with an azimuth angle increasing/reducing switching key (6-1), a dip angle increasing/reducing switching key (6-2) and a lifting/lowering switching key (6-3);

the transporter motion control area is provided with a manipulator/rod bin position switching key (7-1) and a limiting extending and retracting key (7-2);

the control area of the mechanical arm of the rod bin is provided with a vertical lifting switch key (8-1), a horizontal increasing and decreasing switch key (8-2), a horizontal vertical automatic switch key (8-3) and a paw II grasping and releasing switch key (8-4);

the main machine mechanical arm control area is provided with a large arm inclination angle increasing/decreasing switching key (9-1), a small arm extending/retracting switching key (9-2), a small arm forward/backward swinging switching key (9-3) and a paw I clamping/loosening switching key (9-4);

the automatic selection area of the rod bin position is provided with a horizontal/vertical selection switching key (10-1), an increase key (10-2) and a decrease key (10-3);

the gripper shackle control area is provided with a front gripper clamping/loosening switching key (11-1), a rear gripper clamping/loosening switching key (11-2) and a shackle oil cylinder extending/retracting switching key (11-3);

the crawler walking control area is provided with a left crawler advancing/retreating button (12-1) and a right crawler advancing/retreating button (12-2);

the construction state control area is provided with an overflow pressure adjusting knob (13-1), a pressure reducing pressure adjusting knob (13-2), a forward rotation speed adjusting knob (13-3), a reverse rotation speed adjusting knob (13-4), a mud pump pressure adjusting knob (13-5), an auxiliary pump feeding/pulling switching key (13-6), a screwing/unscrewing switching key (13-7), a water supply/water cut-off switching key (13-8), a forward rotation/reverse rotation switching key (13-9), a motor locking/loosening switching key (13-10) and a forward rotation/reverse rotation pressure limiting switching key (13-11);

the main pump control area is provided with a power head forward/reverse rotation button (14-1) and a main pump feeding/pulling button (14-2).

4. A method for constructing a virtual training model of an automatic underground coal mine drilling machine is characterized by comprising the following steps:

step a1, a virtual scene building module is used for creating a basic scene: loading a drill site scene, a camera, light and a renderer by utilizing scene, camera, light and render modules in a virtual scene building module respectively;

step a2, modeling a drilling machine model by using a virtual dismounting module, dividing parts in the drilling machine model into a moving part and a static part, establishing an external outline for the static part, keeping the outline size, simplifying the internal processing, and dismounting the moving part for independent modeling;

step a41, binding the master-slave relation of the actions of the crawler body: when the crawler body moves, the driving wheel moves to drive the crawler shoe and the driven wheel to move;

step a42, binding host action master-slave relationship: the host machine integrally moves up and down on the upright post and is realized by a lifting oil cylinder; when the power head moves back and forth on the feeding device, the power head can drive the main shaft and the driving drill rod to rotate clockwise or anticlockwise, the clamp holder and the shackle device oil cylinder at the front part of the feeding device can extend and retract, and the shackle device is driven to rotate when the shackle device oil cylinder extends;

step a45, binding the action master-slave relationship of the transporter: the transporter sliding part can slide left and right under the driving of the transporter oil cylinder; the limiting block of the transporter can extend and retract under the driving of the limiting block oil cylinder;

5. The method for constructing the virtual training model of the automatic coal mine underground drilling machine according to claim 4, wherein the static part in the step a2 is a part which keeps static when the drilling machine moves and comprises an oil tank, a control platform, a motor pump group, a welding vehicle body, a clamp holder main body, a controller, an electromagnetic starter, a rod bin and an azimuth turntable;

the moving parts comprise a host, a host mechanical arm, a rod bin mechanical arm, a transporter, a crawler body and a drill rod; the moving components on the main machine comprise a gripper oil cylinder, a gripping slip, a shackle device main body, a shackle device oil cylinder, a shackle slip, a shackle oil cylinder, a feeding oil cylinder, a planker, a power head main shaft, a driving drill rod and a lifting oil cylinder; the moving parts on the mechanical arm of the host machine comprise a gripper, a small arm component, a small arm extending oil cylinder, a swinging oil cylinder, a large arm component and a large arm rotary support; the moving part of the transporter comprises a transporter oil cylinder, a transporter limiting block oil cylinder and a transporter sliding part; the moving part of the rod bin mechanical arm comprises a rod bin mechanical hand cylinder barrel assembly, a cross beam, a paw connecting rod, a hand grip and a rod bin mechanical hand oil cylinder; the moving parts of the crawler body comprise a driving wheel, a driven wheel and a crawler shoe.

6. A method for associating a virtual training model of an underground coal mine automatic drilling machine with a drilling machine console is characterized in that the method associates the virtual training model of the drilling machine constructed by the method for constructing the virtual training model of the underground coal mine automatic drilling machine according to claim 5 with the training system and the drilling machine console thereof according to claim 3; the method comprises the following steps:

7. The method for associating the virtual training model of the coal mine underground automatic drilling machine with the drilling machine console as claimed in claim 6, wherein in the step b2, the step of executing the angle-adjusting walking action by the drilling machine model comprises the following steps:

the left crawler forward/backward key and the right crawler forward/backward key are pushed, control instructions can be output by a circuit module of a drill console, then the control instructions are transmitted to virtual training software through a communication module to drive the crawler to walk, and a driving wheel of the crawler moves forwards or backwards through the master-slave relation of the actions of the bound crawler body, so that a crawler sheet and a driven wheel are driven to move;

8. The method for associating the virtual training model of the coal mine underground automatic drilling machine with the control platform of the drilling machine according to claim 7, wherein in the step b3, the step of executing the corresponding drilling operation by the drilling machine model comprises the following steps:

9. A coal mine underground automatic drilling machine virtual training method is characterized in that after the virtual training model is associated with a drilling machine console through the coal mine underground automatic drilling machine virtual training model and drilling machine console association method of claim 8, the training method can realize the automatic drilling machine virtual training under different scenes and comprises the following steps:

when the full-automatic/manual/semi-automatic switching key is arranged at a full-automatic position, the rod adding/unloading and upward/downward inclined holes are selected through the rod adding/unloading switching key and the upward/downward inclined hole switching key, and finally the starting key is pressed to enable the drilling machine model to carry out full-automatic drilling construction under a set program;

if the abnormal processing method is not successfully executed within the given time, the system reminds the user of strong pulling processing, during the strong pulling, firstly, the interface reminds whether the stability is supported in place or not, after the main pump feeding/pulling button is selected to be supported in place, the pulling is always used for strong pulling, at the moment, the monitoring interface displays the pulling pressure as the maximum value, if the drill sticking is removed, the pulling pressure is reduced to normal, the power head forward rotation/reverse rotation button is operated, the power head rotates normally, and then the subsequent normal operation can be continued; when the monitoring interface has 'gas overrun, stop construction', a stop button needs to be operated, and the handles are all arranged in the middle position;

when the full-automatic/manual/semi-automatic switching key is manually or fully automatically operated, if the interface has 'impact ground pressure is large and feeding is difficult', the feeding of the drilling machine model is slow or the feeding is not moved, at the moment, the interface monitoring parameters are that the displacement speed of the power head is very small or 0, the moving speed of the power head is very small or unchanged, and the feeding pressure keeps the maximum set parameter unchanged; the method for processing the abnormity comprises the steps of operating a full-automatic/manual/semi-automatic switching key to be manually operated, operating an auxiliary pump feeding/pulling switching key to be positioned at a feeding position, clockwise adjusting a pressure reduction pressure adjusting knob until a driving power head normally moves, monitoring an interface to display that the displacement of the power head is increased, the moving speed is increased, and the feeding pressure is reduced, and then normally executing the manual and full-automatic operation of the drilling machine; if 'rock burst is large and drill jamming occurs', the drill model is turned and jammed, the drill model does not act when the forward/reverse rotation key of the power head is operated, the interface monitoring parameter is that the rotating speed of the power head is 0, and the turning pressure reaches the maximum value; the exception handling method comprises the following steps: operating a full-automatic/manual/semi-automatic switching key to be manually operated, operating a main pump to feed/pull a key back and forth, operating a water supply/water cut-off switching key to be arranged at a water supply position, operating a power head forward rotation/reverse rotation key to rotate forward at the same time until the power head model starts to rotate to indicate that the drill clamping treatment is successful, and continuing to operate according to normal operation logic;

if the abnormal processing method is not successfully executed within the given time, the system reminds the use of strong pulling processing, when the strong pulling is performed, firstly, the interface reminds whether the stability is supported in place or not, after the main pump is selected to be supported in place, the main pump feeding/pulling button is operated, the strong pulling is performed by using the pulling all the time, at the moment, the monitoring interface displays the pulling pressure as the maximum value, if the stuck drill is removed, the pulling pressure is reduced to be normal, the power head forward/reverse rotation button is operated, the power head rotates normally, and the subsequent normal operation can be continued; when the 'abnormal ground pressure and construction stop' occurs on the monitoring interface, a stop button needs to be operated, the handles are all placed in the middle position, and the operation is finished;

popping up a selection interface during drilling construction, selecting water/wind as a flushing medium, and if water is selected as the flushing medium, drilling according to a small water quantity normally; if the water quantity is large, reminding that the construction can be carried out only by installing a stop valve at the orifice; if wind is selected as a flushing medium, the water quantity is not large, and drilling is carried out normally; if the water quantity is large, the user can be reminded that the slag cannot be discharged and the construction is difficult, the stop button needs to be operated, the handles are all placed in the middle position, and the operation is finished.

10. The virtual training method for the automatic underground coal mine drilling machine according to claim 9, wherein when a drilling site scene in the virtual training model is loaded to perform full-automatic drilling construction for a normal stratum, if the drilling site scene is used for rock stratum drilling, a pressure reducing pressure adjusting knob is operated anticlockwise during operation, the moving speed of the power head is reduced, a forward rotation speed adjusting knob is adjusted anticlockwise, and the rotating speed of the power head is reduced; if the coal seam is prompted to enter, the pressure reducing pressure adjusting knob is operated clockwise, the moving speed of the power head model is increased, the forward rotation speed adjusting knob is adjusted clockwise, and the rotating speed of the power head is increased.