Research On Key Technologies Of Virtual Operation Of Mining Equipment In Fully Mechanized Mining Face

Coal has remained a significant energy and industrial raw material for a long time in China.Under the continuous promotion of the “Made in China 2025” and “Internet +” strategies,coal mining is developing in the intelligent,unmanned and green direction.In recent years,the combination of virtual reality technology and coal mining has become increasingly close,and some achievements have been made in the field of coal mine safety training and virtual monitoring of fully mechanized mining equipment.However,problems such as inconsistency in model positioning and attitude determination,simulation image stuttering,and model simulation idealization still exist.In view of these problems,this thesis taking coal mining machine and scraper conveyor as the main research object,deeply analyzed their dynamic matching relationship in real environment,carrying out the key technology of virtual cooperative operation of mining equipment in fully mechanized mining face based on virtual reality technology.The research tried to construct a virtual reality simulation system with accurate posture,clear and smooth picture,similar with engineering reality,which contributed to truly reproduce the running state of the mining equipment in the fully mechanized mining face.Main research contents:Firstly,the virtual operation of mining-supporting equipment was studied under the ideal working condition of flat floor,including single machine attitude control and virtual cooperative operation of mining-supporting equipment.Secondly,the virtual operation of mining equipment was studied under the complex working conditions of uneven floor,including the positioning and attitude determination method of virtual model,the solution of key parameters and the real-time driving of the model.Thirdly,combining the existing memory cutting principle,the virtual memory cutting method of the shearer was studied,including virtual cutting curve generation,real-time reading of height data and height compensation,and automatic height adjustment of the shearer drum;Fourthly,human-computer interaction was set up,and the transmission method of sensor data between KingView 6.55,SQL Server 2008 database and Unity3 D was established in LAN environment.Finally,the prototype system was developed and the simulation system was tested and verified.Main research results:(1)Under the ideal working conditions,the dynamic matching relationship between mining and supporting equipment was analyzed,and the virtual cooperative operation simulation of mining and supporting equipment was realized,including the virtual bending of scraper conveyor,virtual operation of shearer,motion of hydraulic support and mutual perception of each equipment.(2)Under the complex working conditions,a positioning and attitude determination method of virtual mining equipment was proposed to realize virtual operation simulation of mining equipment.The simulation could simulate the operation state of mining equipment under uneven working conditions,which was close to the engineering practice.(3)A memory cutting method of shearer in virtual reality environment was proposed to realize the virtual memory cutting simulation of shearer.The simulation could realistically reproduce the teaching and execution process of the virtual shearer,and reciprocally execute according to the teaching information until artificial stop.(4)A data transmission method was constructed based on KingView 6.55,SQL Server 2008 and Unity3 D in LAN environment,which provide technical support for virtual remote monitoring and control of fully mechanized mining equipment.