Design And Implementation Of Virtual Cooperative Operation System Of Shearer And Scraper Conveyor Under Complex Floor Conditions

With the rapid development of industrial Internet of things,artificial intelligence,virtual reality and other technologies,the coal industry from the original extensive production mode to intensive,refined,intelligent,unmanned direction.Shearer and scraper conveyor is an important part of fully mechanized coal mining face,which undertakes the important task of mining and transportation.In recent years,with the continuous increase of coal mining depth,the geological conditions of coal seam are becoming more and more complex.Folds,faults and other terrain continue to appear in some coal mines.The research on the cooperative operation of shearer and scraper conveyor under the condition of coal seam floor is of great significance to improve the intelligent level of fully mechanized working face.At present,the research on the operation law of fully mechanized mining equipment mainly focuses on the single machine operation state,and the research on the cooperative operation of mining and transportation equipment,especially the cooperative operation of the interaction with coal seam,is not deep enough.In the virtual environment,the research on the cooperative operation relationship between shearer and scraper conveyor mainly focuses on the ideal horizontal floor,and lacks the simulation research on the cooperative operation relationship between shearer and scraper conveyor based on the real coal seam geological conditions.In addition,the research on the coupling relationship between shearer and scraper conveyor is still in the two-dimensional plane,lack of research on the coupling relationship between shearer and scraper conveyor in the threedimensional space.In view of the above problems,this paper designs the virtual cooperative operation system of shearer and scraper conveyor under complex coal seam conditions.Through the system,it can realize the simulation of the cooperative operation process of shearer and scraper conveyor under complex coal seam floor conditions.Using the virtual simulation platform,the mathematical model of cooperative operation of mining equipment is simulated and verified,and the simulation results are verified by the construction.The virtual simulation system and the mathematical model are further verified by experiments.The main contents and conclusions of this paper are as follows:(1)Based on the analysis of the structure and cooperative operation principle of shearer and scraper conveyor,the mathematical model of mining and transportation equipment and coal seam system operation system is established.The position and position information of the middle groove between the shearer and the middle groove where the left support shoe is located and the middle groove between the left and right support shoes are known conditions.The threedimensional shape of scraper conveyor is inverted to serve as the follow-up comprehensive mining face Straightening provides basis.(2)The virtual cooperative operation simulation method of mining and transportation equipment based on Unity 3D physical engine is proposed,and the virtual simulation system of mining and transportation equipment collaborative operation is designed by using this method.This method can generate virtual coal seam floor model by importing coal seam data into virtual scene,and add corresponding physical components to virtual shearer,virtual scraper conveyor and virtual coal seam,so that the coal miner and scraper conveyor can adapt to the actual production situation and produce physical interaction,so as to realize the cooperation of mining and transportation equipment under complex floor conditions Simulation running with the same operation.In addition,this method provides a reference for the research on the cooperative operation relationship of fully mechanized mining equipment.(3)Based on the theory of digital twin,the prototype platform of mining and transportation equipment and coal seam collaborative operation is constructed.Through the design and manufacture of mining equipment and coal seam prototype model,the construction of physical sensing system and the design of virtual monitoring system,the monitoring of the cooperative operation status of the coal mining machine prototype and scraper conveyor prototype on the complex coal seam floor model is realized.The experimental research is carried out on the prototype platform,which verifies the accuracy of the mathematical model and virtual simulation system.