Research On Remote Control System Of Comprehensive Excavation Equipment Driven By Multi-source Heterogeneous Data

At present,the intelligent and information level of coal mining face is lagging behind,and the remote visual control of coal mining equipment is a hot research topic at home and abroad in recent years.Most of the existing technologies are remote control technology of coal mine equipment by manual monitoring through video,but the underground environment is complex and the working conditions are changeable,and manual monitoring cannot meet the requirements of normal production.VR technology has the function of establishing multi-dimensional space integrating human perception and multiple digital information interaction,which can provide technical support for remote control decision-making of mechanical operations in dangerous and complex operating environments.With the help of virtual simulation,multi-source heterogeneous data fusion,collision detection and remote control technology,this paper fuses multi-source heterogeneous data of coal mine fully mechanized mining face,completes dynamic programming driven by data of fully mechanized mining equipment based on multi-source heterogeneous data fusion,establishes virtual prototype of coal mine fully mechanized mining equipment and coal mine underground scene,realizes equipment collision detection and remote virtual control,which has important significance and application value for improving production monitoring of dangerous environment and equipment operation monitoring.Aiming at the problem of remote personnel control and less decision-making basis in virtual remote control system,the multi-source heterogeneous data in the production process of fully mechanized mining face in coal mine are collected.Through the multi-source data fusion technology combined with data level and decision level,the multi-source data of fully mechanized mining face are fused.Based on knowledge element theory,the feature level fusion of heterogeneous data is carried out to provide accurate data for remote control interface.Aiming at the problem of low eficiency of equipment collision detection in complex environment,a hierarchical collision detection framework is proposed,which is divided into initial detection and accurate detection stages.The virtual reality technology is used to divide the virtual space based on the optimized Binary Space Partitioning(BSP)tree,and the main areas that need collision detection are determined.Then into the accurate detection stage,the hybrid hierarchical bounding box algorithm combined with Axis-aligned Bounding Box(AABB)and Oriented Bounding Box(OBB)is constructed to accurately detect the collision between equipment,and early warning before collision occurs to ensure the safe operation of fully mechanized mining face.In view of the problem that the remote control system of coal mine comprehensive excavation equipment cannot achieve the on-site control effect of the manipulator,the Unity3D virtual reality software platform is used to construct the 3D visualization remote intelligent control system of coal mine comprehensive excavation equipment.The data communication interface is developed to realize data acquisition and processing of various sensors,and the dynamic programming of the detection robot based on data drive is completed.The virtual control strategy of 'virtual and real simultaneous action,data drive,collision detection and remote control'is realized.Finally,the experimental platform is built to verify the overall function and performance of the system.The experiment shows that the system can realize the synchronous movement of the fully mechanized excavation equipment and the virtual prototype driven by the multi-source heterogeneous data of the fully mechanized excavation face.It can remotely detect and warn the collision behavior of the equipment,and realize the remote virtual control of the coal mine detection robot.This study provides a new idea for visual remote control of underground coal mine equipment.