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CN102759909A - Work state virtual simulation system for electric haulage shearer based on different geological conditions - Google Patents

Work state virtual simulation system for electric haulage shearer based on different geological conditions Download PDF

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Publication number
CN102759909A
CN102759909A CN201210195694XA CN201210195694A CN102759909A CN 102759909 A CN102759909 A CN 102759909A CN 201210195694X A CN201210195694X A CN 201210195694XA CN 201210195694 A CN201210195694 A CN 201210195694A CN 102759909 A CN102759909 A CN 102759909A
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coalcutter
shearer
real
controller
duty
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程刚
张帅
成钰龙
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Abstract

A work state virtual simulation system for an electric haulage shearer based on different geological conditions belongs to automatic control and system simulation of shearers. The work state virtual simulation system comprises devices and a method, wherein the devices consist of a shearer work condition remote monitoring platform, a database, a remote controller, a visual basic system, an industrial Ethernet, a local controller and a machine-mounted detection control system. The method comprises the following steps of: acquiring shearer work condition parameters for the machine-mounted detection control system; carrying out data analysis on the shearer work condition parameters; finally, transmitting the shearer work condition parameters to the shearer monitoring platform for detecting and achieving through the local controller and the industrial Ethernet; on the basis of accessing an achieving database in real time, drawing fully mechanized coal faces under different geological conditions by applying a virtual real technology; and driving a shearer virtual sample machine to realize real reappearance of the work state of the shearer. A shearer virtual sample machine model is driven by using real-time work condition parameters provided by the machine-mounted detection control system, so that a shearer virtual simulation system has the field feeling entering the fully mechanized coal faces and favorable interaction.

Description

Electrical haulage shearer duty dummy emulation system based on different geologic conditions
Technical field
The present invention relates to a kind of coalcutter control and system emulation automatically, particularly a kind of electrical haulage shearer complete machine duty dummy emulation system based on different geologic conditions.
Background technology
Virtual reality technology (Virtual Reality is called for short VR) is to develop the new and high technology of improving in recent years gradually.This technology is the basis with the multi-media computer system, can construct three-dimensional model true to nature in conjunction with means such as the generation of real-time computer image, database, artificial intelligence and physical simulations.Nowadays at present; When silo shearer is designed; Need in real subsurface environment or the simulation subsurface environment that makes up in advance, carry out test of many times; Each parameter with to coalcutter is observed, is discussed and revises, thereby actual design, has number of drawbacks and deficiencies such as the early investment cost is high, the design R&D cycle is long, realization difficulty.
In the prior art; Chinese patent a kind of " coalcutter virtual training operation teaching instrument "; The patent No. is 201020180083.4 patent, and the technical scheme of this patent is accomplished the pre-job training to the trainee through display, remote control transmitter, receiver of remote-control sytem etc.
Chinese patent a kind of " colliery extractive equipment virtual reality system "; The patent No. is 201120108794.5 patent, and this technical scheme imports circuit module, scene rendering controller module, display unit, user control interface circuit module etc. through modeling main frame, model and constructs colliery extractive equipment three-dimensional model.
The defective of said method is:
1, lacks real-time detection coalcutter and Minepit environment floor data;
2, do not set up the model bank of the fully-mechanized mining working of different model coalcutter and different geologic conditions.
Summary of the invention
The objective of the invention is to provide a kind of electrical haulage shearer complete machine duty dummy emulation system, solve the problem of model bank that present coalcutter lacks real-time detection to coalcutter and Minepit environment floor data, do not set up the fully-mechanized mining working of different model coalcutter and different geologic conditions based on different geologic conditions.
The objective of the invention is to realize like this: this dummy emulation system comprises apparatus and method:
Described device is made up of coalcutter operating mode remote monitoring platform, filing data storehouse, remote controllers, Visual Basic system, EPA, local controller, airborne detection control system; Coalcutter operating mode remote monitoring platform is connected with the communication of Visual Basic system bidirectional through the filing data storehouse; Airborne detection control system is connected with the EPA both-way communication through local controller; EPA is connected with the communication of Visual Basic system bidirectional through two remote controllers;
Wherein, described coalcutter operating mode remote monitoring platform comprises: coalcutter remote monitoring platform, coalcutter duty parameter monitor supervision platform based on virtual reality, carry out configuration, detection and filing to coalcutter work condition state parameter; Described filing data storehouse stores the fully-mechanized mining working virtual prototype model bank of different model coalcutter and different geologic conditions, and forming module for other provides needed data, realizes respectively forming the exchanges data of module; Described remote controllers adopt two two redundant configurations, are used for communicating with the downhole crossheading controller, obtain the various status datas of coalcutter in real time, and in time transmit various steering orders; Real-time detection, the important parameter logout that described Visual Basic system accomplishes the coalcutter duty parameter shows, the real-time filing of coalcutter duty parameter and and controller between communication; Described local controller is transferred to remote controller with the data that airborne detection control system collects through EPA, finally is transferred to coalcutter operating mode remote monitoring platform and detects and file.
Described method is:
The first step; The development and Design technological by EON Studio and SDK thereof, that Visual Basic system accomplishes coalcutter operating mode remote monitoring platform; Realize coalcutter geometric model and the virtual emulation environment of coalcutter kinematics model and the roaming of fully-mechanized mining working; Show the duty of coalcutter walking, cylinder rotation coal cutting, rocking arm up-down and coal breakage in real time, exploitation simultaneously can realize the control panel of remote monitoring instruction transmission, through EPA transmission steering order;
Further; Based on the coalcutter remote monitoring platform of virtual reality on the basis in real time access filing data storehouse; Utilize computer graphical and visualization technique, three-dimension virtual reality technology; Structure is accomplished the reconstruct of the fully-mechanized mining working of different geologic conditions based on the coalcutter three-dimensional model machine of true coalcutter structure and size, and drives the coalcutter virtual prototype;
Further, coalcutter duty parameter monitor supervision platform realizes that the real-time detection of coalcutter duty parameter, important parameter logout show, the real-time filing of coalcutter duty parameter; The relevant parameter variable upgrades in time in the employing trigger fulfillment database;
Further, exploitation can realize the control panel of remote monitoring instruction transmission on the coalcutter remote monitoring platform, through EPA transmission steering order;
Further, realize communicating by letter between Collaborative Control device and the database, obtain the coalcutter duty parameter in real time and send remote control commands through Visual Basic system; Adopt Microsoft SQL Sever2000 database to carry out the filing of data; The SDK secondary exploitation technology of utilization EON Studio system; Data program design through Visual Studio 2003 platforms, the exploitation accessing database also reads the Node node of coalcutter real-time working state;
Further; In coalcutter work condition inspection platform, adopt upgrading in time of relevant parameter variable in the trigger fulfillment database; Corresponding process variable is changed by airborne detection control system assignment, just upgrades through corresponding with it Visual Basic built-in variable trigger data database data;
Further, two remote controllers of redundant configuration, one as master controller; One as slave controller; Two controllers move with the Hot Spare mode, and when any controller broke down, the automatic redirect of another one controller was a master controller; After fault recovery, be connected to form new host-guest architecture automatically;
Further, the function of the floor data collection of airborne detection control system realization electrical haulage shearer, local operation control, operated from a distance control, network service; Airborne detection control system core component is airborne PLC, is used to connect physics sensor unit and native's machine operation device, drives the coalcutter execution unit, and the task of the control of completion logic unit and network communication;
At last, the electrical haulage shearer complete machine duty parameter of realizing different geologic conditions detects in real time, duty " true reappearance " and Long-distance Control.
Beneficial effect, owing to adopted such scheme, airborne detection control system is gathered the coalcutter duty parameter; Through certain data analysis,, finally be transferred to and detect in the coalcutter monitor supervision platform and file through local controller and EPA; On the basis in real time access filing data storehouse; The utilization virtual reality technology is drawn the fully-mechanized mining working of different geologic conditions, and drives the coalcutter virtual prototype, realizes " true reappearance " of coalcutter duty.The real-time working condition driving parameter coalcutter virtual prototype model that utilizes airborne detection control system to provide makes the coalcutter dummy emulation system have the presence of entering fully-mechanized mining working and good interactivity.Solve the problem of model bank that present coalcutter lacks real-time detection to coalcutter and Minepit environment floor data, do not set up the fully-mechanized mining working of different model coalcutter and different geologic conditions, reached the object of the invention.
Compared with prior art, the present invention has the following advantages:
1, the present invention utilizes the coalcutter real-time working condition driving parameter coalcutter virtual prototype model that aircraft mounted control system provides, and shows duties such as coalcutter walking, cylinder rotation coal cutting, rocking arm up-down, coal breakage in real time.
2, the present invention sets up virtual prototype according to the coalcutter of different model with different geologic condition fully-mechanized mining working model databases, has strengthened the authenticity and the presence of analogue system.
3, the present invention has the presence of entering fully-mechanized mining working and good visual and interactivity; Make operating personnel can grasp on-the-spot and coalcutter job information timely and accurately, thereby obviously improved the technical feature and the new and high technology content of coalcutter analogue system.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is a path roaming linear interpolation synoptic diagram of the present invention.
Fig. 3 is a coal breakage scene particIe system three dimensional frame arrangenent diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with technical scheme of the present invention; Detailed real-time mode and process have been provided; But following embodiment is only for explaining the present invention, and protection scope of the present invention should comprise the full content of claim.
Embodiment 1: in Fig. 1; Based on the electrical haulage shearer complete machine duty dummy emulation system of different geologic conditions, form by coalcutter operating mode remote monitoring platform, filing data storehouse, remote controllers, Visual Basic system, EPA, local controller, airborne detection control system; Coalcutter operating mode remote monitoring platform is connected with the communication of Visual Basic system bidirectional through the filing data storehouse; Airborne detection control system is connected with the EPA both-way communication through local controller; EPA is connected with the communication of Visual Basic system bidirectional through two remote controllers;
Coalcutter operating mode remote monitoring platform comprises: coalcutter remote monitoring platform, coalcutter duty parameter monitor supervision platform based on virtual reality, carry out configuration, detection and filing to coalcutter work condition state parameter; Described filing data storehouse stores the fully-mechanized mining working virtual prototype model bank of different model coalcutter and different geologic conditions, and forming module for other provides needed data, realizes respectively forming the exchanges data of module; Described remote controllers adopt two two redundant configurations, are used for communicating with the downhole crossheading controller, obtain the various status datas of coalcutter in real time, and in time transmit various steering orders; Real-time detection, the important parameter logout that described Visual Basic system accomplishes the coalcutter duty parameter shows, the real-time filing of coalcutter duty parameter and and controller between communication; Described local controller is transferred to remote controller with the data that airborne detection control system collects through EPA, finally is transferred to coalcutter operating mode remote monitoring platform and detects and file.
Described method is: (1) coalcutter operating mode remote monitoring platform is technological by EON Studio and SDK thereof, Visual Basic system design exploitation is accomplished; Comprise virtual emulation environment and the roaming of fully-mechanized mining working of kinematics model of geometric model and the coalcutter of coalcutter, show duties such as coalcutter walking, cylinder rotation coal cutting, rocking arm up-down, coal breakage in real time.
(2) based on the coalcutter remote monitoring platform of virtual reality on the basis in real time access filing data storehouse; Utilize computer graphical and visualization technique, three-dimension virtual reality technology; Structure is based on the coalcutter three-dimensional model machine of true coalcutter structure and size; Accomplish the reconstruct of the fully-mechanized mining working of different geologic conditions, and drive the coalcutter virtual prototype.
(3) coalcutter duty parameter monitor supervision platform realizes that the real-time detection of coalcutter duty parameter, important parameter logout show, the real-time filing of coalcutter duty parameter; The relevant parameter variable upgrades in time in the employing trigger fulfillment database.
(4) control panel that exploitation can realize remote monitoring instruction transmission on the coalcutter remote monitoring platform transmits steering order through EPA.
(5) realize communicating by letter between Collaborative Control device and the database through Visual Basic system, obtain the coalcutter duty parameter and send remote control commands.
(6) adopt Microsoft SQL Sever2000 database to carry out the filing of data; The SDK secondary exploitation technology of utilization EON Studio system; Data program design through Visual Studio 2003 platforms, the exploitation accessing database also reads the Node node of coalcutter real-time working state.
(7) in coalcutter work condition inspection platform, adopt upgrading in time of relevant parameter variable in the trigger fulfillment database; Corresponding process variable is changed by airborne detection control system assignment, just upgrades through corresponding with it Visual Basic built-in variable trigger data database data.
(8) two of redundant configuration remote controllers; One as master controller, and one as slave controller, and two controllers move with the Hot Spare mode; When any controller breaks down; The automatic redirect of another one controller is a master controller, after fault recovery, is connected to form new host-guest architecture automatically.
Remote controllers adopt SIEMENS Siplus S7-400, and local controller adopts SIEMENS Siplus S7-300.
(9) functions such as the floor data collection of airborne detection control system realization electrical haulage shearer, local operation control, operated from a distance control, network service.
Airborne detection control system core component is airborne PLC, is used for the connection between physical sensors unit and the native's machine operation device, drives the coalcutter execution unit, and tasks such as the control of completion logic unit and network communication.
(10) the coalcutter real-time working condition parameter of utilizing airborne sensor to provide based on the electrical haulage shearer complete machine duty dummy emulation system of different geologic conditions drives coalcutter virtual prototype model, shows in real time and monitors fully-mechanized mining working coalcutter duty.
In the present invention, used virtual three-dimensional modeling, computer graphical and visualization technique, virtual console to gordian techniquies such as real-time manipulation control, virtual environment and the actual condition exchanges data of coalcutter three-dimensional motion model, scene walkthrough, collision detection, particIe systems.
In the present invention; Geologic condition comprises drill hole information, formation information, fault information etc.; Utilize computer graphical and visualization technique, three-dimension virtual reality technology, accomplish the reconstruct of different geologic condition fully-mechanized mining workings, realize that the physics physical environment incorporates the colliery reality environment.
The design of different geologic condition fully-mechanized mining workings mainly comprises following five sub-module:
(1) X-Y scheme editting function module: accomplish management such as establishment to X-Y scheme, editor, like the editorial management of point, line, surface and various characteristic X-Y schemes.
(2) geology aspect constructing function module:, accomplish the structure of various typical geology aspects to the stratum characteristic in colliery and the data on each stratum, boring place.
(3) three-dimensional geologic MBM: setting up on the basis of stratal surface, utilizing the data of boring, accomplishing the line development of geological stratification, and the reconstruction of three-dimensional geologic is accomplished on the basis.
(4) three-dimensional roadway MBM: utilize the lead data and the related data of the roadway exploitation in the pit mining process, accomplish approaching of roadway center line, accomplish the topological relation and the three-dimensionalreconstruction of roadway.
(5) learn information management module: utilize database technology, to learn management of information variously, like information managements such as drill hole information, fault information, formation informations.
In electrical haulage shearer complete machine duty dummy emulation system, adopt two kinds of basic roaming modes: interactive walkthrough and path roaming based on different geologic conditions.
Among the present invention, interactive walkthrough through the position that mouse moving constantly changes viewpoint realize advancing, retreat, roaming effect such as rotation, specific as follows:
(1) pin the left mouse button and the mouse that moves up and down, can control the rotation of viewpoint front, rear, left and right, mobile speed is directly proportional with the distance of mouse pointer apart from the screen mid point.
(2) pin the right mouse button and the mouse that moves up and down, can control the moving of upper and lower, left and right of viewpoint, the speed that moves is directly proportional with the distance of mouse apart from the screen mid point.
Pin right mouse button when (3) pinning left mouse button, can control viewpoint according to clockwise or be rotated counterclockwise.
Among the present invention; Path roaming through choose virtual scene in key point constitute a three-dimensional SPL, linear batten path setting is according to interpolation arithmetic, begins from first reference mark; Between current reference mark and its next reference mark, calculate equidistant linear interpolation point successively; These interpolation points are inserted in the path as new viewpoint, so go down, then accomplished the entire path setting up to handling all reference mark.The linear interpolation path signal of ordering from the A point to B is as shown in Figure 2.
Among the present invention; In order to prevent that viewpoint from moving to beyond the fully-mechanized mining working; In the fully-mechanized mining working virtual scene, be provided with the collision boundary; Use the collision accident between the different geometric objects of Collision collision detection node detection among the EON Studio, the Collision node adopts is that the method for bounding volume hierarchy (BVH) is carried out collision detection, has higher real-time; Can guarantee when fully-mechanized mining working is roamed, can not take place the generation of penetration phenomenon through the slippage attribute that the Collision node is set, make simulation process have more the sense of reality.Simultaneously, coalcutter need provide coalcutter in real time and combine the relative position relation of adopting other physical object in the working environment in the motion simulation process, takes place to avoid collision or penetration phenomenon.
In order to make the monitor staff have 6 switchable observation scenes in this analogue system: virtual work face left end head, virtual work face right-hand member head, left rocking arm left, inner, the right rocking arm of right-hand, the left rocking arm of right rocking arm inside from a plurality of scene observation coalcutter operation conditionss.The switching of different scenes realizes that through button event incident selects sensor-triggered, event-driven and the routing mechanism through EON Studio to realize.Sensor node through being provided with in the system receives the instruction that the user sends, and is sent out relevant data message by route then, and is mutual to realize.Route is to be used for connected node, the generation and the receive mode of definition incident, and routing mechanism has embodied a kind of specific related between node and the node, is the connector of specifying internodal territory to be connected with the territory.In order to guarantee to have only corresponding scene to obtain activating when pressing the button at every turn; And have only corresponding two-dimensional frames to show " state of activation "; Each button event is all bound the variable of a Boolean data type, comes the uniqueness of assurance incident execution through the uniqueness of variable set.
Use particIe system simulation coal breakage effect among the present invention, improved the fidelity of coalcutter duty true reappearance greatly, concrete grammar is explained as follows:
The present invention at first will add " three dimensional frame " before design coal breakage particIe system, and attributes such as " three dimensional frame " position, direction are set, and makes the z direction of principal axis of its local coordinate system vertically point to scraper chain by virtual work face top board.In order to improve the virtual fidelity of coal breakage scene, on roll circumference, arrange a plurality of particle emission three dimensional frame, as shown in Figure 3.
Among the present invention; The coalcutter virtual prototype has real-time left and right sides pulling motion and rocking arm elevating movement; In order to keep the relative centre of the drum in particle emission position invariant position; At first add the Script node and obtain coal mining machine roller centre coordinate vector in real time, editor module Position.value.toArray is decomposed into x, y, z coordinate values with it then, the result is deposited among the Array of setting.Because particle emission three dimensional frame z coordinate is constant, so only need obtain x and the real-time coordinate figure of y direction.Adopt the periodic duty mode of Do forever to guarantee the real-time that centre of the drum's coordinate obtains.
Through obtaining x, the y coordinate figure that has Array intermediate roll center in real time; And calculate the position coordinates of particle emission three dimensional frame according to the relative position of setting; Set particle emission three dimensional frame position through the Script node, so just can realize that particle emission source and centre of the drum's relative position remain unchanged.Call particle node ParticleEmitter, ParticleMaterial, Partciles, ParticleSystem at last, import various coal cinder pinup pictures, and carry out suitable attribute setting, realize the virtual of coal breakage scene.
Analogue system of the present invention both can show on computer screen, also can on projection screen, show through projector.Can watch projection screen through anaglyph spectacles, make the user obtain the presence that body faces fully-mechanized mining working.
The present invention has adopted corresponding microcomputer graphics acceleration card, and its display frame is deposited, pinup picture storer and dough sheet colorability guarantee when fully-mechanized mining working is roamed, to reach the demonstration speed more than per second 15 frames, thereby the continuous stereo of having realized coalcutter shows.

Claims (2)

1. device based on the electrical haulage shearer duty dummy emulation system of different geologic conditions, it is characterized in that: this device is made up of coalcutter operating mode remote monitoring platform, filing data storehouse, remote controllers, Visual Basic system, EPA, local controller, airborne detection control system; Coalcutter operating mode remote monitoring platform is connected with the communication of Visual Basic system bidirectional through the filing data storehouse; Airborne detection control system is connected with the EPA both-way communication through local controller; EPA is connected with the communication of Visual Basic system bidirectional through two remote controllers;
Wherein, described coalcutter operating mode remote monitoring platform comprises: coalcutter remote monitoring platform, coalcutter duty parameter monitor supervision platform based on virtual reality, carry out configuration, detection and filing to coalcutter work condition state parameter; Described filing data storehouse stores the fully-mechanized mining working virtual prototype model bank of different model coalcutter and different geologic conditions, and forming module for other provides needed data, realizes respectively forming the exchanges data of module; Described remote controllers adopt two two redundant configurations, are used for communicating with the downhole crossheading controller, obtain the various status datas of coalcutter in real time, and in time transmit various steering orders; Real-time detection, the important parameter logout that described Visual Basic system accomplishes the coalcutter duty parameter shows, the real-time filing of coalcutter duty parameter and and controller between communication; Described local controller is transferred to remote controller with the data that airborne detection control system collects through EPA, finally is transferred to coalcutter operating mode remote monitoring platform and detects and file.
2. method based on the electrical haulage shearer duty dummy emulation system of different geologic conditions; It is characterized in that: the first step; The development and Design technological by EON Studio and SDK thereof, that Visual Basic system accomplishes coalcutter operating mode remote monitoring platform; Realize coalcutter geometric model and the virtual emulation environment of coalcutter kinematics model and the roaming of fully-mechanized mining working; Show the duty of coalcutter walking, cylinder rotation coal cutting, rocking arm up-down and coal breakage in real time, exploitation simultaneously can realize the control panel of remote monitoring instruction transmission, through EPA transmission steering order;
Further; Based on the coalcutter remote monitoring platform of virtual reality on the basis in real time access filing data storehouse; Utilize computer graphical and visualization technique, three-dimension virtual reality technology; Structure is accomplished the reconstruct of the fully-mechanized mining working of different geologic conditions based on the coalcutter three-dimensional model machine of true coalcutter structure and size, and drives the coalcutter virtual prototype;
Further, coalcutter duty parameter monitor supervision platform realizes that the real-time detection of coalcutter duty parameter, important parameter logout show, the real-time filing of coalcutter duty parameter; The relevant parameter variable upgrades in time in the employing trigger fulfillment database;
Further, exploitation can realize the control panel of remote monitoring instruction transmission on the coalcutter remote monitoring platform, through EPA transmission steering order;
Further, realize communicating by letter between Collaborative Control device and the database, obtain the coalcutter duty parameter in real time and send remote control commands through Visual Basic system; Adopt Microsoft SQL Sever2000 database to carry out the filing of data; The SDK secondary exploitation technology of utilization EON Studio system; Data program design through Visual Studio 2003 platforms, the exploitation accessing database also reads the Node node of coalcutter real-time working state;
Further; In coalcutter work condition inspection platform, adopt upgrading in time of relevant parameter variable in the trigger fulfillment database; Corresponding process variable is changed by airborne detection control system assignment, just upgrades through corresponding with it Visual Basic built-in variable trigger data database data;
Further, two remote controllers of redundant configuration, one as master controller; One as slave controller; Two controllers move with the Hot Spare mode, and when any controller broke down, the automatic redirect of another one controller was a master controller; After fault recovery, be connected to form new host-guest architecture automatically;
Further, the function of the floor data collection of airborne detection control system realization electrical haulage shearer, local operation control, operated from a distance control, network service; Airborne detection control system core component is airborne PLC, is used to connect physics sensor unit and native's machine operation device, drives the coalcutter execution unit, and the task of the control of completion logic unit and network communication;
At last, the electrical haulage shearer complete machine duty parameter of realizing different geologic conditions detects in real time, duty " true reappearance " and Long-distance Control.
CN201210195694XA 2012-06-14 2012-06-14 Work state virtual simulation system for electric haulage shearer based on different geological conditions Pending CN102759909A (en)

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