Straightness solution of the fully mechanized working face based on VR and DT technology
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摘要: 直线度问题是综采工作面智能化建设的卡脖子问题之一，解决该问题的关键在于刮板输送机或者液压支架群的位姿获取。目前针对综采工作面直线度的研究大多是对液压支架和刮板输送机的直线度分别进行讨论，存在成本高、实现困难等问题。针对该问题，基于虚拟现实（VR）与数字孪生（DT）技术对综采工作面直线度求解方法进行探索，将液压支架、浮动连接机构、刮板输送机看作一个系统来进行整体考虑，搭建了综采工作面直线度求解框架，主要分为机理解析、模型构建、融合推演、重构监测、预测控制5个步骤。指出综采支运装备相对位置关系分析的关键在于连接液压支架底座与刮板输送机的浮动连接机构，根据浮动连接机构的运动特性将其简化为机器人模型，进行正逆向运动解析；依据真实的煤层环境，在Unity3D中建立基于关节的综采支运装备运动仿真模型，构建VR场景，实现虚实映射；通过非接触式视觉传感器、虚拟传感器、虚实融合等技术，融合传感器及点云信息进行支运装备位姿推演；利用虚实交互技术，联合真实物理场景构建DT系统，实现综采工作面虚拟监测；在虚拟场景中对保证直线度所需的推移行程进行预测，并将其反馈至物理场景中进行直线度控制。Abstract: The straightness problem is one of the neck problems in the intelligent construction of the fully mechanized working face. The key to solve this problem is to obtain the position and posture of the scraper conveyor or hydraulic support group. At present, most of the research on the straightness of fully mechanized working face is to discuss the straightness of hydraulic support and scraper conveyor separately. There are problems such as high cost and difficulty in implementation. In order to solve this problem, based on virtual reality(VR) and digital twin(DT) technology, the method to solve the straightness problem of the fully mechanized working face is explored. The hydraulic support, floating connection mechanism and scraper conveyor are considered as a whole system. The straightness solution framework of the fully mechanized working face is built. There are mainly five steps: mechanism analysis, model construction, fusion deduction, reconstruction monitoring and predictive control. It is pointed out that the key to the analysis of the relative position relationship of the fully mechanized supporting equipment is the floating connection mechanism connecting the hydraulic support base and the scraper conveyor. According to the motion characteristics of the floating connection mechanism, it is simplified into a robot model and solved by forward and reverse motion. According to the real coal seam environment, the motion simulation model of fully mechanized mining support equipment based on joints is established in Unity3D, and the VR scene is constructed to realize virtual and real mapping. Through non-contact visual sensor, virtual sensor, virtual-real fusion and other technologies, the information of sensor and point cloud are fused to perform the position and posture deduction of support equipment. Using the technology of virtual and reality interaction, combined with a real physical scenario, a DT system is constructed to achieve virtual monitoring of the fully mechanized working face. The travel distance required to ensure straightness is predicted in the virtual scene and fed back to the physical scene for straightness control.
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图 1 基于VR与DT技术的综采工作面直线度求解框架
Figure 1. A framework for solving the straightness of fully mechanized working face based on VR and DT technology
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