CN105405335A - Remote control virtual training system of fully mechanized coal mining face - Google Patents
Remote control virtual training system of fully mechanized coal mining face Download PDFInfo
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- CN105405335A CN105405335A CN201510996174.2A CN201510996174A CN105405335A CN 105405335 A CN105405335 A CN 105405335A CN 201510996174 A CN201510996174 A CN 201510996174A CN 105405335 A CN105405335 A CN 105405335A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses a remote control virtual training system of a fully mechanized coal mining face. The system comprises a remote control manipulation bench, a high speed multichannel data acquisition card and a computer. A virtual training software system is embedded in the computer. The remote control manipulation bench comprises all kinds of function switches, handles and knobs to control a virtual fully mechanized coal mining face device. The high speed multichannel data acquisition card is used for acquiring multiway switch quantity and simulation quantity given out by the function switches, handles and knobs installed on the remote control manipulation bench. The computer processes and stores the acquired multiway switch quantity and simulation quantity and displays the virtual fully mechanized coal mining face device via a database port program. According to the invention, worker training problems of a few-worker or no-worker coal mining work face control system are solved and quality and safety of control are improved. The training system is highly interactive and vivid, proper in design, highly practical and high in promotion and application value.
Description
Technical field
The invention belongs to virtual emulation field, be specifically related to for a kind of coal mine fully-mechanized mining working Long-distance Control virtual reality.
Background technology
Virtual reality (VirtualReality, VR) technology was obtaining unprecedented attention and application in recent years.In future, perfection will be merged by " reality manufacture " and " virtual present ", gather all real time datas in real manufacturing process by the magnanimity sensor spreading all over full factory, any details in real time, rapidly in reflection production.Based on these production datas, Applied Digital model, the large method such as data analysis, 3D virtual emulation in computer virtual environment, can whole production run be emulated, be evaluated and optimized, realize the production emulation in virtual world and the seamless fusion of production in real world.Therefore, " virtual merge with the perfection of real world " has become one of three megatrend that industry 4.0 develops.
The technology such as commercial unit virtual emulation, virtual manipulation are applied in professional's training aspect, are development in recent years research directions rapidly.The application strict to work under bad environment, apparatus expensive, complex manufacturing or operating process, traditional training method is obviously not suitable for the training requirement of high-risk operations, and training cost is huge.And virtual control method has been proved to be to realize simulation training, promote the important means of training quality.
In recent years, the robotization working face surface technology that domestic underground coal mine is promoted the use of, implements the safety in production theory of " nobody then pacifies, and people pacifies at least ", accelerate the robotization of coal mine machinery equipment, intelligent paces, also form some fully-mechanized mining working Demonstration Application engineerings.But current most of colliery generally adopts the mode of installing camera to carry out remote monitoring, because the working environment of coalcutter is complicated, severe, often causes camera collection not fogging clear, bring great difficulty to Long-distance Control; Or the parameter such as electric current, voltage, speed, temperature, rocking arm angle utilizing coalcutter controller to monitor when coalcutter runs, directly by parameter display or carry out graphical modeling display, carry out operation also Real-Time Monitoring coalcutter duty by coalcutter staff.In a word, because operating personnel in Long-distance Control need observed parameter many, rely on video, equipment status parameter etc. to implement manual intervention decision-making difficulty large, make existing tele-control system there is certain potential safety hazard.
Summary of the invention
The object of the invention is, for above-mentioned traditional fully-mechanized mining working train problems, to provide a kind of coal mine fully-mechanized mining working Long-distance Control virtual reality, the method is rationally novel in design, compact conformation, and it is convenient to realize, and intelligence degree is high.Fully-mechanized mining working virtual reality, except carrying out except Consumer's Experience, also has the purposes of training fully-mechanized mining working workman, to reduce prototype training cost, reduces prototype training risk.
Technical scheme of the present invention is: a kind of coal mine fully-mechanized mining working Long-distance Control virtual reality, described system comprises Long-distance Control operation bench, high--speed multi--channel data acquisition card and computing machine, be embedded in virtual training software systems at computing machine, wherein virtual training software systems comprise: coal face model module, training system interface module, fully-mechanized mining working theory teaching module, fully-mechanized mining working man-machine interaction study module, the virtual operational module of fully-mechanized mining working, fault simulation and processing module and appraisal management module;
Described Long-distance Control operation bench comprises various functional switch, handle and knob, controls virtual fully-mechanized mining working equipment;
Described high--speed multi--channel data acquisition card, for gathering the multi-way switching values and analog quantity that various functional switches, handle, knob that Long-distance Control operation bench is installed send;
The multi-way switching values of collection and analog quantity carry out processing and storing by described computing machine, by database interface, realize the display of virtual fully-mechanized mining working equipment;
Described coal face model module, in kind according to ratio in three machines according to overall design demand, three machines and three-dimensional scene models is set up in 3DSMax software, import in VR-Platform Quest3D after arranging and playing up, in VR-Platform, build whole virtual fully-mechanized mining working according to the location status of model in true coal mining process;
Described training system interface module, utilizes the different interfaces of the ChannelSwitch module switched system of Quest3D, realizes the display of three-dimensional scenic and software interface;
Described fully-mechanized mining working theory teaching module, comprises theory teaching module and machine & equipment Teaching Module;
Described fully-mechanized mining working man-machine interaction study module, is roamed by personage in virtual scene and triggers the animation explanation that training column mode carries out fully-mechanized mining working robotization coal winning technology;
The virtual operational module of described fully-mechanized mining working, comprises standard schedule operational module and free practice operational module, for training the control operation to three machines in robotization coal mining process;
Described fault simulation and processing module, combined with virtual manipulation process, utilize animation form show the typical case of real work face equipment electrically, hydraulic pressure and mechanical fault, and with sound and text prompt fault handling measure;
Described appraisal management module, gives measure of merit and examination training by examination question marking and simulated operation exercise.
Wherein the building method of coal face model module is: in support programs 3DSMax, designed three machine models and virtual scene model, and imported after in VR-Platform, according to real coal winning technology and coal mining process, change the three dimensional space coordinate of model, angle and size, reasonable arrangement also builds real fully-mechanized mining working, according to the actual coal mining action of three machines in coal winning technology, the department pattern that can link in three machine models is carried out set membership binding, under the action matrix module of father's object is connected to the matrix module of sub-object, movements design can be carried out to block mold modularization.
Wherein the building method of training system interface module is: in support programs 3DSMax, design Three Dimensional Interface model, import in Quest3D VR-Platform, the volume coordinate of adjustment model, changes its transparent channel attribute, adds the interface of corresponding function button completion system; ChannelSwitch module can be carried out switching to any type of module by the change of Value and be selected in Quest3D software, detection is clicked by carrying out mouse to button, triggering SetValue module of clicking the mouse carries out assignment to the Value value below ChannelSwitch, logic control is carried out to button, switch between main interface and sub-interface, enter corresponding three-dimensional scenic and interface.
Wherein the building method of fully-mechanized mining working man-machine interaction study module is: in the virtual scene of Quest3D VR-Platform, by the action of Newton module installation person model, use keyboard to control person model and roam in the middle of virtual workface scene; By DetectMouseCollision Air conduct measurement people's composition lens and mouse clicking trigger three machine, complete the training of three machine knowwhies; In virtual scene, trigger the media information that three machines coordinate the standard coal winning technology of mining, play corresponding video, animation, operating personnel are learnt in virtual scene true to nature.
Standard schedule operation wherein in the virtual operational module of fully-mechanized mining working, in Quest3D virtual platform, Valueoperator is used to change object space coordinate according to specification fully-mechanized mining working coal mining operation code, this coordinate is arranged to the speed of maximal value and minimum value and change, carrying out mathematical computations by calculating passage to these values coordinates coal mining actions to write out in three machines, trigger three machine cooperations orders by three machine spatial coordinate location and state parameter to mine action, each action is triggered by the control command of operation bench, just next action can be proceeded to after completing a correct operational motion, Text is passed through between action, Texture and Mediaplayer passage adds word, picture and animation, point out the action that next step carries out, corresponding word is just there will be according to standard schedule operation, picture, animation, until operation terminates.
Free practice operation wherein in the virtual operational module of fully-mechanized mining working operates with standard schedule, object space coordinate is changed by Valueoperator, the maximal value of coordinate, minimum value and change in location speed are set, carrying out mathematical computations by calculating passage to these values coordinates coal mining actions to write out in three machines, triggered three machine cooperations orders by three machine spatial coordinate location and state parameter to mine action, each action is triggered by the control command of control stand; Operate institute from standard schedule to be differently, next step information is not being added between each step, the information of operating mistake is just there is when logical operation mistake, these informations are added by Text, Texture and Mediaplayer passage, be provided with triggering mode below each passage, trigger during the operation logic of execution error.
Wherein coal face model module comprises coalcutter module, hydraulic support module, scraper conveyor module, virtual scene module.
Wherein various functional switch comprises start & shutdown through one key master control switch, three machine collection control switches, hydraulic support gauge tap, scrapper conveyor gauge tap, coalcutter gauge tap.
Wherein theory teaching module is the theory teaching adopting picture, video and lantern slide to realize coal winning technology, three machine structures and equipment electrical control.
Wherein machine & equipment Teaching Module detects by DetectMouseCollision dismounting and the Assembly Action that mouse clicks the Motion passage triggering corresponding site model of three machine-operated key site model, realize the machine & equipment of three machine key components and partss, help start-up to grasp physical construction and the principle of work of three machines further.
Beneficial effect of the present invention
The invention solves the staff training problem of the few people in colliery or manless working face control system, promote the quality and security that control.The present invention has good interactivity and the sense of reality, reasonable in design, practical, and application value is high.The present invention can help coal mine fully-mechanized mining working three machine operating personnel to improve its skilled operation degree, avoid causing damage to equipment during operator training, and cost is low, safe and efficient.The present invention is rationally novel in design, and it is convenient to realize, and uses simple operation.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention.
Fig. 2 is hardware components block diagram of the present invention.
Fig. 3 is software section block diagram of the present invention.
Embodiment
As shown in Figure 1, a kind of coal mine fully-mechanized mining working Long-distance Control virtual reality, comprises hardware, software, data-interface three part.Hardware comprises computing machine, data collecting card, manipulation device, operation bench.By data collecting card collection control desk manipulating the control action that device (switch, handle, knob) sends, and be transferred to the control that computing machine completes virtual prototype.Software section comprises coal face model module (coalcutter, hydraulic support, scraper conveyor, virtual scene), fully-mechanized mining working training system interface module, fully-mechanized mining working Teaching Module, fully-mechanized mining working operational module, appraisal management module.Operator can be made to complete the theory practice training of fully-mechanized mining working three machine by this part, improve the ability of operator's operating equipment.
As shown in Figure 2, the hardware of a kind of colliery fully-mechanized mining working virtual reality is made up of operation bench, manipulation device, data collecting card and computing machine.
This part control action sent mainly through data collecting card collection control desk manipulating device (switch, handle, knob), and be transferred to computing machine, complete the action of virtual prototype.
Operation bench forms according to the operation bench of true coal mine equipment is imitated, and concrete action realizes consistent with the operation bench of true colliery fully-mechanized mining working.Operation bench is provided with operating grip, gauge tap, knob, in order to send the coalcutter manipulation instruction of multi-way switching values, multi-analog.These manipulation instructions are gathered by data collecting card, carry out data processing, will manipulate command to computing machine after process by digital filtering, difference wiring.
Be passed in the database of VR-Platform by the virtual reality data interface write, the Selection and call that DBDriverMYSQL module is carried out database is directly called in VR-Platform, the table in corresponding database is selected at DBQuery, analog quantity or the digital output modul selecting to need by DBValue, trigger the action of virtual prototype, complete the process that steering order that operation bench sends controls virtual prototype.
As shown in Figure 3, a software for coal mine fully-mechanized mining working Long-distance Control virtual reality, software section comprises coal face model module, training system interface module, fully-mechanized mining working theory teaching module, fully-mechanized mining working man-machine interaction study module, the virtual operational module of fully-mechanized mining working, fault simulation and processing module and appraisal management module.
Coal face model module (coalcutter, hydraulic support, scraper conveyor, virtual scene), three machines and model of place is set up in three machine material objects according to ratio according to overall design demand in support programs 3DMax, import in Quest3D VR-Platform be converted into .X file after arranging and playing up after, light, pinup picture, camera effect is added in Quest3D, model is played up, increases its degree true to nature.
Training system interface module, designs Three Dimensional Interface model in support programs 3DSMax, and import in Quest3D VR-Platform, the volume coordinate of adjustment model, changes its transparent channel attribute, adds the interface of corresponding function button completion system.ChannelSwitch module can be carried out switching to any type of module by the change of Value and be selected in Quest3D software, detection is clicked by carrying out mouse to button, triggering SetValue module of clicking the mouse carries out assignment to the Value value below ChannelSwitch, logic control is carried out to button, switch between main interface and sub-interface, enter corresponding three-dimensional scenic and interface.
Fully-mechanized mining working Teaching Module, is made up of theory teaching module, machine & equipment module two parts, realizes the System's composition of fully-mechanized mining working three machine and the training of principle of work.
Man-machine interaction theory Teaching Module, by the action of the Newton module installation person model in Quest3D, uses keyboard to control person model and roams in the middle of virtual workface scene.Trigger instructions, ultimate principle knowledge that viewing fully-mechanized mining working three machine includes product, complete the training of fully-mechanized mining working three machine knowwhy.In virtual scene, the animation of triggering system structure and standard coal winning technology is explained, by the animation more grasp mining fully-mechanized mining working three machine system construction of visual pattern and basic functional principle.
Machine & equipment Teaching Module, detect by DetectMouseCollision dismounting and the Assembly Action that mouse clicks the Motion passage triggering corresponding site model of three machine-operated key site model, the physical construction grasping three machines is further formed and ultimate principle.
Fully-mechanized mining working three machine operational module, the free practice comprising three machine standard schedule operations and three machines operates two parts, by the button on control operation bench and handle, sends control command, realize the relevant action of virtual prototype, reach the object of Reality simulation fully-mechanized mining working three machine operation.
The standard schedule operation of fully-mechanized mining working three machine, operates according to the working specification of coal mine fully-mechanized mining working three machine, is conducive to the working specification skillfully grasping fully-mechanized mining working three machine, completes the safe operation of coalcutter according to working specification.
Fully-mechanized mining working three machine free practice operation, operator according to the actual demand of oneself to operate.When operating generation mistake, there will be warning, display current operation mistake, cannot proceed operation.
Fault simulation and processing module, combined with virtual manipulation process, utilize animation form show the typical case of working face equipment electrically, hydraulic pressure and mechanical fault, and with sound and text prompt fault handling measure.
Appraisal management module, measure of merit and examination is giveed training by examination question marking and simulated operation exercise, the unified record management of start-up, sets up Array array in virtual platform system, carries out by ArrayCommand editor and the management of examining the corresponding array such as mark, personal information.Be presented in the respective interface of system by GUI.
Virtual reality technology is applied to the production run of coal mine fully-mechanized mining working by the present invention, its simulated production process is made to reach the effect of controllable visualization, for trainer provides one and the on all four virtual environment of true environment, undertaken alternately by objects all in human-computer interaction device and scene, experience real-time physical feedback, the principle of carrying out plurality of devices is shown, machine & equipment and virtual manipulation, the grasp of student to product know-how can be accelerated, improve the actual operational capacity of practitioner, use it for miner to train and will there is small investment, safe and reliable, having can the superiority of repetitive operation, for the planning and design of research fully-mechanized mining working, demonstration, decision support and the same tool of accident treatment are of great significance.
Claims (10)
1. a coal mine fully-mechanized mining working Long-distance Control virtual reality, it is characterized in that: described system comprises Long-distance Control operation bench, high--speed multi--channel data acquisition card and computing machine, be embedded in virtual training software systems at computing machine, wherein virtual training software systems comprise: coal face model module, training system interface module, fully-mechanized mining working theory teaching module, fully-mechanized mining working man-machine interaction study module, the virtual operational module of fully-mechanized mining working, fault simulation and processing module and appraisal management module;
Described Long-distance Control operation bench comprises various functional switch, handle and knob, controls virtual fully-mechanized mining working equipment;
Described high--speed multi--channel data acquisition card, for gathering the multi-way switching values and analog quantity that various functional switches, handle, knob that Long-distance Control operation bench is installed send;
The multi-way switching values of collection and analog quantity carry out processing and storing by described computing machine, by database interface, realize the display of virtual fully-mechanized mining working equipment;
Described coal face model module, in kind according to ratio in three machines according to overall design demand, three machines and three-dimensional scene models is set up in 3DSMax software, import in VR-Platform Quest3D after arranging and playing up, in VR-Platform, build whole virtual fully-mechanized mining working according to the location status of model in true coal mining process;
Described training system interface module, utilizes the different interfaces of the ChannelSwitch module switched system of Quest3D, realizes the display of three-dimensional scenic and software interface;
Described fully-mechanized mining working theory teaching module, comprises theory teaching module and machine & equipment Teaching Module;
Described fully-mechanized mining working man-machine interaction study module, is roamed by personage in virtual scene and triggers the animation explanation that training column mode carries out fully-mechanized mining working robotization coal winning technology;
The virtual operational module of described fully-mechanized mining working, comprises standard schedule operational module and free practice operational module, for training the control operation to three machines in robotization coal mining process;
Described fault simulation and processing module, combined with virtual manipulation process, utilize animation form show the typical case of real work face equipment electrically, hydraulic pressure and mechanical fault, and with sound and text prompt fault handling measure;
Described appraisal management module, gives measure of merit and examination training by examination question marking and simulated operation exercise.
2. coal mine fully-mechanized mining working Long-distance Control virtual reality as claimed in claim 1, it is characterized in that, the building method of coal face model module is: in support programs 3DSMax, designed three machine models and virtual scene model, and imported after in VR-Platform, according to real coal winning technology and coal mining process, change the three dimensional space coordinate of model, angle and size, reasonable arrangement also builds real fully-mechanized mining working, according to the actual coal mining action of three machines in coal winning technology, the department pattern that can link in three machine models is carried out set membership binding, under the action matrix module of father's object is connected to the matrix module of sub-object, movements design can be carried out to block mold modularization.
3. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, it is characterized in that, the building method of training system interface module is: in support programs 3DSMax, design Three Dimensional Interface model, import in Quest3D VR-Platform, the volume coordinate of adjustment model, change its transparent channel attribute, add the interface of corresponding function button completion system; ChannelSwitch module can be carried out switching to any type of module by the change of Value and be selected in Quest3D software, detection is clicked by carrying out mouse to button, triggering SetValue module of clicking the mouse carries out assignment to the Value value below ChannelSwitch, logic control is carried out to button, switch between main interface and sub-interface, enter corresponding three-dimensional scenic and interface.
4. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, it is characterized in that, the building method of fully-mechanized mining working man-machine interaction study module is: in the virtual scene of Quest3D VR-Platform, by the action of Newton module installation person model, use keyboard to control person model and roam in the middle of virtual workface scene; By DetectMouseCollision Air conduct measurement people's composition lens and mouse clicking trigger three machine, complete the training of three machine knowwhies; In virtual scene, trigger the media information that three machines coordinate the standard coal winning technology of mining, play corresponding video, animation, operating personnel are learnt in virtual scene true to nature.
5. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, it is characterized in that: the standard schedule operation in the virtual operational module of fully-mechanized mining working, in Quest3D virtual platform, Valueoperator is used to change object space coordinate according to specification fully-mechanized mining working coal mining operation code, this coordinate is arranged to the speed of maximal value and minimum value and change, carrying out mathematical computations by calculating passage to these values coordinates coal mining actions to write out in three machines, trigger three machine cooperations orders by three machine spatial coordinate location and state parameter to mine action, each action is triggered by the control command of operation bench, just next action can be proceeded to after completing a correct operational motion, Text is passed through between action, Texture and Mediaplayer passage adds word, picture and animation, point out the action that next step carries out, corresponding word is just there will be according to standard schedule operation, picture, animation, until operation terminates.
6. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, it is characterized in that: the free practice operation in the virtual operational module of fully-mechanized mining working operates with standard schedule, object space coordinate is changed by Valueoperator, the maximal value of coordinate is set, minimum value and change in location speed, carrying out mathematical computations by calculating passage to these values coordinates coal mining actions to write out in three machines, trigger three machine cooperations orders by three machine spatial coordinate location and state parameter to mine action, each action is triggered by the control command of control stand, operate institute from standard schedule to be differently, next step information is not being added between each step, the information of operating mistake is just there is when logical operation mistake, these informations are added by Text, Texture and Mediaplayer passage, be provided with triggering mode below each passage, trigger during the operation logic of execution error.
7. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, is characterized in that: coal face model module comprises coalcutter module, hydraulic support module, scraper conveyor module, virtual scene module.
8. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, is characterized in that: various functional switch comprises start & shutdown through one key master control switch, three machine collection control switches, hydraulic support gauge tap, scrapper conveyor gauge tap, coalcutter gauge tap.
9. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, is characterized in that: theory teaching module is the theory teaching adopting picture, video and lantern slide to realize coal winning technology, three machine structures and equipment electrical control.
10. coal mine fully-mechanized mining working Long-distance Control virtual reality according to claim 1, it is characterized in that: machine & equipment Teaching Module detects by DetectMouseCollision dismounting and the Assembly Action that mouse clicks the Motion passage triggering corresponding site model of three machine-operated key site model, realize the machine & equipment of three machine key components and partss, help start-up to grasp physical construction and the principle of work of three machines further.
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| CN106254107A (en) * | 2016-08-01 | 2016-12-21 | 魏立科 | Manless working face coal-winning machine immersion remote failure investigation and operation training method thereof |
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