综采工作面煤层装备联合虚拟仿真技术构想与实践

Technical conception and practice of joint virtual simulation for coal seam and equipment in fully-mechanized coal mining face

当前综采工作面煤层和装备都是分开建模,缺少将两者的运行关系进行融合的方法和案例,导致构建的虚拟生产系统与实际情况偏差过大。利用虚拟现实软件Unity3D的物理仿真引擎,对虚拟装备之间和装备与虚拟煤层之间的相互作用关系进行编译,获得关键的运行信息、特征和状态,目的是实现"煤层+装备"的联合虚拟仿真运行。基于逆向重构技术与Mesh网格碰撞体技术建立由虚拟固有煤层和虚拟实时更新煤层两部分组成的虚拟煤层仿真系统,对装备进行协同仿真,建立装备与煤层虚拟作用模型,研究与煤层底板直接进行作用的装备行为的仿真方法,包括刮板输送机虚拟铺设、液压支架群虚拟支撑和采煤机虚拟截割煤层顶底板。以井下地质探测数据点为基础按循环点和装备点逆向重构出固有煤层,根据采煤机实时前后滚筒截割轨迹对虚拟煤层数据信息进行更新,煤层实时信息也同时反向作用于装备运行,真实再现煤层环境下装备自适应推进过程。该方法将装备与煤层建立可靠的联系,为构建实时运行数据驱动的综采工作面生产系统虚拟镜像提供技术支撑。

The coal seam and equipment in fully-mechanized coal mining face have been modeled separately in previous researches. The lack of a method to identify the correlation between coal and equipment can lead to significant simulation error between virtual and actual production system. This paper aims to integrate coal and equipment into a whole operation system by compiling the interaction between virtual equipment and virtual coal seam. The virtual reality software Unity3D is used to obtain the key operation information, characteristics, and status of the system. Based on the reverse reconstruction technology and the Mesh grid collision body technology, a virtual coal seam simulation system that consists of virtual intrinsic seam and virtual real-time updating seam is established. The collaborative simulation of equipment is performed and the virtual interaction model between equipment and coal seam is established. A series of simulations for equipment behavior directly acting on coal floor are studied, including virtual laying of scraper conveyor, virtual support of hydraulic groups, and virtual cutting of coal seam roof and floor by shearer. On the basis of underground geological survey data, the inherent coal seam is reconstructed according to cycle points and equipment points. The virtual coal seam data is updated according to the shearer’s real-time cutting track of the front and rear drums. At the same time, the real-time coal seam information acts inversely on the equipment operation and reappears the self-adaptive propulsion process of equipment in the coal seam environment. This method can establish a reliable relationship between the equipment and coal seam, providing technical support for construction of real time virtual image of production system for fully-mechanized coal mining face.