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• 虚拟现实/增强现实 • 上一篇    下一篇

复杂工况下采运装备虚拟运行关键技术研究

  

  1. 1. 太原理工大学机械工程学院,山西 太原 030024;
    2. 煤矿综采装备山西省重点实验室,山西 太原 030024
  • 出版日期:2019-04-30 发布日期:2019-05-10
  • 基金资助:
    山西省留学人员科技活动择优重点项目(2016年度);山西省回国留学人员科研资助项目(2016-043);“十二五”山西省科技重大专项 (20111101040);山西省研究生教育创新项目(2018SY019)

Research on Key Technologies of Virtual Operation of Mining Equipment Under Complex Conditions

  1. 1. College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, China;  
    2. Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan Shanxi 030024, China
  • Online:2019-04-30 Published:2019-05-10

摘要:

:当前综采工作面采运装备虚拟仿真技术都是建立在水平理想底板上,不能真实模 拟采运装备在底板不平整的复杂工况条件下的运行状态。针对这一问题,在虚拟现实引擎 Unity3D 中,对采煤机与刮板输送机在复杂工况下虚拟运行的关键技术进行研究。通过建立采 运装备的虚拟现实场景,结合采煤机在刮板输送机上的虚拟定位定姿方法,重点对刮板输送 机的虚拟弯曲、采煤机支撑滑靴销轴的坐标解析与采煤机虚拟运行等关键技术进行研究。开 发原型系统并进行实验验证,实验结果表明,虚拟刮板输送机的形态与实际布置形态的误差 小于 15 mm,采煤机机身倾角误差小于 2°,满足实际工作要求的精度。该系统可以真实再现复 杂工况下采煤机与刮板输送机的动态配套关系与运行状态,为综采工作面远程监测系统的建立 奠定基础。

关键词: 虚拟现实, 采运装备, 虚拟仿真, Unity3D 技术

Abstract:  The virtual simulation technology of mining and transporting equipment in the fully mechanized mining face is based on an ideal horizontal floor, which could not realistically simulate the operating status of the mining equipment in the complex working conditions of the floor unevenness. In an attempt to solve this problem in the virtual reality engine Unity3D, the present study focuses on the key technologies of virtual operation of shearer and scraper conveyor under complex conditions. By establishing the virtual reality scene of the mining equipment and combining with the virtual positioning method of the shearer on the scraper conveyor, we put particular emphasis on the key technologies of the virtual bending of the scraper conveyor, the coordinate analysis of the pin shaft of the shearer’s supporting slipper and the virtual operation of the shearer. The prototype system was developed and experimentally verified. The experimental results show that the error of the shape and actual arrangement of the virtual scraper conveyor is less than 15 mm, and the inclination error of the shearer body is less than 2°, which meets the accuracy of the actual work requirements. The system could truly reproduce the dynamic matching relationship and operating state of shearer and scraper conveyor under complex conditions, and lay a foundation for the establishment of remote monitoring system of fully mechanized mining face.

Key words: virtual reality, mining equipment, virtual simulation, Unity3D technology