CN106127324A - A kind of remote visualization for unmanned getting working face monitors method - Google Patents
A kind of remote visualization for unmanned getting working face monitors method Download PDFInfo
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Abstract
The invention discloses a kind of remote visualization for unmanned getting working face and monitor method, belong to coal mining technical field of automation, the present invention builds Real Data Exchangs platform, it is achieved the reliable real-time exchange of data；Set up work surface threedimensional model and various device model, it is achieved dynamically the rendering of work surface three-dimensional virtual scene, extractive equipment attitude-simulating with remotely control and the simultaneous display of monitor video and work surface three-dimensional virtual scene；Set up down-hole hazard prediction Early-warning Model, equipment fault diagnosis model, carry out hazard prediction early warning and equipment fault diagnosis.The present invention is based on Real Data Exchangs, Video Supervision Technique is combined with virtual reality technology, overcome getting working face water, mist etc. and affect factor and the limitation of video camera itself of sight line, and combine the accurate threedimensional model in exploiting field and Real-time Monitoring Data carries out down-hole hazard prediction early warning, equipment fault diagnosis, for realizing unmanned getting working face veritably has established good basis comprehensively.
Description
Technical field
The invention belongs to coal mining technical field of automation, be specifically related to a kind of remote visualization for unmanned getting working face and supervise
Prosecutor method.
Background technology
Unmanned getting working face refers to, under the protection of work surface security expert's system, remotely be controlled by wired or wireless mode
Crucial production equipment, monitors its operating mode.Utilize the autonomous location of extractive equipment and automatic navigation technology, coal petrography automatic identification technology,
Hydraulic support electrohydraulic control technology, drag conveyor elapse technology, work surface automatic purpose monitoring technology, down-hole high speed pair automatically
It is automatically performed various production procedure, dynamic optimization operation routine, it is achieved work to mechanics of communication and centralized computer control technology etc.
Face Automation of Manufacturing Process, intellectuality, IT application in management and operation unmanned, only when equipment breaks down, keeps in repair people
Member just can arrive work surface, so that it is guaranteed that highly efficient and productive and safety in production.
Realize real unmanned getting working face, be unable to do without the monitoring of long-range real-time visual.Current remote visualization monitoring is main
The production process of work surface is remotely monitored by setting up video-frequency monitor at work surface.But, due to work surface scene often
There are the adverse circumstances such as the water of the biggest concentration, mist, dust, be only difficult to obtain image clearly by video-frequency monitor or The Cloud Terrace, and
And photographic head can only obtain limited direction, local, the image on surface, can not see that global information is (such as work surface and well
Lane be distributed) and equipment between coupling information, more cannot see that the internal structure in coal and rock and goaf, also None-identified equipment
Internal duty, the surface image only obtained with monitor video also cannot judge down-hole disaster alarm situation all-sidedly and accurately,
Have a strong impact on the remote monitoring effect of work surface.Unmanned and the long-range of getting working face to be realized is it is necessary to realize whole
The environment of work surface, equipment, production and safety information carry out comprehensive monitoring.
Current getting working face remote visualization monitors and is primarily present following shortcoming:
1. getting working face often affects the factor of sight line with the presence of water, mist, dust etc., the limitation of photographic head itself in addition,
Photographic head cannot obtain clearly, omnidirectional images, more cannot obtain the internal information of coal and rock, goaf, extractive equipment；
The surface image the most only obtained with monitor video cannot judge down-hole disaster alarm situation all-sidedly and accurately；
The surface image the most only obtained with monitor video cannot accurately judge the operation conditions of production equipment.
Summary of the invention
For above-mentioned technical problem present in prior art, the present invention proposes a kind of long-range for unmanned getting working face
Method for visually monitoring, reasonable in design, overcome the deficiencies in the prior art, for realizing unmanned getting working face veritably comprehensively
Establish good basis.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of remote visualization for unmanned getting working face monitors method, carries out in accordance with the following steps:
Step 1: exploitation Real Data Exchangs platform
Build support various communications protocols based on self-defining data communication protocol and the Real Data Exchangs platform of interface, for real
Existing video monitoring data, Mine Monitoring data, monitoring of tools data and reliable, the real-time exchange of application data；
Step 2: set up work surface threedimensional model including roof break appearance model, rib model, goaf model with
And the various device models including fully mechanized mining supporter, coal-winning machine, drag conveyor and elevating conveyor；
Step 3: realize the long-range joint-monitoring of work surface three-dimensional virtual scene and monitor video, and then realize monitor video and work
Make the simultaneous display of face three-dimensional virtual scene；
Step 4: realize down-hole disaster and be predicted early warning and equipment fault diagnosis；
Step 5: build system environments；
Step 6: system debug
Including data transmission bauds and the same pacing of reliability testing, the stress test of Real Data Exchangs platform and monitor video
Examination；
Step 7: put into operation
After putting into operation, by controlling the virtual reality scenario of terminal, monitor video, hazard prediction early warning information, equipment fault
Diagnostic message monitors downhole production situation, and by the various production in control panel remote control down-hole equipment.
Preferably, in step 1, described Real Data Exchangs platform support various communications protocols and interface support include TCP/IP,
HTTP、DDE/NetDDE、COM/DCOM,OPC/OPC UA、RS232/RS485、FTP、MSMQ、XML、SOAP、WSDL、
UDDI, SOA are in interior agreement；Can be from SCADAD, DCS, PLC, RTU, board, instrument, module, DDE, OPC, end
Mouth obtains data in interior various software, equipment, agreement, and can provide data by open interface to various application；Can
Obtain order from various service systems, application system and control end, and can automatically forward and perform order, control the operation of equipment.
Preferably, in step 2, the method for building up of described roof break appearance model, specifically include: according to real-time ore deposit pressure prison
Survey data and calculate preliminary water component and the periodic weighting step pitch of top board；Utilize ore pressure monitor data results, in conjunction with rock stratum
Mechanics parameter calculates the fracture step of top board, sets up roof break form threedimensional model；
The method for building up of described rib model, specifically includes: rib is carried out gridding segmentation；Along with the advance of the face, cut
The change of cylinder position and the cut degree of depth adjusts the coordinate of mesh point automatically；Automatically texture mapping techniques is utilized to complete rib model
Real-time update；
The method for building up of the threedimensional model in described goaf, specifically includes: utilize the various position monitoring information of work surface, in conjunction with
Mine geography information system, sets up the threedimensional model in goaf.
Preferably, in step 3, specifically include:
Step 3.1: the operation attitude of various equipment is simulated and remotely controls
Operation attitude and control mode to various equipment are classified, and set up corresponding attitude-simulating and controlling party Faku County, for
Concrete equipment, carries out non-detachable mold fit control according to device type, component parts, type of drive；
Step 3.2: work surface three dimensional device scene is dynamically updated and renders
Develop work surface three dimensional device scene update based on real-time monitoring data and Rendering software, all devices to work surface,
According to its position and attitude information, it is achieved the real-time update of three dimensional device scene with render；
Step 3.3: virtual reality technology is combined with Video Supervision Technique, it is achieved monitor video is same with three-dimensional virtual scene
Step display.
Preferably, in step 4, the described method that down-hole disaster is predicted early warning, specifically include: according to the generation of disaster
Mechanism, sets up corresponding hazard prediction Early-warning Model, sends contingent disaster according to Real-time Monitoring Data on this basis
Prediction and warning information；
The described method diagnosing equipment fault, specifically includes: different types of equipment is set up corresponding fault diagnosis mould
Type, on this basis according to the operation conditions of Real-time Monitoring Data analytical equipment, timely diagnostic device fault.
Preferably, in step 5, specifically include:
Step 5.1: in aboveground installation multiple control terminal, and each control terminal is configured with virtual reality scenario unit, prison
Control video unit, hazard prediction early warning information unit and equipment fault diagnosis unit；
Step 5.2: install and debug Real Data Exchangs platform；
Step 5.3: multiple work surface is set in down-hole, and installs various production equipment on each work surface；
Step 5.4: carry out building of network environment between the various production equipment controlled on terminal and work surface.
The Advantageous Effects that the present invention is brought:
The present invention proposes a kind of remote visualization for unmanned getting working face and monitors method, compared with prior art, originally
Invention first exploitation Real Data Exchangs platform, it is achieved video monitoring data, Mine Monitoring data, monitoring of tools data and should
By reliable, the real-time exchange of routine data；Set up work surface threedimensional model and various device model, put down based on Real Data Exchangs
The real time data that platform is forwarded, it is achieved dynamically the rendering of work surface three-dimensional virtual scene, attitude-simulating and the remotely control of extractive equipment
System, and realize the simultaneous display of monitor video and work surface three-dimensional virtual scene；Set up down-hole hazard prediction Early-warning Model, equipment
Fault diagnosis model, carries out down-hole hazard prediction early warning and equipment fault diagnosis based on Real-time Monitoring Data.
Video Supervision Technique, based on Real Data Exchangs, is combined with virtual reality technology and realizes digging work by the present invention
Making the remote visualization monitoring in face, overcoming getting working face water, mist, dust etc. affects factor and the video camera itself of sight line
Limitation, and combine the accurate threedimensional model in exploiting field and Real-time Monitoring Data carries out down-hole hazard prediction early warning, equipment fault in time
Diagnosis, for realizing unmanned getting working face veritably has established good basis comprehensively.
Accompanying drawing explanation
Fig. 1 is the FB(flow block) that a kind of remote visualization for unmanned getting working face of the present invention monitors method.
Fig. 2 is the Organization Chart of Real Data Exchangs platform.
Fig. 3 is the system assumption diagram that a kind of remote visualization for unmanned getting working face of the present invention monitors method.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the present invention is described in further detail by detailed description of the invention:
A kind of remote visualization for unmanned getting working face monitors method (as shown in Figure 1), carries out in accordance with the following steps:
Step 1: exploitation Real Data Exchangs platform
Build Real Data Exchangs platform, to realize video monitoring data, Mine Monitoring data, monitoring of tools data and application
Reliable, the real-time exchange of routine data.
The framework of Real Data Exchangs platform is as shown in Figure 2.Owing to Real Data Exchangs relates to multiple data, therefore real time data
Switching plane must support various protocols and interface, it is possible to automatically processes real time data, store, forward, and supports certainly
Definition data protocol is to meet customized demand.
Step 2: set up work surface threedimensional model and device model
Set up roof break appearance model, rib model, goaf model and various device model.Specifically:
Calculate the preliminary water component of top board, periodic weighting step pitch according to real-time ore pressure monitor data, utilize ore pressure monitor data
Analysis result, calculates the fracture step of top board, and then sets up roof break form threedimensional model in conjunction with rock layer mechanics parameter.
Rib is carried out gridding segmentation, and along with the change of the advance of the face, cutting drum position and the cut degree of depth adjusts automatically
The coordinate of mesh point, and utilize automatically texture mapping techniques to complete the real-time update of rib model.
Utilize the various position monitoring information of work surface, in conjunction with mine geography information system, set up the threedimensional model in goaf.
Set up the threedimensional model of various equipment, and according to theory of mechanics, moving law and the gesture stability constrained parameters of equipment, build
The vertical bang model of each parts, composition model.Equipment mentioned here mainly include fully mechanized mining supporter, coal-winning machine, drag conveyor,
Elevating conveyor etc..
Step 3: realize the long-range joint-monitoring of work surface three-dimensional virtual scene and monitor video
The attitude-simulating realizing extractive equipment updates with remotely control, the dynamic of work surface three dimensional device scene and render, Jin Ershi
Existing monitor video and the simultaneous display of work surface three-dimensional virtual scene.Specifically:
(1) equipment attitude-simulating and remote interaction thereof control
Operation attitude and control mode to various equipment are classified, and set up corresponding attitude-simulating and controlling party Faku County.For
Concrete equipment, carries out non-detachable mold fit control according to device type, component parts, type of drive.
According to the movement relation between each parts, determine the collaborative simulation pattern (fixed-time incrementing method or next event incrementing method) between parts,
Design simulation model and algorithm, use multithreading, it is achieved the three-dimensional visualization of equipment running process and work compound presents.
(2) the dynamic of work surface three dimensional device scene updates and renders
Develop work surface three dimensional device scene update based on real-time monitoring data and Rendering software, all devices to work surface,
According to its position and attitude information, it is achieved the real-time update of three dimensional device scene with render.
(3) monitor video and the simultaneous display of work surface three-dimensional virtual scene
Virtual reality technology is combined with Video Supervision Technique, it is achieved monitor video and the simultaneous display of three-dimensional virtual scene, from
And carry out Remote Device Control more easily.Wherein, monitor video part can be with any switching laws picture remote controlled The Cloud Terrace；
Virtual scene part can dynamically update according to Real-time Monitoring Data and render, it is possible to arbitrarily push-and-pull, rotate, scale,
Roaming.
Step 4: realize down-hole hazard prediction early warning and equipment fault diagnosis
According to the genesis mechanism of the disasters such as ore deposit shake, mine dust, fire, roof fall, gushing water, pucking, gas explosion, set up corresponding
Hazard prediction Early-warning Model, sends prediction and warning letter according to Real-time Monitoring Data disaster contingent for down-hole on this basis
Breath, and for the parameter in close relations with disaster, its variation tendency can be carried out real-time Treatment Analysis.
Step 5: build system environments
System environments is built, including the building of network environment, Real Data Exchangs platform according to architecture as shown in Figure 3
Installation and debugging, the installation controlling terminal and configuration etc..
Step 6: system debug
Including data transmission bauds and reliability testing, the test of Real Data Exchangs plateau pressure and monitor video synchronism detection etc..
Step 7: put into operation
After putting into operation, operator can by control the virtual reality scenario of terminal, monitor video, hazard prediction early warning information,
Equipment fault diagnosis information monitoring downhole production situation, and by control panel remote control underground equipment.
Video Supervision Technique, based on Real Data Exchangs, is combined with virtual reality technology and realizes digging work by the present invention
Making the remote visualization monitoring in face, overcoming getting working face water, mist, dust etc. affects factor and the video camera itself of sight line
Limitation, and combine the accurate threedimensional model in exploiting field and Real-time Monitoring Data carries out down-hole hazard prediction early warning, equipment fault in time
Diagnosis, for realizing unmanned getting working face veritably has established good basis comprehensively.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, the art
Change that technical staff is made in the essential scope of the present invention, retrofit, add or replace, also should belong to the protection of the present invention
Scope.
Claims (6)
1. the remote visualization monitoring method for unmanned getting working face, it is characterised in that: carry out in accordance with the following steps:
Step 1: exploitation Real Data Exchangs platform
Build support various communications protocols based on self-defining data communication protocol and the Real Data Exchangs platform of interface, for real
Existing video monitoring data, Mine Monitoring data, monitoring of tools data and reliable, the real-time exchange of application data；
Step 2: set up work surface threedimensional model including roof break appearance model, rib model, goaf model with
And the various device models including fully mechanized mining supporter, coal-winning machine, drag conveyor and elevating conveyor；
Step 3: realize the long-range joint-monitoring of work surface three-dimensional virtual scene and monitor video, and then realize monitor video and work
Make the simultaneous display of face three-dimensional virtual scene；
Step 4: realize down-hole disaster and be predicted early warning and equipment fault diagnosis；
Step 5: build system environments；
Step 6: system debug
Including data transmission bauds and the same pacing of reliability testing, the stress test of Real Data Exchangs platform and monitor video
Examination；
Step 7: put into operation
After putting into operation, by controlling the virtual reality scenario of terminal, monitor video, hazard prediction early warning information, equipment fault
Diagnostic message monitors downhole production situation, and by the various production in control panel remote control down-hole equipment.
Remote visualization for unmanned getting working face the most according to claim 1 monitors method, it is characterised in that:
In step 1, the various communications protocols of described Real Data Exchangs platform for include TCP/IP, HTTP, DDE/NetDDE,
COM/DCOM, OPC/OPC UA, RS232/RS485, FTP, MSMQ, XML, SOAP, WSDL, UDDI, SOA are interior
Agreement；Described Real Data Exchangs platform, is configurable for obtaining data and providing data by its interface to various application
And obtain order from various service systems, application system and control end, and can automatically forward and perform order, control equipment
Run.
Remote visualization for unmanned getting working face the most according to claim 1 monitors method, it is characterised in that:
In step 2, the method for building up of described roof break appearance model, specifically include: calculate according to real-time ore pressure monitor data
The preliminary water component of top board and periodic weighting step pitch；Utilize ore pressure monitor data results, calculate in conjunction with rock layer mechanics parameter
Go out the fracture step of top board, set up roof break form threedimensional model；
The method for building up of described rib model, specifically includes: rib is carried out gridding segmentation；Along with the advance of the face, cut
The change of cylinder position and the cut degree of depth adjusts the coordinate of mesh point automatically；Automatically texture mapping techniques is utilized to complete rib model
Real-time update；
The method for building up of the threedimensional model in described goaf, specifically includes: utilize the various position monitoring information of work surface, in conjunction with
Mine geography information system, sets up the threedimensional model in goaf.
Remote visualization for unmanned getting working face the most according to claim 1 monitors method, it is characterised in that:
In step 3, specifically include:
Step 3.1: the operation attitude of various equipment is simulated and remotely controls
Operation attitude and control mode to various equipment are classified, and set up corresponding attitude-simulating and controlling party Faku County, for
Concrete equipment, carries out non-detachable mold fit control according to device type, component parts, type of drive；
Step 3.2: work surface three dimensional device scene is dynamically updated and renders
Develop work surface three dimensional device scene update based on real-time monitoring data and Rendering software, all devices to work surface,
According to its position and attitude information, it is achieved the real-time update of three dimensional device scene with render；
Step 3.3: virtual reality technology is combined with Video Supervision Technique, it is achieved monitor video is same with three-dimensional virtual scene
Step display.
Remote visualization for unmanned getting working face the most according to claim 1 monitors method, it is characterised in that:
In step 4, the described method that down-hole disaster is predicted early warning, specifically include: according to the genesis mechanism of disaster, set up phase
The hazard prediction Early-warning Model answered, sends prediction and warning information according to Real-time Monitoring Data to contingent disaster on this basis；
The described method diagnosing equipment fault, specifically includes: different types of equipment is set up corresponding fault diagnosis mould
Type, on this basis according to the operation conditions of Real-time Monitoring Data analytical equipment, timely diagnostic device fault.
Remote visualization for unmanned getting working face the most according to claim 1 monitors method, it is characterised in that:
In step 5, specifically include:
Step 5.1: in aboveground installation multiple control terminal, and each control terminal is configured with virtual reality scenario unit, prison
Control video unit, hazard prediction early warning information unit and equipment fault diagnosis unit；
Step 5.2: install and debug Real Data Exchangs platform；
Step 5.3: multiple work surface is set in down-hole, and installs various production equipment on each work surface；
Step 5.4: carry out building of network environment between the various production equipment controlled on terminal and work surface.
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