Key technologies of all position and orientation monitoring and virtual simulation and control for smart mining equipment

Aiming at the problems of spatal position of longwall mining equipment and dynamic change of mechanical state,the difficulty of describing random tilt misalignment and adaptive control for deep mining in complex geological conditions,an smart mining model based on full position and orientation measurement and virtual simulation control was proposed. Based on the geological conditions of the 140502 working face in Kouzidong mine of China and the pa- rameters of 7 m high four legs longwall mining equipment,the full position and orientation measurement smart mining equipment and virtual simulation intelligent control system under complicated conditions were constructed. Firstly,an intelligent decision-making process under intelligent mining operation system “environment and equipment-simulation- reverse control” was given,where the key technologies supporting the above intelligent decision were proposed,inclu- ding full-position measurement with vision-enabled equipment,the vision-integrated equipment full pose measurement, and virtual simulation control of longwall mining by Unity3D. Secondly,a full-position and multi-parameter measure- ment system integrated vision for the longwall mining equipment group was established. In this system,a visual multi- parameter measurement method based on equipment feature points was proposed to obtain 15 independent parameters describing the full position and orientation of the longwall mining equipment group. A unified coordinate description and driving model of longwall mining equipment group was given,including the specific global and local coordinate system,the position driving relationship model between shearer and scraper,and the three-dimensional space bending attitude model of scraper conveyor. Based on Unity3D virtual simulation technology,the virtual entities and relationship models of working face scene,equipment,process flow,etc. were constructed to support the motion simulation of the mining process of longwall mining equipment. Also,a low-level data interface was developed to communicate with the full-position measurement system,so that the actual operating condition data of the equipment can be obtained to drive the simulation model and realize the virtual-real mapping in a three-dimensional scene. Finally,the coordinated motion and process of the equipment in next coal cutting cycle can be analyzed,calculated,simulated and optimized,and a closed-loop control of the equipment virtual and actual model was realized through the reversing control link. Laborato- ry tests of the full-posture measurement system showed that the virtual simulation system could achieve the data acqui- sition,model calculation,and coordinated motion simulation of stand-alone equipment and equipment groups,meet the actual operational logic relationship between equipments,have the capacities for the real-time monitoring and reversing control of equipment operating status in working face,and run smoothly,frame rate is faster than 20 fps. Field tests showed that the number of hydraulic supports for image recognition and detection was more than five,the image resolu- tion time was less than 0. 5 s,and the measurement angle error of the support stull was lessthan 1. 2°,which meet the requirements of data measurement.