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基于Unity3D的工作面液压支架群组空间支护姿态数字孪生重构方法

Digital twin reconstruction method of group spatial support pose for hydraulic support of working face based on Unity3D

  • 摘要: 煤炭是我国的关键能源,保障煤炭资源安全高效开采对我国具有重要战略意义。我国煤炭资源以井工开采为主,生产环境较恶劣且工人劳动强度大,智能化开采因其减人提效理念内涵成为我国煤炭行业高质量发展的必由之路。液压支架是井工开采关键支护装备,其支护性能同时受本体支护姿态及群组关联姿态影响。受井下复杂开采条件影响,液压支架支护姿态信息获取困难,因此如何智能精准地感知液压支架群组空间支护姿态是制约智能化建设的重大难题之一。为精准描述工作面液压支架群组空间支护姿态,首先分析了液压支架群组空间连接关系,建立了基于多杆双驱的液压支架自姿态感知模型和基于空间多线协同定姿的架群姿态感知模型,分析了不同求解策略对自姿态模型解算性能影响。随后借助三维互动平台Unity3D搭建了工作面液压支架群组数字孪生环境,开发了基于工作面真实场景数据驱动的可视化系统。最后,依托山东某矿对所述方法开展了工程验证,结果表明提出的液压支架群组空间支护姿态孪生重构方法能精确映射实际液压支架群组真实空间支护位态,解决了液压支架支护本体支护姿态信息易受现场振动干扰和支架群组关联姿态信息缺失难题。论文所提方法为工作面多智能体运行行为全场景虚拟再现及工作面智能化建设提供思路借鉴。

     

    Abstract: Coal is the key energy source in China, and it is of great strategic significance to ensure the safe and efficient mining of coal resources in China. China’s coal resources are mainly mined by shaft mining, the production environment is harsh and the labour intensity of the workers is high, and intelligent mining has become a necessary path for the high-quality development of China’s coal industry due to its conceptual connotation of reducing manpower and improving efficiency. Hydraulic support is the key support equipment for underground mining, and its support performance is affected by the support posture of the body and the associated posture of the group at the same time. Under the influence of complex mining conditions, it is difficult to obtain the support attitude information of hydraulic support, so how to intelligently and accurately perceive the spatial support attitude of hydraulic support group is one of the major problems restricting the intelligent construction. In order to accurately describe the spatial support attitude of the hydraulic support group in the working face, firstly, the spatial connection relationship of the hydraulic support group is analysed, and then the hydraulic support self-posture perception model based on the multi-rod double-drive and the frame group posture perception model based on the spatial multi-line cooperative posturing are established, and then the influence of different solution strategies on the performance of the self-posture model is analysed. Subsequently, the digital twin environment of hydraulic support group in the working face was constructed with the help of 3D interactive platform Unity3D, and a data-driven visualisation system based on the real scene in the working face was developed. Finally, an engineering validation of the proposed method was carried out in a mine in Shandong Province, and the results show that the proposed spatial support attitude twin reconstruction method can accurately map the real spatial support attitude of the actual hydraulic support group, which solves the problem that the support attitude information of the hydraulic support body is easily interfered by the vibration in the field and the associated attitude information of the support group is missing. The proposed method provides ideas for the virtual reproduction of the whole scene of the operation behaviour of multi-intelligent bodies in the working face and the intelligent construction of the working face.

     

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