Collision detection and early warning method of coal mine fully-mechanized coal mining equipment based on VR (virtual reliability)

Abstract

The invention discloses a collision detection and early warning method of coal mine fully-mechanized coal mining equipment based on VR (virtual reliability). The collision detection and early warningmethod comprises the following steps of enabling a collision detection module to transmit rays, enabling the rays to collide with equipment added with collision bodies in the virtual scene, and returning back the collision information; calculating the length of ray between the ray and all collision bodies, namely the distance D between the equipment; comparing the detected distance D between the equipment and the preset distance threshold value of the system; when the distance D between the equipment is smaller than the threshold value, enabling an early warning module to warn, so as to warn an operator to take measures; according to the prompt of the system, judging the relative distance between the equipment, so as to reach the purpose of early warning and detection. The collision detection and early warning method has the advantages that the early warning monitoring and collision detection functions between the equipment are realized by a virtual ray detection technique in a virtualsimulation and remote monitoring platform, the artificial interference is performed via the virtual simulation and remote monitoring platform, and the purpose of preventing collision between the equipment of three machines is realized.

Description

technical field [0001] The invention relates to a remote-controlled collision detection technology, in particular to a collision early warning detection method for three-machine equipment in a coal mine fully mechanized mining face. Background technique [0002] With the continuous development of coal mining technology, most coal mining enterprises in my country have realized automatic and mechanized coal mining. However, in the remote control operation with few people and no one working on the working face, the most common hidden dangers are the collision between the fully mechanized mining equipment and the phenomena of extrusion, biting and falling of the working face supports. Therefore, how to detect the fully mechanized mining equipment efficiently and accurately The collision between equipment has become the core issue of coal mine safety production. The mining conditions are usually monitored using sensors and visual measurements. However, due to the fluctuation of...

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Problems solved by technology

Compared with other optical measurement methods, visual measurement does not require additional optical path auxiliary equipment, and only needs to use a camera device to complete the corresponding measurement through image collection and analysis. However, due to insufficient light and large dust content in underground roadways, it is easy to Problems such as explosions will affect the information collection of the camera device, so this method is not suitable for complex coal mine environments

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