Virtual reality physical engine-based collaborative propulsion simulation method for fully mechanized mining equipment

Abstract

The invention relates to a virtual reality physical engine-based collaborative propulsion simulation method for fully mechanized mining equipment, which comprises the following steps of: rigidly repairing virtual fully mechanized mining equipment through a model, and performing virtual contact with a virtual coal seam, so as to simulate underground operation information of the equipment; wherein the virtual coal seam comprises a virtual inherent coal seam and a virtual real-time updating coal seam; the virtual inherent coal seam is constructed on the basis of underground geological detection data points through a reverse reconstruction method according to circulation points and equipment points. In the step of virtual real-time updating of the coal seam, MESH grid collision body weight construction is carried out in Unity 3d software by recording cutting tracks of a front roller and a rear roller of a coal mining machine in real time; the existence and display of the coal seam attributes are updated in real time by controlling the inherent coal seam information and virtually; Virtual coal seam data information is updated in real time, the self-adaptive propelling process of the equipment under the underground coal seam environment is truly represented, the method replaces a previous method that coordinate point positioning virtual equipment performs virtual simulation, and a theoretical basis is provided for transparent mining and accurate mining.

Description

technical field [0001] The present invention relates to a realization method of establishing a digital fully mechanized mining face in a virtual environment, in particular to a method of establishing a coordinated advancement of equipment that is completely consistent with the real fully mechanized mining face equipment and geographical environment under the virtual reality simulation engine Unity3d methods and systems. Background technique [0002] Using virtual reality technology to clearly display and simulate the operating conditions of underground fully mechanized mining face equipment has become a research hotspot. The main research method is to digitally display all fully mechanized mining equipment and coal seams, then compile relevant behaviors, and then perform simulations. Currently The research on digital coal seam modeling is mainly to process the geological data of coal mines to make them visualized, and does not show the real working conditions of the actual f...

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Problems solved by technology

[0006] However, the disadvantages of the above method are: 1) The preliminary simulation under the condition of a horizontal ideal floor is completed. In this case, it is not necessary to consider the laying of the scraper conveyor on the undulating floor, the actual The real reproduction and effective analysis of the real walking and cutting curves on the scraper conveyor; 2) There is no expression method for the complete equipment and geographical environment in the virtual reality environment, and the operation of the fully mechanized mining equipment is mainly carried out through the propulsion path and coordinate data. Positioning, computer real-time computing pressure is high, and simulation cannot be performed, resulting in a large gap between the virtual equipment operating status and the actual status, which is far from reaching the real-time correspondence with the actual operating status of the working face, making the virtual working face meaningless; therefore, it is urgently needed A new approach to virtual simulation is needed

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