Virtual coal seam model reconstruction and verification method based on fully mechanized mining equipment space-time data

Abstract

The application discloses a kind of virtual coal seam model reconstruction and verification method based on fully mechanized mining equipment space-time data, in floor data analysis module, based on known hydraulic support and scraper conveyor pose information, obtain the key point and coal seam cutting point position required for drawing coal seam floor;In floor modeling module, the construction of virtual coal seam floor model is carried out using the determined key point and coal seam cutting point position;In physical engine verification module, based on the floor surface of virtual coal seam floor model construction, according to the known hydraulic support and scraper conveyor pose information, coupled with floor surface, extract equipment pose verification information;In comparative analysis module, compare and analyze the equipment pose verification information and the pose of initial equipment in floor data analysis module, and judge whether the virtual coal seam floor model construction meets the standard, and if not, enter the correction module for key point correction.The application realizes the fine virtual reconstruction of coal seam floor.

Description

Technical Field

[0001] This invention relates to a method for reconstructing and verifying a virtual coal seam model, specifically, a method for reconstructing and verifying a virtual coal seam model based on spatiotemporal data of fully mechanized mining equipment. Background Technology

[0002] The coal seam floor, serving as the support surface for the equipment in a fully mechanized mining face, constantly changes as the coal mining machine cuts the surface. Given the current requirements for intelligent and unmanned fully mechanized mining faces, higher precision is needed for the coal seam floor model.

[0003] Regarding the construction of coal seam floor, invention patent CN114329687A discloses a method for constructing virtual coal seams in a mining area based on small sample data: A digital elevation matrix is ​​constructed, and the matrix is ​​initially filled based on the elevation data of the coal seams at the edge of the mining area using a dual-track sweeping principle. A small amount of borehole sampling data is used to correct the digital elevation matrix, and a three-dimensional coal seam model is constructed based on the elevation matrix. The paper "Construction and Dynamic Correction Technology of Three-Dimensional Coal Seam Model in Coal Mining Faces" discloses the use of measured data from mine geological exploration boreholes and opening holes, retreat roadways and two-way mining roadways, as well as data from coal seam seismic waves and channel waves, to construct an initial coal seam model. The latest data detected during mining operations—laser scanning data of the working face, coal mining machine cutting trajectory, and top and bottom coal thickness data—is used to correct the dynamic coal seam. Patent CN112814676A discloses a method for dynamically correcting coal cutting trajectories based on a 3D model of a fully mechanized mining face. It utilizes a laser scanner to scan the fully mechanized mining face and construct a 3D model of the coal seam. It then uses bottom-penetrating radar to detect the thickness of the top and bottom coal seams, constructing a remaining 3D model to correct the coal seam 3D model. The paper "Key Technologies and Path Thinking for Dynamic Reconstruction of Transparent Geological Models in Coal Mines" discloses a method for static 3D geological modeling based on geological data such as stratigraphic data, 3D seismic exploration, and borehole data. This is followed by data fusion, integrating a large amount of data from drilling, tunneling, mining, and rockfall operations to correct the static 3D geological model. The paper "Tiered Construction of Geological Models for Intelligent and Precise Coal Mining Faces and Its Key Technologies" discloses a method that divides the geological model into four levels: a "black box model" for the working face design stage, a "gray box model" for the working face tunneling stage, a "white box model" for the pre-mining stage, and a "transparent model" for the working face recovery stage, progressively constructing the geological model of the intelligent mining face.

[0004] After analysis and comparison, the following problems still exist in the above-mentioned existing technologies:

[0005] (1) The construction of three-dimensional coal seam models is mostly based on geological information. It is necessary to use geological exploration methods to explore the coal seam to obtain the required data. During the dynamic correction process, it is still necessary to explore the entire coal seam. Therefore, a large amount of data support is required when constructing coal seam models.

[0006] (2) Although the above model construction methods utilize equipment data, the dynamic correction only considers information obtained from the coal mining machine and does not use data from the hydraulic support and scraper conveyor, thus ignoring the relationship between the overall working face and the floor. Furthermore, the equipment and the coal seam floor are coupled, and data can be converted between the two through their relationship. The above techniques do not fully utilize equipment data.

[0007] (3) During the operation of the fully mechanized mining face, the coal seam floor was treated as a static floor, meaning it did not change after being formed and only underwent one dynamic construction. The impact of the scraper conveyor and hydraulic support on the coal seam formed during the movement was not considered, and the spatiotemporal relationship of the equipment in the fully mechanized mining face was ignored.

[0008] (4) In the construction of the coal seam geological model, various detection data are used to dynamically correct the static initial model, but the accuracy is still insufficient. Summary of the Invention

[0009] The technical problem to be solved by this invention is to provide a method for reconstructing and verifying a virtual coal seam model based on spatiotemporal data of fully mechanized mining equipment. By using equipment data in the fully mechanized mining face, a refined virtual reconstruction of the coal seam floor is performed, providing a coal seam basis for studying the relationship between equipment and the subsequent movement of the equipment.

[0010] To address the above technical problems, this invention provides a method for reconstructing and verifying a virtual coal seam model based on spatiotemporal data from fully mechanized mining equipment. This method comprises a floor data analysis module, a floor modeling module, a physics engine verification module, a comparative analysis module, and a correction module, and implements the following steps:

[0011] Step 1: In the bottom plate data analysis module, based on the known pose information of the hydraulic support and scraper conveyor, analyze and obtain the positions of each point on the plane of the hydraulic support base and the plane of the middle trough of the scraper conveyor, and select the key points required to draw the coal seam bottom plate; based on the pose of the coal mining machine and the tilt angle of the rocker arm, obtain the position of the coal seam cutting point.

[0012] Step 2: In the base plate modeling module, using the key points and coal seam cutting point locations determined in the base plate data analysis module, construct a virtual coal seam base plate model in Unity 3D;

[0013] Step 3: In the physics engine verification module, based on the virtual coal seam floor model, the initial position of the floor surface is selected according to the known pose information of the hydraulic support and scraper conveyor, coupled with the floor surface, and the equipment pose verification information is extracted.

[0014] Step 4: In the comparative analysis module, the equipment pose verification information output from the physics engine verification module is compared and analyzed with the initial equipment pose in the base plate data analysis module, and it is determined whether the virtual coal seam base plate model construction meets the standards; if it meets the standards, the coal seam model is output; if it does not meet the standards, it enters the correction module.

[0015] Step 5: Locate the unqualified coal seam blocks in the correction module, correct the key points based on the deviations in the comparison and analysis module, and then re-enter the bottom plate modeling module to perform modeling.

[0016] Furthermore, in step one, when obtaining the positions of each point on the plane of the hydraulic support base, the position of the center point of the coordinate system in the absolute coordinate system of the coal seam is the position of the hydraulic support. Based on the position and attitude angle of the hydraulic support, combined with the distance from the center point to the edge of the coordinate system, multiple positions near the center point are determined. Then, linear interpolation is used to find the position of any point on the plane of the hydraulic support base.

[0017] Furthermore, in step one, when obtaining the positions of each point on the plane of the middle trough of the scraper conveyor, in the absolute coordinate system of the coal seam, the position of the coordinate center point is the position of the scraper conveyor. Based on the position, pitch angle, yaw angle, and roll angle of the scraper conveyor, combined with the distance from the center point to the edge, multiple positions near the center point are determined. Then, linear interpolation is used to calculate the position of any point on the plane of the middle trough of the scraper conveyor.

[0018] Furthermore, in step one, the concavity or convexity of the coal seam surface is determined based on the size of the roll angle of the adjacent coal seam blocks, thereby determining the position of the key point on the coal seam block; if the coal seam surface is determined to be concave, the key point should be selected close to the edge; if the coal seam surface is determined to be convex, the key point should be selected close to the center; at the intersection of coal seam blocks, the point at the lower position is selected as the key point.

[0019] Furthermore, in step two, taking absolute coal seam blocks as units, and considering the spatiotemporal relationship of equipment operation, the equipment coal seam block information at different times is unified into each absolute coal seam block, and then the determined key points are selected; in Unity 3D, based on the key points, the Catmull-Rom interpolation algorithm is used to interpolate the key points, and the position of the interpolated points is obtained; the key points and the interpolated points are used to construct the three-dimensional model of the coal seam using Mesh.

[0020] Furthermore, the physics engine verification module described in step three includes a scene construction system and a data extraction and analysis system; the scene construction system is used to couple the equipment with the base plate model under the action of the physics engine in Unity 3D; the data extraction and analysis system is used to extract the pose information of the coupled hydraulic support, the pose information of the scraper conveyor, and the attitude information of the floating connection mechanism.

[0021] Furthermore, in the scene construction system, in Unity 3D, the position of the three-dimensional coal seam model is determined based on the initial information, and a three-dimensional model of the hydraulic support and scraper conveyor is established based on the actual hydraulic support and scraper conveyor. A physics engine is added to the hydraulic support and scraper conveyor model, which includes the overall gravity of the model, collision bodies, and the connection joints between the hydraulic support floating connection mechanism and the scraper conveyor.

[0022] Furthermore, the data extraction and analysis system, based on the scene construction system, extracts the coupled hydraulic support pose information, scraper conveyor pose information, and floating connection mechanism attitude information. First, the coupled hydraulic support position information is compared with the initial hydraulic support position information in the base plate data analysis module. If the difference is too large, the initial position of the equipment is moved according to the difference in the scene construction system. If the difference meets the requirements, the hydraulic support pose information, scraper conveyor pose information, and floating connection mechanism attitude information are output.

[0023] Furthermore, in step four, the comparative analysis refers to taking the difference between the equipment pose verification information output by the physics engine verification module and the initial equipment pose in the base plate data analysis module, which involves the positional deviation of the hydraulic support: Attitude angle deviation: Positional deviation of scraper conveyor: Attitude angle deviation: Each hydraulic support and scraper conveyor is analyzed separately as a basic unit; the reliability of the base plate is evaluated using position deviation and attitude angle deviation as evaluation indicators, and the deviation is compared with the upper limit of the deviation for judging whether the base plate model meets the standard to determine whether it meets the standard.

[0024] Furthermore, in step five, the substandard equipment data group in the comparative analysis module of step four is extracted, located to the corresponding coal seam block, and the key points are corrected according to the deviation. First, the attitude angle deviation of the hydraulic support is corrected, that is, the y coordinate of the key points at different positions is changed. Then, the position deviation of the scraper conveyor is reduced by adjusting the attitude of the floating connection mechanism at the initial coupling position. Finally, the key points are corrected according to the attitude angle deviation of the scraper conveyor.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) Make full use of the equipment data in the operation of the fully mechanized mining face, namely the position and posture data of the coal mining machine, hydraulic support, and scraper conveyor, and combine the coupling relationship between the plane and the curved surface to process and fuse the data, thereby realizing the construction of the virtual coal seam floor.

[0027] (2) By using the positional data of the hydraulic support and scraper conveyor after the shift, combined with the spatiotemporal relationship, and considering the impact of equipment shift on the coal seam floor formed by the coal mining machine, the dynamic coal seam floor during the operation of the fully mechanized mining face equipment can be constructed more accurately.

[0028] (3) For the established coal seam floor model, add a physics engine to the equipment and floor in Unity3D to realize the coupling of hydraulic support, scraper conveyor, coal mining machine and coal seam floor, and realize the verification of coal seam floor model by integrating the data of each equipment.

[0029] (4) Considering the spatiotemporal relationship of the equipment in the longwall mining face, and in the face of the inconsistent cutting depth of the coal mining machine, the width of the scraper conveyor and the width of the hydraulic support, an absolute coordinate system of the coal seam is established based on the coal seam block of the corresponding equipment size, and the coal seam block information of each equipment is integrated to establish the absolute size of the coal seam block under the absolute coordinate system of the coal seam.

[0030] (5) By establishing multiple modules and communicating data between multiple modules, a closed-loop operation of “analysis-modeling-verification-correction” is realized for the construction of the coal seam floor model. The coal seam floor model is modified multiple times according to the accuracy requirements, and the accuracy is finally improved. Attached Figure Description

[0031] Figure 1 This is a system schematic diagram of the virtual coal seam model reconstruction and verification method based on spatiotemporal data of fully mechanized mining equipment as described in this invention;

[0032] Figure 2 This is a flowchart of the solution and verification process for the base plate of this invention;

[0033] Figure 3 This is a plan view of the bottom of the equipment of the present invention;

[0034] Figure 4 This is a flowchart of the key point selection process of this invention. Detailed Implementation

[0035] The present invention provides a typical embodiment of a method for reconstructing and verifying a virtual coal seam model based on spatiotemporal data of fully mechanized mining equipment. This method combines the coupling relationships between equipment and between equipment and the coal seam floor to analyze and process equipment data, thereby reconstructing and verifying a virtual coal seam floor model at any given time.

[0036] like Figure 1As shown, the virtual coal seam model reconstruction and verification method described in this embodiment includes the following modules: floor data analysis module, floor modeling module, physics engine verification module, comparison analysis module, and correction module.

[0037] The system comprises several modules: The base plate data analysis module, based on known pose information of the hydraulic support and scraper conveyor, determines the positions of points on the planes of the hydraulic support base and scraper conveyor base. Then, key points are selected based on the poses of each plane, and the coal seam cutting point is determined based on the coal mining machine pose and rocker arm tilt angle. The base plate modeling module establishes an absolute coal seam block, integrates the spatiotemporal information of various equipment, and uses the Catmull-Rom interpolation algorithm and the Mesh method in Unity 3D to complete the point-to-line-to-surface fitting, thus constructing a virtual base plate surface model from the hydraulic support base plane and the scraper conveyor's central trough. The physics engine verification module, based on the constructed base plate surface and the known pose information of the hydraulic support and scraper conveyor, selects the initial drop position, couples it with the base plate surface, and extracts the equipment pose verification information. In the comparative analysis module, the precise equipment pose information and the equipment pose verification information obtained from the physics engine verification module are compared and analyzed. Each indicator is analyzed separately, and it is determined whether the base plate model construction meets the standards. If it meets the standards, the coal seam model is output; otherwise, it enters the correction module. The correction module locates the unqualified coal seam blocks, modifies key points based on the deviations in the comparative analysis module, and then re-enters the base plate modeling module until it meets the standards. Figure 2 As shown, equipment data enables a closed-loop process of "analysis-modeling-verification-correction".

[0038] More specifically, the virtual coal seam model reconstruction and verification method based on spatiotemporal data of fully mechanized mining equipment provided in this embodiment is implemented in the following steps.

[0039] Step 1: In the base plate data analysis module, based on the known position and orientation information of the hydraulic support and scraper conveyor, perform data analysis and processing on this part of the information.

[0040] The aforementioned bottom plate data analysis module is based on the coupling principle between the curved surface of the coal seam bottom plate and the flat surface of the equipment bottom plate, and analyzes the equipment data in two ways.

[0041] One type of data is the positional data of the hydraulic support and scraper conveyor. Based on the known positional information of the hydraulic support and scraper conveyor, the entire coal seam is divided into small coal seam blocks according to the corresponding equipment positions for study. Through data analysis and processing, the positions of each point on the corresponding hydraulic support base plane and the middle trough plane of the scraper conveyor are obtained. Then, the key points required to draw the coal seam floor are selected, including: database establishment system, position determination system, and key point selection system.

[0042] Another type of data is the coal mining machine's position and orientation data. Since the coal mining machine cuts and forms a new coal seam, the data on the new coal seam floor generated by the cutting is determined by the coal mining machine's position and orientation and the angle of its lower rocker arm. Therefore, the cutting point can be calculated based on the coal mining machine's position and orientation, the lower rocker arm's inclination angle, and the width and diameter of the drum. The coal mining machine data reflects the shape of the newly formed coal seam floor, while the data from the hydraulic support and scraper conveyor provides real-time data on the dynamic coal seam.

[0043] The database establishment system organizes the known pose data of hydraulic supports and scraper conveyors. Within this system, the known pose information of the fully mechanized mining face equipment is organized, with each piece of equipment represented by (m, n). Here, m represents the m-th cutter, and n represents the n-th piece of equipment. Each (m, n) has its corresponding position (x, y, z) and normal vector.

[0044] The position determination system calculates the position of each point in the plane based on the absolute position of the hydraulic support and scraper conveyor in the coal seam coordinate system, as well as their own pitch angle, yaw angle, and roll angle, combined with the center position of the coordinate system and its distance from the edge.

[0045] In the absolute coordinate system of the coal seam, let the position of the (m,i)th hydraulic support be... Pitch angle, yaw angle, and roll angle are respectively The center point is the location of the hydraulic support. Within the plane of the base plate, the distances from the center point to the left and right edges are d and b, respectively, and the distances from the center point to the top and bottom edges are c and a, respectively. A schematic diagram of its location is shown below. Figure 3 As shown. The upper plane shows the position of the hydraulic support and scraper conveyor, while the two lower planes are for easy visualization of parameter extraction from the bottom surface.

[0046] Then the position of the edge point located directly above the center point in the plane is:

[0047]

[0048] The position of the edge point located directly below the center point in the plane is:

[0049]

[0050] The position of the edge point located directly to the left of the center point in the plane is:

[0051]

[0052] The position of the edge point located directly to the right of the center point in the plane is:

[0053]

[0054] The position of the edge point located at the upper left corner of the center point in the plane is:

[0055]

[0056] The position of the point located at the lower left corner of the center point in the plane is:

[0057]

[0058] The position of the edge point located at the upper right corner of the center point in the plane is:

[0059]

[0060] The position of the point located at the lower right corner of the center point in the plane is:

[0061]

[0062]

[0063] Given the positions of these eight points, the position of any point on the plane can be determined using linear interpolation.

[0064] In the absolute coordinate system of the coal seam, let the position of the (m,i)th scraper conveyor be... Pitch angle, yaw angle, and roll angle are respectively The center point is the location of the scraper conveyor. Within the plane of the base plate, the distances from the center point to the left and right edges are d' and b', and the distances from the center point to the top and bottom edges are c' and a', respectively. A schematic diagram of its location is shown below. Figure 3 As shown, the upper part represents the position of the hydraulic support and the scraper conveyor, while the two lower planes are for easy visualization of the parameters extracted from the bottom surface.

[0065] Then the position of the edge point located directly above the center point in the plane is:

[0066]

[0067] The position of the edge point located directly below the center point in the plane is:

[0068]

[0069] The position of the edge point located directly to the left of the center point in the plane is:

[0070]

[0071] The position of the edge point located directly to the right of the center point in the plane is:

[0072]

[0073] The position of the edge point located at the upper left corner of the center point in the plane is:

[0074]

[0075] The position of the point located at the lower left corner of the center point in the plane is:

[0076]

[0077] The position of the edge point located at the upper right corner of the center point in the plane is:

[0078]

[0079] The position of the point located at the lower right corner of the center point in the plane is:

[0080]

[0081] Given the positions of these eight points, the position of any point on the plane can be determined using linear interpolation.

[0082] The key point selection system selects points that better match the actual coal seam data by analyzing the pose of planar coal seam blocks. The planar coal seam block is in contact with the bottom surface of the hydraulic support and the bottom surface of the scraper conveyor, and its pose is consistent with the bottom surfaces of the hydraulic support and the scraper conveyor. Planar coal seam blocks with the same length and width as the hydraulic support base and the middle trough of the scraper conveyor are established, and their shapes are similar to... Figure 3 Similar to the above. Based on the hydraulic support pose data and the scraper conveyor pose data, the corresponding position and orientation information of the planar coal seam block is given. Therefore, the overall coal seam block corresponding to the equipment can be established. By observing the whole and the orientation of adjacent coal seam blocks, a general understanding of the curved surface of this part of the coal seam can be obtained. Then, the key points are selected, and the process is as follows: Figure 4 As shown, in selecting key points, the concavity / convexity of the coal seam surface is determined based on the roll angle of adjacent coal seams, thus determining the location of key points on that coal seam. It can be observed that: if the middle coal seam has the same roll angle as the left and right coal seams, the actual coal seam corresponding to that coal seam is planar; if the roll angles are different, the actual coal seam corresponding to that coal seam is curved. When the actual coal seam is curved, the concavity / convexity is judged based on the roll angle of the middle coal seam and the left and right coal seams. If the roll angle gradually decreases from left to right, the middle actual curved surface can be judged as convex; if the roll angle gradually increases from left to right, the middle actual curved surface can be judged as concave. If the coal seam surface is determined to be concave, the key point should be selected close to the edge; if the coal seam surface is determined to be convex, the key point should be selected close to the center. At the intersection of coal seams, the lower point is selected as the key point.

[0083] Step 2: In the base plate data analysis module, based on the known coal mining machine position information and rocker arm tilt angle information, perform data analysis and processing on this part of the information.

[0084] Since the coal mining machine cuts to form a new coal seam, the data of the new coal seam bottom plate generated by the cutting is determined by the coal mining machine's position and the angle of the lower rocker arm. Given the coal mining machine's position and the lower rocker arm's inclination angle at any given time, and combined with the drum width and diameter, the cutting position point at that time can be calculated.

[0085] Step 3: In the base plate modeling module, using the key points and coal seam cutting locations determined in Steps 1 and 2, construct a virtual coal seam base plate model in Unity 3D.

[0086] Because the coal seam blocks corresponding to the hydraulic supports and those corresponding to the scraper conveyors are of different sizes, and overlaps occur as the equipment moves, this module constructs absolute coal seam blocks in an absolute coordinate system—that is, coal seam blocks of fixed size and identical dimensions. Using these absolute coal seam blocks as units, and considering the spatiotemporal relationship of equipment operation, the coal seam block information at different times is unified into each absolute coal seam block. Then, the determined key points are selected. In Unity3D, the Catmull-Rom interpolation algorithm is used to interpolate the key points, obtaining the positions of the interpolated points. Finally, a mesh is used to construct a 3D model of the coal seam based on the key points and the interpolated points.

[0087] Step 4: In the physics engine verification module, the coal seam constructed in Step 3 is verified by adding a physics engine to the equipment and the coal seam.

[0088] The aforementioned physics engine verification module verifies the coal seam floor model built in the floor modeling module by adding a physics engine to the equipment and coal seam floor model in Unity 3D. It includes a scene building system and a data extraction and analysis system.

[0089] The scene construction system, built within Unity 3D, couples the equipment with the base plate model under the influence of the physics engine. The data extraction and analysis system extracts the pose information of the coupled hydraulic support, scraper conveyor, and floating connection mechanism.

[0090] A physics engine is built to validate the scene within the scene construction system. In Unity 3D, the position of the 3D coal seam model is determined based on initial information and placed accordingly. 3D models of the hydraulic supports and scraper conveyors are then created based on the actual hydraulic supports and scraper conveyors. A physics engine is added to these models, including the overall gravity of the models, colliders, and the connection joints between the hydraulic support floating connection mechanism and the scraper conveyor. Before coupling with the floor model, the hydraulic support floating connection mechanism is connected to the central trough of the scraper conveyor. Then, the initial position of the equipment within the system is determined based on the initial equipment pose from the floor data analysis module. To ensure coupling between the equipment model and the floor model, the y-coordinate of the initial equipment position needs to be changed. Under the influence of gravity, the coupling between the equipment model and the floor model is achieved.

[0091] After coupling the equipment model and the base plate model, the data extraction and analysis system is used to extract the pose information of the coupled hydraulic support, scraper conveyor, and floating connection mechanism. First, the position information of the coupled hydraulic support is compared with the initial position information of the hydraulic support in the base plate data analysis module. If the difference is too large, the initial position of the equipment is moved according to the difference in the scene construction system. If the difference meets the requirements, the pose information of the hydraulic support, scraper conveyor, and floating connection mechanism is output.

[0092] Step 5: In the comparison and analysis module, the equipment information output from the physics engine verification module is compared and analyzed with the initial equipment pose in the base plate data analysis module to determine whether the base plate model meets the standards.

[0093] The equipment information output from the physics engine verification module in step 4 is compared with the initial equipment pose in the base plate data analysis module. This includes the positional deviation of the hydraulic support. Attitude angle deviation: Positional deviation of scraper conveyor: Attitude angle deviation: Each hydraulic support and scraper conveyor is analyzed separately as a basic unit. The reliability of the base plate is evaluated using positional deviation and attitude angle deviation as evaluation indicators. The deviations are compared with the upper limit of the deviation for judging whether the base plate model meets the standard to determine whether it meets the standard. The upper limit of the deviation is set by the user.

[0094] Since the hydraulic supports have already undergone initial position adjustments in the physics engine verification system, their positional deviation must be less than the upper limit. If all deviations are less than the upper limit, the coal seam floor model meets the requirements; if the result is unsatisfactory, the system will proceed to the correction module.

[0095] Step 6: In the correction module, modify the key points for drawing the coal seam surface, and then proceed to Step 3 to remodel.

[0096] Extract the substandard equipment data group from the comparison and analysis module in step 5 and locate the corresponding coal seam block. Then, modify the key points according to the deviation: Since the position deviation of the hydraulic support has been adjusted in step 4, only the attitude angle deviation exists for the hydraulic support; for the scraper conveyor, since it is connected to the hydraulic support through a floating connection mechanism, there will be a larger position deviation compared to the hydraulic support; when adjusting, first correct the attitude angle deviation of the hydraulic support, that is, change the y-coordinate of the key points at different positions, then reduce the position deviation of the scraper conveyor by adjusting the attitude of the floating connection mechanism at the initial coupling position, and finally correct the key points according to the attitude angle deviation of the scraper conveyor.

[0097] Step 7: Repeat steps 3 to 6 using the corrected key points until the virtual coal seam meets the requirements, then output the coal seam floor model.

Claims

1. A method for reconstructing and verifying a virtual coal seam model based on spatiotemporal data of fully mechanized mining equipment, characterized in that: Based on the base plate data analysis module, base plate modeling module, physics engine verification module, comparative analysis module, and correction module, the following steps are implemented: Step 1: In the bottom plate data analysis module, based on the known position and orientation information of the hydraulic support and scraper conveyor, the entire coal seam is divided into small coal seam blocks according to the corresponding equipment positions for study. The positions of each point on the plane of the hydraulic support base and the plane of the scraper conveyor trough are obtained through analysis, and the key points required to draw the coal seam bottom plate are selected. The location of the coal seam cutting point is determined based on the coal mining machine's posture and the rocker arm's tilt angle. When obtaining the positions of each point on the plane of the hydraulic support base, the position of the center point of the coordinate system in the absolute coordinate system of the coal seam is the position of the hydraulic support. Based on the position and attitude angle of the hydraulic support, combined with the distance from the center point to the edge of the coordinate system, multiple positions near the center point are determined. Then, linear interpolation is used to find the position of any point on the plane of the hydraulic support base. When obtaining the positions of various points on the plane of the middle trough of the scraper conveyor, in the absolute coordinate system of the coal seam, the position of the center point of the coordinate system is the position of the scraper conveyor. Based on the position, pitch angle, yaw angle, and roll angle of the scraper conveyor, combined with the distance from the center point to the edge of the coordinate system, multiple positions near the center point are determined. Then, linear interpolation is used to find the position of any point on the plane of the middle trough of the scraper conveyor. The concavity or convexity of the coal seam surface is determined by the roll angle of adjacent coal seam blocks, and then the location of key points on the coal seam block is determined. If the coal seam surface is determined to be concave, the key point should be selected close to the edge. If the coal seam surface is determined to be convex, the key point should be selected close to the center. At the intersection of coal seam blocks, the lower point is selected as the key point. Step 2: In the base plate modeling module, using the key points and coal seam cutting point locations determined in the base plate data analysis module, construct a virtual coal seam base plate model in Unity 3D; Step 3: In the physics engine verification module, based on the virtual coal seam floor model, the initial position of the floor surface is selected according to the known pose information of the hydraulic support and scraper conveyor, coupled with the floor surface, and the equipment pose verification information is extracted. Step 4: In the comparative analysis module, the equipment pose verification information output from the physics engine verification module is compared and analyzed with the initial equipment pose in the base plate data analysis module, and it is determined whether the virtual coal seam base plate model construction meets the standards; if it meets the standards, the coal seam model is output; if it does not meet the standards, it enters the correction module. Step 5: Locate the unqualified coal seam blocks in the correction module, correct the key points based on the deviations in the comparison and analysis module, and then re-enter the bottom plate modeling module to perform modeling.

2. The method according to claim 1, characterized in that: In step two, taking absolute coal seam blocks as units, and considering the spatiotemporal relationship of equipment operation, the equipment coal seam block information at different times is unified into each absolute coal seam block. Then, the determined key points are selected. In Unity3D, based on the key points, the Catmull-Rom interpolation algorithm is used to interpolate the key points and obtain the position of the interpolated points. The key points and the interpolated points are then used to construct a three-dimensional coal seam model using Mesh.

3. The method according to claim 2, characterized in that: The physics engine verification module described in step three includes a scene construction system and a data extraction and analysis system. The scene construction system is used to couple the equipment with the base plate model under the action of the physics engine in Unity 3D. The data extraction and analysis system is used to extract the pose information of the coupled hydraulic support, the scraper conveyor, and the floating connection mechanism.

4. The method according to claim 3, characterized in that: In the scene construction system described above, in Unity 3D, the position of the three-dimensional model of the coal seam is determined based on the initial information. The three-dimensional models of the hydraulic support and scraper conveyor are established based on the actual hydraulic support and scraper conveyor. A physics engine is added to the hydraulic support and scraper conveyor models. The physics engine includes the overall gravity of the model, collision bodies, and the connection joints between the floating connection mechanism of the hydraulic support and the scraper conveyor.

5. The method according to claim 3 or 4, characterized in that: The data extraction and analysis system described above extracts the pose information of the coupled hydraulic support, the pose information of the scraper conveyor, and the attitude information of the floating connection mechanism based on the scene construction system. First, the position information of the coupled hydraulic support is compared with the position information of the initial hydraulic support in the base plate data analysis module. If the difference between the two is too large, the initial position of the equipment is moved according to the difference in the scene construction system. If the difference between the two meets the requirements, the pose information of the hydraulic support, the pose information of the scraper conveyor, and the attitude information of the floating connection mechanism are output.

6. The method according to claim 5, characterized in that: In step four, the comparative analysis refers to taking the difference between the equipment pose verification information output by the physics engine verification module and the initial equipment pose in the base plate data analysis module, which involves the positional deviation of the hydraulic support: Attitude angle deviation: Positional deviation of the scraper conveyor: Attitude angle deviation: Each hydraulic support and scraper conveyor is analyzed separately as a basic unit; the reliability of the base plate is evaluated using position deviation and attitude angle deviation as evaluation indicators, and the deviation is compared with the upper limit of the deviation for judging whether the base plate model meets the standard to determine whether it meets the standard.

7. The method according to claim 1 or 6, characterized in that: In step five, the substandard equipment data group in the comparison and analysis module of step four is extracted, located to the corresponding coal seam block, and the key points are corrected according to the deviation. First, the attitude angle deviation of the hydraulic support is corrected, that is, the y coordinate of the key points at different positions is changed. Then, the position deviation of the scraper conveyor is reduced by adjusting the attitude of the floating connection mechanism at the initial coupling position. Finally, the key points are corrected according to the attitude angle deviation of the scraper conveyor.

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