Fully mechanized coal mining face remote operation and maintenance system based on three-dimensional digital twinborn simulation model

Abstract

The invention discloses a fully mechanized coal mining face remote operation and maintenance system based on a three-dimensional digital twinning simulation model, relates to the technical field of coal mining industry, and comprises an underground equipment three-dimensional model library technology, a fully mechanized coal mining equipment digital twinning technology, three-dimensional modeling, data acquisition and transmission, and a remote fault diagnosis and operation and maintenance technology. According to the invention, a working face simulation environment system is constructed through functional modules such as three-dimensional live-action modeling, data acquisition and transmission, remote monitoring, intelligent early warning, remote control and data analysis; an integrated support electro-hydraulic control system and a fully mechanized coal mining face multi-equipment automatic control system are deployed for live-action transmission, real-time live-action restoration fault polling monitoring and fault early warning, and the transparent remote operation and maintenance control capability is supported. The problems of fault early warning, remote management and control, stability and reliability, comprehensive perception, real-time response, accurate execution, remote operation and maintenance and the like of mining equipment and a control system thereof are solved, a remote visual and transparent control operation and maintenance system is built in an immersive operation mode, and a unified, centralized and comprehensive digital twinborn simulation remote operation and maintenance mode of a fully mechanized coal mining face of a mine is achieved.

Description

Technical Field

[0001] The present invention relates to the field of coal mine industry technology, and specifically to a remote operation and maintenance system for a fully mechanized mining face based on a three-dimensional digital twin simulation model, creating a remote immersive remote operation and maintenance mode, and providing technical support for achieving "reducing the number of people" in coal mines and avoiding maintenance personnel from entering the working face as much as possible. Background Art

[0002] Traditional passive "firefighting" operation and maintenance can no longer adapt to the IT operation and maintenance environment of smart mines. With the changes in the IT architecture and network structure of mines, the number of people entering the mine working face system is reduced, and the mine is prevented from overstaffing in the name of third-party equipment maintenance personnel. The intelligent control system of the fully mechanized mining face urgently needs to solve problems such as stability and reliability, comprehensive perception, real-time response, and remote precision execution to achieve unmanned intelligent coal mining. Many equipment are connected through intelligent control systems to accurately collect information and environmental perception in complex and harsh environments, forming a new generation of digital information technology and fully mechanized mining face intelligence. Deep integration and innovation, realize remote control and operation and maintenance capability construction, use remote control technology to ensure the normal operation of the business system, and focus on fully mechanized mining. The business value of the entire business system, combined with the impact of new technologies on operation and maintenance technologies, makes remote operation and maintenance control technology the core pain point and innovative reform requirement for solving the operation and maintenance of intelligent comprehensive mining working faces. The three-dimensional digital twin simulation model refers to the process of digitizing, simulating, and making transparent the physical environment, equipment, and intelligent control systems of real underground comprehensive mining working faces. Through the construction of three-dimensional scenes, the real physical environment, equipment, and automation control systems of comprehensive mining working faces can be converted into virtual simulation environments in digital twin models, and corresponding point-to-point operation and maintenance monitoring and operation and maintenance technologies can be built to achieve real-time monitoring of real physical environments and equipment in digital twin models, and achieve virtual simulation fault handling and remote operation and maintenance of intelligent control systems. The following problems exist in existing technologies:

[0003] 1. Mining equipment and its control systems still need to solve problems such as comprehensive perception, real-time response, stability and reliability, and precise execution.

[0004] 2. The imbalance between remote control technology and industrialization level and the development of intelligent coal mine construction.

[0005] 3. The network scale has grown exponentially, the cables are numerous and complex, the space is limited, maintenance is difficult, and limited manpower makes it difficult to fully maintain;

[0006] 4. There are many intelligent hardware devices, many nodes, and a wide range of maintenance content. Fault problems cannot be predicted, the causes of faults cannot be analyzed, and troubleshooting and solving faults are slow, which affects production and requires higher overall operation and maintenance requirements;

[0007] 5. There are many types of large and heavy equipment, the manufacturers are complex, and cross-professional equipment is difficult to unify operation and maintenance;

[0008] 6. It is difficult to locate the root cause of the fault after it is discovered, and the problem is still under manual troubleshooting. There is no fault reminder, and it is slow to find and troubleshoot the problem;

[0009] 7. There is no intelligent patrol monitoring function for automatic operation of multiple devices, which makes it impossible to accurately determine the impact of various abnormal events on the business and difficult to grasp the business operation situation;

[0010] 8. It is difficult to collect operation and maintenance data of mixed resources, which easily forms data islands and makes centralized analysis difficult;

[0011] 9. It is difficult to implement cross-disciplinary and role-based operation and maintenance management and the division of rights and responsibilities. Summary of the invention

[0012] The present invention provides a remote operation and maintenance system for a fully mechanized mining face based on a three-dimensional digital twin simulation model to solve the problems raised in the above-mentioned background technology.

[0013] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0014] The remote operation and maintenance system of fully mechanized mining face based on the three-dimensional digital twin simulation model includes the following implementation steps:

[0015] Step 1: 3D model library technology for underground equipment;

[0016] Step 2: Digital twin technology of comprehensive mining equipment;

[0017] Step 3: 3D modeling;

[0018] Step 4: Data collection and transmission.

[0019] Step 5: Remote operation and control technology;

[0020] The step one refers to the one-to-one proportional three-dimensional modeling based on the on-site measured data, combined with videos, photos and model drawings. The modeling content requirements include but are not limited to: coal mining machine, hydraulic support, scraper conveyor, crusher, belt self-moving tail, transfer machine, belt, advance support, and the model must support 360° all-round surround stereo viewing and zoom viewing functions.

[0021] The step two includes coal mining machine digital twin technology, hydraulic support digital twin technology, comprehensive mining working face real-time simulation technology, tunnel scene construction technology, three-dimensional support digital twin module solution, and three-dimensional coal mining machine digital twin module solution.

[0022] The step three refers to using three-dimensional modeling software to build a high-precision digital twin model including production equipment and automated remote control systems based on the actual situation of the comprehensive mining working face.

[0023] The step four refers to deploying sensors and monitoring equipment on the fully mechanized mining face to realize real-time data collection and transmission.

[0024] The step five refers to the integration of the above four technical features, presenting intuitive dynamic and transparent monitoring of the fault monitoring of the equipment operation and control system of the comprehensive mining working face, realizing remote fault handling, remote control and system performance maintenance, and providing the comprehensive mining working face with intelligent remote operation and maintenance control technology that deeply integrates mechanical, electrical, hydraulic, software and remote control technologies.

[0025] Further improvements to the technical solution of the present invention are: further conquering key technologies, developing a series of intelligent sensors, intelligent controllers, fault patrol technologies, and comprehensive mining working face data acquisition devices, to form a comprehensive mining working face remote control solution that integrates mechanical, electrical, hydraulic, and software aspects of the working face.

[0026] The further improvement of the technical solution of the present invention is: continuous monitoring through data and fault training modules. According to the digital twin technology of the hydraulic support, it means that the hydraulic support is required to support analog control and a controlled mode linked with on-site real-time data. In the analog control mode, it is required to be able to raise the column, lower the column, move the frame, push and slide, extend and retract the balance, extend and retract the side guard, extend and retract the telescopic beam, extend and retract the guard plate, and lift the bottom. In the on-site real-time data linkage mode, data verification is performed and transmitted to the ground to form a twin model to display its operating status, so as to realize remote fault handling and remote maintenance control.

[0027] A further improvement of the technical solution of the present invention is that the real-time simulation technology of the comprehensive mining working face refers to the requirement to use the real-time simulation technology of the comprehensive mining working face to realize the access to its real-time data during the current underground working face production process, and drive the three-dimensional virtual working face for synchronous display. The technology is configured according to the working face data, and the requirements include but are not limited to: the length of the working face, the number of support ends / middle / transition frames, and the type of working face. The working face simulation scene needs to have a multi-perspective display: providing a first-person free roaming perspective, a front view and following perspective of the coal mining machine on the coal seam side of the working face, and being able to display the movement of the supports of the entire working face. Data verification is performed in the on-site real-time data linkage mode, and transmitted to the ground to form a twin model to display its operating status, realizing remote fault handling and remote maintenance control, and supporting the review of the posture of a single support and the real-time operating data status curve function of the coal mining machine.

[0028] A further improvement of the technical solution of the present invention is that the tunnel scene construction technology refers to the ability to use models such as pump stations, chute monitoring centers, shifters, belts, rivets, iron meshes, etc. in the model equipment library to build return air and air inlet tunnel scenes, perform data verification in the on-site real-time data linkage mode, and transmit it to the ground to form a twin model to display its operating status, realize remote fault handling and remote maintenance control, and simultaneously display the development signal and equipment operation twin scene status.

[0029] A further improvement of the technical solution of the present invention is that the three-dimensional support digital twin module solution can construct a virtual three-dimensional space support twin model based on the support drawings combined with videos and photos. In the three-dimensional physical engine, the motion simulation method is used to establish a support motion diagram. After accessing the real sensor data underground, the support is driven to display the real physical motion state in real time. This module can play a role in real-time monitoring, simulation, and auxiliary decision-making operations of the motion state of the support group.

[0030] A further improvement of the technical solution of the present invention is that the three-dimensional coal mining machine digital twin module solution can construct a virtual three-dimensional space coal mining machine twin model according to the coal mining machine drawings, combined with videos and photos. In the three-dimensional physical engine, the motion simulation method is adopted to establish a coal mining machine motion model. After accessing the real sensor data underground, the coal mining machine is driven to display the real physical motion state in real time. This module can monitor the automatic operation parameters of the coal mining machine, verify the data, and detect the network rate. The motion state is uploaded to the ground in real time to form a simulation model, and an integrated operation and maintenance platform is formed after data conversion.

[0031] A further improvement of the technical solution of the present invention is that it includes a three-dimensional modeling module, a data acquisition and transmission module, a remote monitoring module, an intelligent early warning module, and a remote control module. The three-dimensional modeling module adopts advanced three-dimensional modeling software, such as 3ds Max, Blender, etc., to build a high-precision digital twin model. The data acquisition and transmission module selects stable and reliable sensors and monitoring equipment, such as temperature sensors, pressure sensors, video cameras, etc., to realize real-time data acquisition and transmission. The remote monitoring module uses Web technology to develop and display the remote monitoring interface and realize real-time monitoring and data analysis. The intelligent early warning module uses machine learning, big data analysis and other technologies to realize intelligent early warning and fault prediction. The remote control module adopts remote control technology to realize remote control of the electro-hydraulic control system and the automatic control operation system of the comprehensive mining working face support.

[0032] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0033] 1. The present invention provides a remote operation and maintenance system for a fully mechanized mining face based on a three-dimensional digital twin simulation model. Through functional modules such as three-dimensional real-scene modeling, data acquisition and transmission, remote monitoring, intelligent early warning, remote control and data analysis, a working face environment simulation environment is constructed, and simulation models of coal mining machines, scrapers, supports and the like are deployed. The real-scene transmission, data statistics, fault training monitoring and fault early warning of the intelligent electro-hydraulic control system and the fully mechanized mining face control system are carried out. The operation mode of the underground intelligent system is simulated and restored with a remote immersive feeling, and the operation mode and remote control mode of the intelligent equipment and system of the underground fully mechanized mining face are simulated and restored, a unified remote operation and maintenance control platform is created, and a unified, centralized and comprehensive remote operation and maintenance mode of the fully mechanized mining face in the mine is realized, providing initiative and timeliness for the management of intelligent system faults and control technologies of the underground fully mechanized mining face.

[0034] 2. The present invention provides a remote operation and maintenance system for a fully mechanized mining face based on a three-dimensional digital twin simulation model, which can effectively reduce the number of operation and maintenance personnel entering the working face, achieve the coal mine management goal of "reducing the number of people and reducing the number of people" underground, and visualize the monitoring and management of intelligent resources on the working face, helping operation and maintenance personnel to quickly locate faults, efficiently handle them, remotely control, and improve operation and maintenance efficiency.

[0035] 3. The present invention provides a remote operation and maintenance system for the fully mechanized mining face based on a three-dimensional digital twin simulation model, which can facilitate group dispatching and mine dispatching to count mine pressure, monitor the support posture, and intuitively manage shutdown situations. It can effectively quantify the efficiency of intelligent equipment and applications, and intuitively reflect the impact and threats of dynamic changes in infrastructure on the business.

[0036] 4. The present invention provides a remote operation and maintenance system for a comprehensive mining face based on a three-dimensional digital twin simulation model, which can share resources between different management tools of hardware equipment and application systems, promote the effective unification of data coding formats, break the scattered and isolated situation of various systems, form effective data complementarity and verification, realize group management, reduce the occurrence of failures, and improve production operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the working face electrical control system of the present invention. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with embodiments:

[0039] Example 1

[0040] like Figure 1 As shown, the present invention provides a remote operation and maintenance system for a fully mechanized mining face based on a three-dimensional digital twin simulation model, comprising the following implementation steps:

[0041] Step 1: 3D model library technology for underground equipment;

[0042] Step 2: Digital twin technology of comprehensive mining equipment;

[0043] Step 3: 3D modeling;

[0044] Step 4: Data collection and transmission;

[0045] Step 5: Remote operation and control technology;

[0046] Step 1 is to conduct 1:1 proportional 3D modeling based on the on-site measured data, combined with videos, photos and model drawings. The modeling content requirements include but are not limited to: coal mining machine, hydraulic support, scraper conveyor, crusher, belt self-moving tail, transfer machine, belt, advance support. The model must support 360° all-round surround stereo viewing and zoom viewing function;

[0047] Step 2 includes digital twin technology for coal mining machines, digital twin technology for hydraulic supports, real-time simulation technology for fully mechanized mining faces, tunnel scene construction technology, three-dimensional support digital twin module solutions, and three-dimensional coal mining machine digital twin module solutions;

[0048] Step three is to use 3D modeling software to build a high-precision digital twin model including production equipment and automated remote control system according to the actual situation of the fully mechanized mining face;

[0049] Step 4 is to deploy sensors and monitoring equipment in the fully mechanized mining face to achieve real-time data collection and transmission;

[0050] Step five refers to the integration of the above four technical features, presenting intuitive dynamic and transparent monitoring of the fault monitoring of the equipment operation and control system of the comprehensive mining working face, realizing remote fault handling, remote control and system performance maintenance, and providing the comprehensive mining working face with intelligent remote operation and maintenance control technology that deeply integrates mechanical, electrical, hydraulic, software and remote control technologies.

[0051] In this embodiment, the digital twin technology simulation on the well is used to realize the coordinated control of the well and above the well. At the same time, it is also necessary to support the three-dimensional display of the support action and the start and stop of the coal mining machine scraper. The real-time response of the underground support status and the real-time position and speed of the coal mining machine are used to guide the revision of the cutting process, realize the data report analysis function, analyze the multi-dimensional data of the well with one click, make full use of the support model, all sensor data updates, operation history and other data, integrate multiple action modes, multiple following modes, multi-sensor feedback, and multi-dimensional simulation process, and complete the mapping in the virtual environment of the ground monitoring center, so as to reflect the full action cycle process of the corresponding intelligent remote control system.

[0052] Example 2

[0053] like Figure 1As shown, on the basis of Example 1, the present invention provides a technical solution: preferably, the digital twin technology of coal mining machine refers to the controlled mode that the coal mining machine needs to support analog control and linkage with on-site real-time data, further overcome key technologies, develop a series of intelligent sensors, intelligent controllers, fault patrol technology, and comprehensive mining working face data acquisition devices to form a comprehensive mining working face remote control solution that integrates machine, electricity, fluid, and software. The digital twin technology of hydraulic support refers to the controlled mode that requires the hydraulic support to support analog control and linkage with on-site real-time data, and continuously monitors through data and fault training modules. According to the digital twin technology of hydraulic support, it refers to the controlled mode that requires the hydraulic support to support analog control and linkage with on-site real-time data. The linked controlled mode, in the analog control mode, is required to be able to perform actions such as raising and lowering columns, moving frames, pushing and sliding, balanced extension and retraction, side guard extension and retraction, telescopic beam extension and retraction, guard plate extension and retraction, and bottom lifting on the hydraulic support. Data verification is performed in the on-site real-time data linkage mode, and the data is transmitted to the ground to form a twin model to display its operating status, realize remote fault handling and remote maintenance control. The real-time simulation technology of the comprehensive mining working face refers to the requirement to use the real-time simulation technology of the comprehensive mining working face to realize the operating status of the current intelligent equipment of the underground working face, access its real-time data, and drive the three-dimensional virtual working face for synchronous display. The technology is configured according to the working face data, and the requirements include but are not limited to: working face length, support end / middle / over The number of ferries and the type of working face. The working face simulation scene needs to have multi-perspective display: providing the first-person free roaming perspective and the coal mining machine front-facing follow-up perspective on the coal seam side of the working face. At the same time, it can display the movement of the entire working face support, perform data verification in the on-site real-time data linkage mode, and transmit it to the ground to form a twin model to display its operating status, realize remote fault handling and remote maintenance control, and support the viewing of the posture of a single support and the real-time operation data status curve function of the coal mining machine. The tunnel scene construction technology refers to the ability to use the pump station, chute monitoring center, shift change, belt, rivet, iron mesh and other models in the model equipment library to build return air and air intake tunnel scenes, and perform data verification in the on-site real-time data linkage mode. The data is verified and transmitted to the ground to form a twin model to display its operating status, realize remote fault handling and remote maintenance control, and display the development signal and equipment operation twin scene status at the same time. The three-dimensional bracket digital twin module solution can build a virtual three-dimensional space bracket twin model according to the bracket drawing, combined with videos and photos. In the three-dimensional physical engine, the motion simulation method is used to establish the motion diagram of the bracket electro-hydraulic control system, and upload it to the ground through the fault patrol system through the remote control integrated access device to display the motion status in the twin potential. This module can perform program inspection, parameter initialization configuration inspection and automatic correction, network diagnosis, data packaging and upload diagnosis of the bracket electro-hydraulic control system, realize motion status monitoring and remote control.

[0054] In this embodiment, the remote operation and maintenance system based on digital twin technology usually has a friendly visual interface, so that the operation and maintenance personnel can intuitively understand the operating status, performance and maintenance requirements of the physical object. At the same time, the system also supports a variety of interactive methods, such as virtual reality, augmented reality, etc., so that the operation and maintenance personnel can perform actual operations in a virtual environment to improve the efficiency of operation and maintenance. The remote operation and maintenance system needs to have a high degree of security and reliability to ensure the integrity of the data and the stable operation of the system. The system uses advanced encryption technology, authority management and other means to ensure data security. At the same time, the reliability of the system is improved through redundant design, fault-tolerant mechanism and other measures to ensure stable operation in harsh environments. With the expansion of business scale and the development of technology, the remote operation and maintenance system needs to have good scalability and flexibility, which can be expanded by adding new sensors, adjusting model parameters, etc. At the same time, the system also supports a variety of data formats and communication protocols to meet the needs of different devices and scenarios.

[0055] Example 3

[0056] like Figure 1 As shown, on the basis of Example 1, the present invention provides a technical solution: preferably, it includes a three-dimensional modeling module, a data acquisition and transmission module, a remote monitoring module, an intelligent early warning module, and a remote control module. The three-dimensional modeling module adopts advanced three-dimensional modeling software, such as 3ds Max, Blender, etc., to build a high-precision digital twin model. The data acquisition and transmission module selects stable and reliable sensors and monitoring equipment, such as temperature sensors, pressure sensors, video cameras, etc., to realize real-time data acquisition and transmission. The remote monitoring module uses Web technology to develop and display the remote monitoring interface, realize real-time monitoring and data analysis, and the intelligent early warning module uses machine learning, big data analysis and other technologies to realize intelligent early warning and fault prediction. The remote control module adopts remote control technology to realize remote control of the electro-hydraulic control system and the automatic control operation system of the comprehensive mining working face support.

[0057] In this embodiment, three-dimensional dynamic graphics are designed for the coal mining machine and hydraulic support of the working face, and relevant actions are displayed according to the actual equipment conditions underground, and displayed in real time on the large screen on the ground. Graphical display of various sensors of the working face support: pressure, stroke, height measurement, inclination, and heat map display of relevant sensors with heat map display are provided. Interactive design is performed for the working scenes of the hydraulic support and the coal mining machine, including two-dimensional data interactive design and three-dimensional scene interactive design. The intelligent brain is implemented in the form of GIF dynamic effects, does not display more data, provides buttons, and can be linked to other pages. Visual design is performed for the display of relevant data of the working scenes of the hydraulic support and the coal mining machine, and visual design is performed for the display of parameters of individual supports. The three-dimensional models of the hydraulic support and the coal mining machine are optimized, and the working scenes of the hydraulic support and the coal mining machine are built, and three-dimensional special effects that conform to the interface style are rendered; a three-dimensional scene similar to the intelligent brain is built to reflect a cool sense of technology and a cutting-edge sense; a three-dimensional detail display of a certain support is performed, and different states are displayed, and dynamic design is performed for the interface effect to make the interface more dynamic, and three-dimensional development is performed according to the design effects of three-dimensional modeling and rendering, with three-dimensional interactions such as zooming in, zooming out, and rotating.

[0058] The following is a detailed description of the working principle of the remote operation and maintenance system for the fully mechanized mining face based on the three-dimensional digital twin simulation model.

[0059] like Figure 1 As shown in the figure, the remote operation and maintenance technology of the comprehensive mining working face of the three-dimensional digital twin simulation model is a virtual simulation system with a 1:1 ratio with the real working face built based on network digital model technology. The real-scene scanning and mapping technology is used to realize high-precision and high-fidelity real working face environment and intelligent equipment modeling. Through 4G / 5G network communication and intelligent remote equipment, the real-time working face information, coal mining machine, scraper, and support posture data information are obtained, and the inspection status of equipment nodes is maintained. The digital twin simulation system uses this data information to calculate, process, manage and control the intelligent control system to run in the virtual mine, maintain complete synchronization, and realize the digital twin effect between real and virtual vehicles.

[0060] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. The remote operation and maintenance system of fully mechanized mining face based on the three-dimensional digital twin simulation model is characterized by: The implementation steps include: Step 1: 3D model library technology for underground equipment; Step 2: Digital twin technology of comprehensive mining equipment; Step 3: 3D modeling; Step 4: Data collection and transmission; Step 5: Remote operation and control technology; The step 1 refers to the one-to-one proportional 3D modeling based on the field measured data, combined with videos, photos and model drawings. The main content of the modeling is the network operation process of the support electro-hydraulic control system, comprehensive mining automation and other control equipment. At the same time, it is required to include but not limited to: coal mining machine, hydraulic support, scraper conveyor, crusher, belt self-moving tail, transfer machine, belt, advanced support, and the model must support 360° all-round surround stereo viewing and zoom viewing function; The step 2 includes the twin technology of the network operation process of the support electro-hydraulic control system, comprehensive mining automation and other control equipment, the digital twin technology of the coal mining machine, the digital twin technology of the hydraulic support, the real-time simulation technology of the comprehensive mining working face, the tunnel scene construction technology, the three-dimensional support digital twin module solution, and the three-dimensional coal mining machine digital twin module solution, which intuitively show the transmission mode and operation and maintenance capabilities of the intelligent equipment; The step three refers to using three-dimensional modeling software to build a high-precision digital twin model including production equipment, control equipment, remote equipment and automated remote control system according to the actual situation of the fully mechanized mining face; The fourth step is to deploy sensors and monitoring equipment on the fully mechanized mining face to monitor the fault diagnosis patrol capability and the operating status of the equipment working condition, and realize the real-time collection and transmission of data status; The step five refers to the integration of the above four technical features, presenting intuitive dynamic and transparent monitoring of the fault monitoring of the equipment operation and control system of the comprehensive mining working face, realizing remote fault handling, remote control and system performance maintenance, and providing the comprehensive mining working face with intelligent remote operation and maintenance control technology that deeply integrates mechanical, electrical, hydraulic, software and remote control technologies.

2. The remote operation and maintenance system for fully mechanized mining face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: We will further overcome key technologies, develop a series of intelligent sensors, intelligent controllers, fault patrol technologies, and comprehensive mining face data collection devices, to form a comprehensive mining face remote control solution that integrates machinery, electricity, hydraulics, and software.

3. The remote operation and maintenance system for fully mechanized mining working face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: Through continuous monitoring through the data and fault training module, the digital twin technology of the hydraulic support requires the hydraulic support to support analog control and a controlled mode that is linked to on-site real-time data. In the analog control mode, the hydraulic support is required to be able to perform actions such as raising columns, lowering columns, moving frames, pushing and sliding, balanced extension and retraction, side guard extension and retraction, telescopic beam extension and retraction, guard plate extension and retraction, and bottom lifting. Data verification is performed in the on-site real-time data linkage mode, and the data is transmitted to the ground to form a twin model to display its operating status, thereby realizing remote fault handling and remote maintenance control.

4. The remote operation and maintenance system for fully mechanized mining working face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: The real-time simulation technology of the fully mechanized mining working face refers to the requirement to utilize the real-time simulation technology of the fully mechanized mining working face to access the real-time data of the current underground working face during production, and drive the three-dimensional virtual working face for synchronous display. The technology is configured according to the working face data, and the requirements include but are not limited to: the length of the working face, the number of support ends / middle / transition frames, and the type of working face. The working face simulation scene needs to have a multi-perspective display: providing a first-person free roaming perspective and a frontal follow-up perspective of the coal mining machine on the coal seam side of the working face. At the same time, it can display the movement of the supports and the mine pressure of the entire working face, perform data verification in the on-site real-time data linkage mode, and transmit it to the ground to form a twin model to display its operating status, realize remote fault handling and remote maintenance control, and support the review of the posture of a single support, the real-time operating data status of the coal mining machine, and the coal cutting curve function.

5. The remote operation and maintenance system for fully mechanized mining face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: The tunnel scene construction technology refers to the ability to use models such as pump stations, chute monitoring centers, shifters, belts, rivets, iron nets, etc. in the model equipment library to build return air and air inlet tunnel scenes, perform data verification in the on-site real-time data linkage mode, and transmit it to the ground to form a twin model to display its operating status, realize remote fault handling and remote maintenance control, and simultaneously display the development signal and equipment operation twin scene status.

6. The remote operation and maintenance system for fully mechanized mining working face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: The three-dimensional support digital twin module solution can construct a virtual three-dimensional space support twin model based on the support drawings, combined with videos and photos. In the three-dimensional physical engine, the motion simulation method is used to establish the support electro-hydraulic control system motion diagram, mine pressure monitoring diagram, and upload the remote control integrated access device to the ground through the fault patrol system to display the motion status in twin potential. This module can perform program inspection, parameter initialization configuration inspection and automatic correction, network diagnosis, data packaging and upload diagnosis of the support electro-hydraulic control system, and realize motion status monitoring and remote control.

7. The remote operation and maintenance system for fully mechanized mining working face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: The three-dimensional coal mining machine digital twin module solution can construct a virtual three-dimensional space coal mining machine twin model based on the coal mining machine drawings, combined with videos and photos. In the three-dimensional physical engine, the motion simulation method is used to establish a coal mining machine motion model. After accessing the real sensor data underground, the coal mining machine is driven to display the real physical motion state in real time. This module can monitor the automatic operation parameters of the coal mining machine, verify data, and detect network rate. The mine pressure movement state is uploaded to the ground in real time to form a simulation model, and an integrated remote operation and maintenance platform is formed after data conversion.

8. The remote operation and maintenance system for fully mechanized mining working face based on the three-dimensional digital twin simulation model according to claim 1 is characterized in that: It includes a three-dimensional modeling module, a data acquisition and transmission module, a remote monitoring module, an intelligent early warning module, and a remote control module. The three-dimensional modeling module adopts advanced three-dimensional modeling software, such as 3ds Max, Blender, etc., to build a high-precision digital twin model. The data acquisition and transmission module selects stable and reliable sensors and monitoring equipment, such as temperature sensors, pressure sensors, video cameras, etc., to realize real-time data acquisition and transmission. The remote monitoring module uses Web technology to develop and display the remote monitoring interface, realize real-time monitoring and data analysis, and use machine learning, big data analysis and other technologies to realize intelligent early warning and fault prediction. The remote control module uses remote control technology to realize remote control of the electro-hydraulic control system and the automatic control operation system of the comprehensive mining working face support.

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