Coal mine fully mechanized coal mining face equipment simulation modeling and anti-interference calculation method based on OpenSceneGraph

Abstract

The invention provides a coal mine fully mechanized coal mining face equipment simulation modeling and anti-interference calculation method based on OpenSceneGraph, and the method comprises the steps: carrying out the modeling of a hydraulic support and the modeling of a coal mining machine, splitting the related parts of the hydraulic support and the coal mining machine, and building a coordinate system; modeling is carried out on the split parts; assembling the part models, determining connection points of the part models, calculating coordinates of the connection points, and connecting and assembling the part models through the connection points; initializing the position of the assembled model; and the assembled model parts are updated in real time. The OSG is used for conducting three-dimensional digital simulation on the coal mine fully-mechanized coal mining face equipment, the operation condition of the fully-mechanized coal mining face equipment can be visually restored in real time, meanwhile, interference judgment work between coal mining machine supports can be conducted through the simulation model, simulation programs can be deployed in a cross-platform mode, the requirement for localization of a current system is met in an open-source mode, and the method is suitable for popularization and application. Meanwhile, the OSG simulation model can be rapidly and dynamically generated according to a small number of equipment geometric parameters, and multi-mine and multi-working-face use can be achieved through one-time development.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining equipment simulation modeling, and in particular to a coal mine fully mechanized mining face equipment simulation modeling and anti-interference calculation method based on OpenScenceGraph. Background Art

[0002] OSG (OpenSceneGraph) is an open source 3D graphics rendering engine for developing real-time 3D graphics applications. It provides a series of powerful tools and libraries for creating high-performance, interactive 3D applications, including virtual reality (VR), augmented reality (AR), simulation, game development, scientific visualization and other fields. It has cross-platform, high performance, modular design, support for multiple data formats, powerful rendering capabilities, and support for multiple input devices. In general, OpenSceneGraph is a powerful, flexible, and high-performance 3D graphics rendering engine suitable for 3D application development in various fields.

[0003] The existing three-dimensional simulation of coal mine fully mechanized working faces is generally built with engines such as Unity and UE4, which have high requirements on computer performance. Similar solutions generally require the establishment of a three-dimensional model in advance, and each working face equipment needs to be customized and developed. At the same time, it is built with engines such as Unity and UE4, which is complex to build and requires a good three-dimensional model for support. It has high requirements on computer performance, and each different model of equipment needs to be re-modeled, which is costly and difficult to cross platforms.

[0004] The anti-interference between the coal mining machine and the hydraulic support is generally calculated using formulas, which has slow calculation speed and low accuracy. Summary of the invention

[0005] In view of the problems that the three-dimensional simulation of coal mine fully mechanized mining working face is built with engines such as Unity and UE4, which is complex to build, costly, and difficult to cross-platform, and the formula used to calculate the anti-interference between the coal mining machine and the hydraulic support support is slow and accurate, the present invention provides a coal mine fully mechanized mining working face equipment simulation modeling and anti-interference calculation method based on OpenScenceGraph.

[0006] The solution adopted by the present invention to solve the technical problem is: a method for simulating and modeling equipment of a fully mechanized coal mining face based on OpenScenceGraph, including hydraulic support modeling and coal mining machine modeling.

[0007] The steps of hydraulic support modeling include:

[0008] S11. Disassemble the related parts of the hydraulic support and establish a coordinate system;

[0009] S12, modeling the split parts;

[0010] S13. Assemble the parts model

[0011] Determine the connection points of the part models and calculate the coordinates of the connection points, and connect and assemble the part models through the connection points;

[0012] S14, initializing the position of the assembled model;

[0013] S15. The assembled model parts are updated in real time.

[0014] The steps for modeling a coal mining machine include:

[0015] S21. Disassemble the relevant parts of the coal mining machine and establish a coordinate system;

[0016] S22, modeling the split parts;

[0017] S23. Assemble the parts model

[0018] Determine the connection points of the part models and calculate the coordinates of the connection points, and connect and assemble the part models through the connection points;

[0019] S24, initializing the position of the assembled model;

[0020] S25. The assembled model parts are updated in real time.

[0021] Among them, the hydraulic support in S11 is divided into primary guardrail, secondary guardrail, telescopic beam, top beam, column, cover beam, side guard plate, connecting rod, base and push rod, and a local coordinate system of the hydraulic support is established. The connection point between the connecting rod and the base is taken as the coordinate origin, the rear end of the x-axis base points to the front end of the base as the positive direction of the x-axis, and the positive direction of the y-axis is perpendicular to the ground of the base and upward. The x, y, and z axes form a right-hand coordinate system.

[0022] Furthermore, the parts modeling of the hydraulic support in S12,

[0023] Use a cuboid (osg::Box) to describe the guardrail. The parameters include the length, width and thickness of the guardrail. Create OSG model nodes: the first-level guardrail nodeYJHB and the second-level guardrail nodeEJHB.

[0024] Use a cuboid (osg::Box) to describe the telescopic beam. The parameters include the length, width and thickness of the telescopic beam. Create an OSG model node nodeSSL.

[0025] Use a cuboid (osg::Box) to describe the top beam. The parameters include the length, width and thickness of the top beam. Create an OSG model node nodeDZ.

[0026] Use a cylinder (osg::Cylinder) to describe the column. The parameters include the length and diameter of the column. Create OSG model nodes: nodeZQLZ for the left front column and nodeYQLZ for the right front column.

[0027] Use a cuboid (osg::Box) to describe the shield beam. The parameters include the length, width and thickness of the shield beam. Create an OSG model node nodeYHL.

[0028] Use a cuboid (osg::Box) to describe the connecting rod. The parameters include the length, width and thickness of the connecting rod. Create OSG model nodes: nodeQLG for the front connecting rod and nodeHLG for the rear connecting rod.

[0029] Use a cuboid (osg::Box) to describe the base. The parameters include the length, width and thickness of the base. Create an OSG model node nodeDZ.

[0030] Use a cuboid (osg::Box) to describe the push rod. The parameters include the length, width and thickness of the base. Create an OSG model node nodeTYG.

[0031] Among them, the coal mining machine in S21 is divided into a left drum, a left rocker arm, a fuselage, a right drum and a right rocker arm. A local coordinate system of the coal mining machine is established, with the connection point between the fuselage and the left rocker arm as the coordinate origin, the vertical coal mining machine fuselage pointing to the coal wall as the positive direction of the x-axis, and the vertical to the base ground upward as the positive direction of the y-axis. The x, y, and z axes form a right-handed coordinate system.

[0032] Furthermore, the coal mining machine parts modeling in S22,

[0033] Use a cuboid (osg::Box) to describe the fuselage. The parameters include the length, width and thickness of the fuselage. Create an OSG model node nodeJS.

[0034] Use a cuboid (osg::Box) to describe the left rocker arm. The parameters include the length, width and thickness of the left rocker arm. Create an OSG model node nodeZYB.

[0035] Use a cylinder (osg::Cylinder) to describe the left roller. The parameters include the diameter and thickness of the roller. Create an OSG model node nodeZGT.

[0036] Use a cuboid (osg::Box) to describe the right rocker arm. The parameters include the length, width and thickness of the right rocker arm. Create an OSG model node nodeYYB.

[0037] Use a cylinder (osg::Cylinder) to describe the right roller. The parameters include the roller diameter and thickness. Create an OSG model node nodeYGT.

[0038] An anti-interference calculation method for a coal mine fully mechanized mining working face equipment simulation model based on OpenScenceGraph is used to establish a working face coordinate system. The lower right corner of the outer side of the end hydraulic support is used as the coordinate origin. The vertical working face points to the roof as the positive direction of the Z axis, and the vertical direction points to the coal wall as the positive direction of the X axis to establish a right-handed coordinate system. According to the actual situation of the working face, the hydraulic supports are simulated in sequence along the positive direction of the Y axis with the same posture. The coal mining machine is placed in the position of the first frame, and the distance from the push rod is L100.

[0039] The system receives real-time coal mining machine position data and drum inclination data, and passes them into the coal mining machine simulation module. The coal mining machine module updates the coal mining machine posture. The system receives real-time inclination data of each hydraulic support, displacement sensor data, and drum inclination data, and passes them into the hydraulic support simulation module. The hydraulic support simulation module calculates and updates its own posture, obtains the bounding box within the range of 180° rotation of the left and right rocker arms of the coal mining machine, and uses OSG's collision detection functions osgUtil::PolytopeIntersector and osgUtil::IntersectionVisitor to cyclically detect whether there is a collision intersection between the coal mining machine bounding box and the hydraulic support, and reports the calculation results to the comprehensive mining face centralized control system in real time.

[0040] Beneficial effects of the present invention:

[0041] 1. Use OSG to perform three-dimensional digital simulation of coal mine fully mechanized mining working face equipment, which can visualize and restore the operation status of fully mechanized mining working face equipment in real time. At the same time, this simulation model can also be used to judge the interference between coal mining machine supports.

[0042] 2. Use OSG to perform three-dimensional digital simulation of the fully mechanized mining face. The simulation program can be deployed across platforms and open source to meet the current system localization requirements.

[0043] 3. The present invention can quickly and dynamically generate OSG simulation models based on a small amount of equipment geometric parameters, and can achieve one-time development and use in multiple mines and working faces.

[0044] The present invention uses OSG to perform equipment simulation, which can be conveniently cross-platform and automatically generate three-dimensional models within the simulation platform according to different equipment models. It is also convenient to combine the simulation calculation results with the comprehensive mining working face monitoring system, and does not require high computer performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the hydraulic support connection points.

[0046] Figure 2 It is a schematic diagram of the connection points of the coal mining machine. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below.

[0048] Embodiment 1: The present invention provides a method for simulation modeling and anti-interference calculation of coal mine fully mechanized mining working face equipment based on OpenScenceGraph, wherein the simulation modeling of coal mine fully mechanized mining working face equipment based on OpenScenceGraph includes modeling of hydraulic supports and modeling of coal mining machines.

[0049] The hydraulic support modeling includes

[0050] S11. Disassemble the related parts of the hydraulic support and establish a coordinate system;

[0051] S12, modeling the split parts;

[0052] S13. Assemble the parts model

[0053] Determine the connection points of the part models and calculate the coordinates of the connection points, and connect and assemble the part models through the connection points;

[0054] S14, initializing the position of the assembled model;

[0055] S15. The assembled model parts are updated in real time.

[0056] In step S11, the hydraulic support is divided into: a primary guardrail, a secondary guardrail, a telescopic beam, a top beam, a column, a shield beam, a side guard plate, a connecting rod, a base and a push rod.

[0057] On this basis, a local coordinate system of the hydraulic support is established, with the connection point between the rear connecting rod and the base as the coordinate origin, the positive direction of the x-axis pointing from the rear end of the base to the front end of the base, and the positive direction of the y-axis perpendicular to the ground of the base upward. The x, y, and z axes form a right-handed coordinate system.

[0058] In step S12, a cuboid (osg::Box) is used to describe the guardrail, and the parameters include the length, width and thickness of the guardrail. OSG model nodes are established, the first-level guardrail nodeYJHB and the second-level guardrail nodeEJHB.

[0059] Use a cuboid (osg::Box) to describe the telescopic beam. The parameters include the length, width and thickness of the telescopic beam. Create an OSG model node nodeSSL.

[0060] Use a cuboid (osg::Box) to describe the top beam. The parameters include the length, width and thickness of the top beam. Create an OSG model node nodeDZ.

[0061] Use a cylinder (osg::Cylinder) to describe the column. The parameters include the length and diameter of the column. Create OSG model nodes: nodeZQLZ for the left front column and nodeYQLZ for the right front column.

[0062] Use a cuboid (osg::Box) to describe the shield beam. The parameters include the length, width and thickness of the shield beam. Create an OSG model node nodeYHL.

[0063] Use a cuboid (osg::Box) to describe the connecting rod. The parameters include the length, width and thickness of the connecting rod. Create OSG model nodes: the front connecting rod is nodeQLG and the rear connecting rod is nodeHLG.

[0064] Use a cuboid (osg::Box) to describe the base. The parameters include the length, width and thickness of the base. Create an OSG model node nodeDZ.

[0065] Use a cuboid (osg::Box) to describe the push rod. The parameters include the length, width and thickness of the base. Create an OSG model node nodeTYG.

[0066] Step S13 assembles the hydraulic support part model. First, the connection points of the part model are determined and the coordinates of the connection points are calculated. Then, the part model is connected and assembled through the connection points.

[0067] like Figure 1 As shown, the connection point locations between the components of the part model are described as follows:

[0068] Secondary guard: Point A on the left side of the cube, point A is connected to the primary guard;

[0069] First-level guard: The left center point C and the right center point of the cube are the connection point B. Point C is connected to the telescopic beam, and point B is connected to the second-level guard;

[0070] Telescopic beam: The left center point D and the right center point of the cube are the connection point C. Point D is the top beam, and point C is connected to the first-level guardrail;

[0071] Top beam: The left center point G of the cube, the right center point D, and the two side points E and F on the line connecting GD are the connection points. Point G is connected to the shield beam, point D is connected to the telescopic beam, point E is connected to the left front column, and point F is connected to the right front column.

[0072] Left front column: the center point E on the top of the cylinder and the center point M on the bottom. Point E is connected to the top beam, and point M is connected to the base.

[0073] Right front column: The center point of the cylinder is F on the top and N on the bottom. Point F is connected to the top beam, point N is connected to the base, the center point of the EF line is P, point P is located on GD, and the center point of the MN line is Q;

[0074] Protective beam: the right center point G of the cube, the left center point I, and a point H on the GI connecting line. Point G is connected to the top beam, point I is connected to the rear connecting rod, and point H is connected to the front connecting rod;

[0075] Front connecting rod: the left center point H of the cube and the right center point K, point H is connected to the shield beam, and point K is connected to the base;

[0076] Rear connecting rod: the left center point I and the right center point J of the cube, point I is connected to the shield beam, and point J is connected to the base;

[0077] Base: The connection point with the front link is K, the connection point with the rear link is J, the connection point with the left front link is M, and the connection point with the right front link is N;

[0078] Push rod: The connection point with the base is R.

[0079] Calculation of connection point coordinates: Install an inclination sensor on the top beam, front connecting rod, base, first-level guardrail and second-level guardrail respectively, and install a displacement sensor on the telescopic beam and push rod.

[0080] The inclination angle of the front connecting rod is α, the inclination angle of the top beam is β, the inclination angle of the base is γ, the inclination angle of the first-level guardrail is δ, and the inclination angle of the second-level guardrail is ε. The angle is the angle between the component and the vertical direction. The telescopic beam displacement is W1, the push rod displacement is W2, and the horizontal center distance between the left and right front pillars is T.

[0081] The coordinates of the following points can be calculated

[0082] Coordinates of point J: J(0,0,0);

[0083] Coordinates of point K: K(L03, L04, 0);

[0084] Coordinates of point M: M(L03+l07,08,T / 2);

[0085] Coordinates of point N: N(L03+l07,l08,-T / 2);

[0086] Point R coordinates: R(L200,0,0);

[0087] Coordinates of point H: H(L03-L01*sin(α), L04+L01*cos(α), 0).

[0088] Solve the coordinates of other points and the inclination angle of the component:

[0089] Assuming that the angle between HG and the vertical direction is ζ, the coordinates of point G are

[0090] G(HG*sin(ζ)+Hx, HG*cos(ζ)+Hy, 0)(1)

[0091] There are

[0092] Tan(β) = (HG*sin(ζ)+Hx) / HG* cos (ζ)+Hy (2)

[0093] The simultaneous equations (1) and (2) can be solved to obtain ζ, and then we can obtain

[0094] I point coordinates, I(HI*sin(ζ)-Hx, HI*cos(ζ)-Hy, 0);

[0095] Coordinates of point E, E(L06*sin(ζ)+Gx,L06*cos(ζ)+Gy,T / 2);

[0096] Coordinates of point F, F(L06*sin(ζ)+Gx, L06*cos(ζ)+Gy, -T / 2);

[0097] Coordinates of point D, D(GD*sin(ζ)+Gx, GD*cos(ζ)+Gy, 0);

[0098] Coordinates of point C, C((GD+W1)*sin(ζ)+Gx, (GD+W1)*cos(ζ)+Gy, 0);

[0099] Coordinates of point B, B((BC)*sin(δ)+Cx, (BC)*cos(δ)+Cy, 0);

[0100] Coordinates of point A, A((AB)*sin(ε)+Bx, (AB)*cos(ε)+By, 0);

[0101] Column length

[0102] Rear link inclination angle α1 = arcsin((x-Ix) / L01);

[0103] The column inclination angle η = aarctan((Mx-Ey) / (Mx-Ey)).

[0104] In step S14, the position of the assembled hydraulic support model is initialized. The specific operations are as follows:

[0105] Set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(α), 0) for the front link nodeQLG, rotate the front link to the correct position, then move the K point of the front link nodeQLG to the K point of the base, and set nodeQLG as the child node of the base nodeDZ.

[0106] Set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(α1), 0) for the rear link nodeHLG, rotate the rear link to the correct position, then move the J point of the rear link nodeHLG to the J point of the base, and set nodeHLG as the child node of the base nodeDZ.

[0107] Set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(ζ), 0) for the shielding beam nodeYHL, rotate the shielding beam to the correct position, then move point I of the rear link nodeYHL to point I of the rear link, and set nodeYHL as the child node of the base nodeHLG.

[0108] First, set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(β), 0) for the top beam nodeDL to rotate the covering beam to the correct position, then move the G point of the top beam nodeDL to the G point of the covering beam, and set nodeDL as the child node of the covering beam nodeYHL.

[0109] According to the length of the front column, first stretch / contract the front column node, set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(η), 0) for the front column nodeQLZ, rotate the front column to the correct position, then move point M of the front column nodeQLZ to point M of the base, and set nodeQLZ as the child node of the base nodeDZ.

[0110] According to the length of the rear column, first stretch / contract the rear column, set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(η), 0) for the rear column nodeHLZ, rotate the rear column to the correct position, then move point N of the rear column nodeHLZ to point F of the base, and set nodeHLZ as the child node of the base nodeDZ.

[0111] First, set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(β), 0) for the telescopic beam nodeSSL to rotate the telescopic beam to the correct position, then move point D of nodeSSL to point D of the top beam, and then set the translation matrix osg::Matrix::translate(0, w1, 1, 0) according to the telescopic displacement, and set nodeSSL as the child node of the top beam nodeDL.

[0112] Move the R point of the push rod nodeTYG to the R point of the base, and then set the translation matrix osg::Matrix::translate(0, w2, 1, 0) according to the pushing stroke, and set nodeTYG as the child node of the base nodeDZ.

[0113] First, set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(δ), 0) for the first-level guard nodeYJHB to rotate the first-level guard to the correct position, then move the first-level guard nodeYJHB, point C to point C of the telescopic beam, and set nodeYJHB as the child node of the telescopic beam nodeYHL.

[0114] First, set the rotation matrix osg::Matrix::rotate(0, 0, osg::DegreesToRadians(ε), 0) for the secondary guardrail nodeEJHB to rotate the secondary guardrail to the correct position, then move the secondary guardrail nodeEJHB, point B to point B of the telescopic beam, and set nodeYJHB as the child node of the primary guardrail nodeYJHB.

[0115] Step S15: The assembled hydraulic support model parts are updated in real time.

[0116] Receive the front link inclination angle α value in real time, and set the front link rotation matrix, osg::Matrix::rotate(0, 0, osg::DegreesToRadians(α), 0).

[0117] Receive the top beam inclination angle β value in real time, and set the top beam rotation matrix, osg::Matrix::rotate(0, 0, osg::DegreesToRadians(β), 0).

[0118] Receive the base inclination angle γ value in real time and set the base rotation matrix, osg::Matrix::rotate(0, 0, osg::DegreesToRadians(γ), 0).

[0119] Receive the first-level guardrail inclination angle δ value in real time, and set the first-level guardrail rotation matrix, osg::Matrix::rotate(0, 0, osg::DegreesToRadians(δ), 0).

[0120] Receive the secondary guardrail inclination angle ε value in real time, and set the secondary guardrail rotation matrix, osg::Matrix::rotate(0, 0, osg::DegreesToRadians(ε), 0).

[0121] Receive the telescopic beam extension stroke as W1 value in real time, and set the telescopic beam translation matrix, osg::Matrix::translate(w1, 0, 1, 0).

[0122] Receive the push rod's travel as W2 value in real time, and set the push rod translation matrix, osg::Matrix::translate(w2, 0, 1, 0).

[0123] The coal mining machine modeling includes the following steps:

[0124] S21. Disassemble the relevant parts of the coal mining machine and establish a coordinate system;

[0125] S22, modeling the split parts;

[0126] S23. Assemble the parts model

[0127] Determine the connection points of the part models and calculate the coordinates of the connection points, and connect and assemble the part models through the connection points;

[0128] S24, initializing the position of the assembled model;

[0129] S25. The assembled model parts are updated in real time.

[0130] In step S21, the coal mining machine is disassembled into: a left drum, a left rocker arm, a machine body, a right drum and a right rocker arm.

[0131] On this basis, the local coordinate system of the coal mining machine is established, with the connection point between the fuselage and the left rocker arm as the coordinate origin, the positive direction of the x-axis pointing perpendicular to the coal mining machine body pointing to the coal wall, and the positive direction of the y-axis perpendicular to the base ground upward. The x, y, and z axes form a right-handed coordinate system.

[0132] In step S22, a cuboid (osg::Box) is used to describe the fuselage, and the parameters include the length, width and thickness of the fuselage, and an OSG model node nodeJS is established.

[0133] Use a cuboid (osg::Box) to describe the left rocker arm. The parameters include the length, width and thickness of the left rocker arm. Create an OSG model node nodeZYB.

[0134] Use a cylinder (osg::Cylinder) to describe the left roller. The parameters include the diameter and thickness of the roller. Create an OSG model node nodeZGT.

[0135] Use a cuboid (osg::Box) to describe the right rocker arm. The parameters include the length, width and thickness of the right rocker arm. Create an OSG model node nodeYYB.

[0136] Use a cylinder (osg::Cylinder) to describe the right roller. The parameters include the roller diameter and thickness. Create an OSG model node nodeYGT.

[0137] Step S23 assembles the coal mining machine part model, determines the connection points of the part model and calculates the coordinates of the connection points, and connects and assembles the part model through the connection points.

[0138] like Figure 2 As shown, the connection point locations between the components of the part model are described as follows:

[0139] Body: The center point A on the left side of the cube is connected to the left rocker arm, and the center point B on the right side of the cube is connected to the right rocker arm;

[0140] Left rocker arm: The center point D on the left side of the cube is connected to the left roller, and the center point A on the right side of the cube is connected to the fuselage;

[0141] Left drum: The center point D in front of the cylinder is connected to the left rocker arm;

[0142] Right rocker arm: point C on the right side of the cube, point C is connected to the right roller, point B on the right side of the cube, point B is connected to the fuselage;

[0143] Right drum: The center point C in front of the cylinder is connected to the right rocker arm.

[0144] Calculation of connection point coordinates: Install inclination sensors on the left and right rocker arms respectively, with the left rocker arm inclination angle θ, the right rocker arm inclination angle λ, the fuselage length L0, the left rocker wall length L01, the left roller radius L02, the right rocker wall length L03, and the right roller radius L04.

[0145] The following coordinates can be calculated

[0146] Point A coordinates: A(0,0,0);

[0147] Point B coordinates: B(0, L0, 0);

[0148] Coordinates of point C: C(0, L0+L03*sin(λ), L03*cos(λ));

[0149] Coordinates of point D: D(0, -L03*sin(λ), L01*cos(λ)).

[0150] In step S24, the position of the assembled coal mining machine model is initialized, and the specific operations are:

[0151] Set the rotation matrix for the left rocker nodeZYB

[0152] osg::Matrix::rotate(osg::DegreesToRadians(θ), 0, 0, 0), rotate the left rocker to the correct position, then move point A of the left rocker nodeZYB to point A of the fuselage, and set nodeZYB as the child node of the fuselage nodeJS.

[0153] Move point D of the left drum nodeZGT to point D of the left rocker wall, and set nodeZGT as the child node of the fuselage nodeZYB.

[0154] Set the rotation matrix for the right rocker nodeYYB

[0155] osg::Matrix::rotate(osg::DegreesToRadians(λ), 0, 0, 0), rotate the right rocker to the correct position, then move point B of the right rocker nodeYYB to point B of the fuselage, and set nodeYYB as the child node of the fuselage nodeJS.

[0156] Move point C of the right drum nodeYGT to point C of the right rocker wall, and set nodeYGT as the child node of the fuselage nodeZYB.

[0157] Step S25: The assembled parts of the coal mining machine model are updated in real time.

[0158] Receive the left rocker arm inclination angle as θ in real time, and set the left rocker arm rotation matrix, osg::Matrix::rotate(osg::DegreesToRadians(θ), 0, 0, 0).

[0159] Receive the right rocker arm inclination angle as λ value in real time, and set the right rocker arm rotation matrix, osg::Matrix::rotate(osg::DegreesToRadians(λ), 0, 0, 0).

[0160] The present invention provides an anti-interference calculation method based on the above simulation model:

[0161] (1) Coordinate system

[0162] Establish a working face coordinate system, with the lower right corner of the outer side of the end frame as the coordinate origin, the direction perpendicular to the working face pointing to the roof as the positive direction of the Z axis, and the direction perpendicular to the coal wall as the positive direction of the X axis, and establish a right-handed coordinate system.

[0163] (2) Equipment initial position layout

[0164] According to the actual situation of the working face, the hydraulic supports are simulated in sequence along the positive direction of the Y axis with the same posture. The coal mining machine is placed in the position of the first support, at a distance of L100 from the push rod.

[0165] (3) Receive anti-interference calculation

[0166] The system receives real-time coal mining machine position data and drum inclination data, and transmits them to the coal mining machine simulation module, and the coal mining machine module updates the coal mining machine posture.

[0167] The system receives the real-time inclination angles of each hydraulic support, displacement sensor data, and roller inclination angle data, and transmits them to the hydraulic support simulation module, which calculates and updates its own posture.

[0168] Assume the position of the coal mining machine is P (x, y, z), the maximum coverage of the coal mining machine is L, and the width of a single frame is W.

[0169] Then the current support number of the coal mining machine is N = y / W;

[0170] It is necessary to calculate whether there is interference between the hydraulic supports with frame numbers between NL / 2 and N+L / 2 and the coal mining machine.

[0171] Get the bounding box within the 180° rotation range of the left and right rocker arms of the coal mining machine, and use the OSG collision detection functions osgUtil::PolytopeIntersector and osgUtil::IntersectionVisitor to cyclically detect whether there is a collision intersection between the coal mining machine bounding box and the hydraulic support, and report the calculation results to the comprehensive mining face centralized control system in real time.

[0172] The simulation platform in the present invention is open source, controllable, cross-platform, and applicable to different fully mechanized mining working faces.

[0173] 1. OSG is simple to build, has high performance, and does not require high computer performance. The method introduced in the present invention can achieve each different type of equipment without re-modeling, and the cost is low.

[0174] 2. The present invention uses OSG to perform equipment simulation, which is cross-platform and convenient. For different equipment models, the system can automatically generate a three-dimensional model, and can easily integrate the simulation calculation results into the comprehensive mining face monitoring system.

[0175] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A method for simulation modeling of coal mine fully mechanized mining working face equipment based on OpenScenceGraph, characterized in that: Including hydraulic support modeling and coal mining machine modeling, The steps of hydraulic support modeling include: S11. Disassemble the related parts of the hydraulic support and establish the coordinate system The hydraulic support is divided into the first-level guard, the second-level guard, the telescopic beam, the top beam, the column, the shield beam, the side guard plate, the connecting rod, the base and the push rod, and the local coordinate system of the hydraulic support is established. The connection point between the connecting rod and the base is the coordinate origin, the rear end of the x-axis base points to the front end of the base as the positive direction of the x-axis, and the positive direction of the y-axis is perpendicular to the base ground and upward. The x, y, and z axes form a right-handed coordinate system; S12, modeling the split parts; S13. Assemble the parts model Determine the connection points of the part models and calculate the coordinates of the connection points, and connect and assemble the part models through the connection points; S14, initializing the position of the assembled model; S15, real-time update of assembled model parts; The steps for modeling a coal mining machine include: S21. Disassemble the relevant parts of the coal mining machine and establish a coordinate system The coal mining machine is divided into the left drum, the left rocker arm, the fuselage, the right drum and the right rocker arm. The local coordinate system of the coal mining machine is established, with the connection point between the fuselage and the left rocker arm as the coordinate origin, the positive direction of the x-axis is perpendicular to the coal mining machine fuselage pointing to the coal wall, and the positive direction of the y-axis is perpendicular to the base ground upward. The x, y, and z axes form a right-handed coordinate system; S22, modeling the split parts; S23. Assemble the parts model Determine the connection points of the part models and calculate the coordinates of the connection points, and connect and assemble the part models through the connection points; S24, initializing the position of the assembled model; S25. The assembled model parts are updated in real time.

2. The method for simulating and modeling equipment of coal mine fully mechanized mining working face based on OpenScenceGraph according to claim 1 is characterized in that: Part modeling of hydraulic support in S12, Use a cuboid (osg::Box) to describe the guardrail. The parameters include the length, width and thickness of the guardrail. Create OSG model nodes: the first-level guardrail nodeYJHB and the second-level guardrail nodeEJHB. Use a cuboid (osg::Box) to describe the telescopic beam. The parameters include the length, width and thickness of the telescopic beam. Create an OSG model node nodeSSL. Use a cuboid (osg::Box) to describe the top beam. The parameters include the length, width and thickness of the top beam. Create an OSG model node nodeDZ. Use a cylinder (osg::Cylinder) to describe the column. The parameters include the length and diameter of the column. Create OSG model nodes: nodeZQLZ for the left front column and nodeYQLZ for the right front column. Use a cuboid (osg::Box) to describe the shield beam. The parameters include the length, width and thickness of the shield beam. Create an OSG model node nodeYHL. Use a cuboid (osg::Box) to describe the connecting rod. The parameters include the length, width and thickness of the connecting rod. Create OSG model nodes: nodeQLG for the front connecting rod and nodeHLG for the rear connecting rod. Use a cuboid (osg::Box) to describe the base. The parameters include the length, width and thickness of the base. Create an OSG model node nodeDZ. Use a cuboid (osg::Box) to describe the push rod. The parameters include the length, width and thickness of the base. Create an OSG model node nodeTYG.

3. The method for simulating and modeling equipment of coal mine fully mechanized mining working face based on OpenScenceGraph according to claim 1 is characterized in that: Modeling of coal mining machine parts in S22, Use a cuboid (osg::Box) to describe the fuselage. The parameters include the length, width and thickness of the fuselage. Create an OSG model node nodeJS. Use a cuboid (osg::Box) to describe the left rocker arm. The parameters include the length, width and thickness of the left rocker arm. Create an OSG model node nodeZYB. Use a cylinder (osg:: Cylinder) to describe the left drum. The parameters include the drum diameter and thickness. Create an OSG model node nodeZGT. Use a cuboid (osg::Box) to describe the right rocker arm. The parameters include the length, width and thickness of the right rocker arm. Create an OSG model node nodeYYB. Use a cylinder (osg::Cylinder) to describe the right roller. The parameters include the roller diameter and thickness. Create an OSG model node nodeYGT.

4. A method for anti-interference calculation of a coal mine fully mechanized mining face equipment simulation model based on OpenScenceGraph, characterized in that: Establish a working face coordinate system, with the lower right corner of the outer side of the end hydraulic support as the coordinate origin, the vertical working face pointing to the roof as the positive direction of the Z axis, and the vertical direction pointing to the coal wall as the positive direction of the X axis, and establish a right-handed coordinate system; According to the actual situation of the working face, the hydraulic supports are simulated in sequence along the positive direction of the Y axis with the same posture. The coal mining machine is placed at the position of the first support, with a distance of L100 from the push rod; The system receives real-time coal mining machine position data and drum inclination data, and transmits them to the coal mining machine simulation module. The coal mining machine module updates the coal mining machine posture. The system receives the real-time tilt angles of each hydraulic support, displacement sensor data, and roller tilt angle data, and transmits them to the hydraulic support simulation module. The hydraulic support simulation module calculates and updates its own posture. Get the bounding box within the 180° rotation range of the left and right rocker arms of the coal mining machine, and use the OSG collision detection functions osgUtil::PolytopeIntersector and osgUtil::IntersectionVisitor to cyclically detect whether there is a collision intersection between the coal mining machine bounding box and the hydraulic support, and report the calculation results to the comprehensive mining face centralized control system in real time.

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