Intelligent engineering equipment virtual debugging system for limited dynamic space

Abstract

The virtual debugging system for intelligent engineering equipment facing limited dynamic space comprises a twin model design module, a multi-sensor perception module and a virtual-real interconnection module; the twin model design module is modeled through modeling software, has a multi-body dynamics twin model built through a multi-body dynamics library, and is rendered and tested at a simulation engine end; the sensor simulation module is designed and developed through the simulation engine and obtains real-time perception information of each sensor of the twin intelligent engineering equipment, iteratively calculates the real-time pose of the current pusher machine based on the obtained sensor information, and transmits the information into an actual hardware controller through the virtual-real interconnection module; the virtual-real interconnection module integrates and pre-processes a communication protocol used by actual intelligent engineering equipment hardware, synchronously transmits information of each twin module to actual intelligent engineering equipment, and returns control information obtained by the actual intelligent engineering equipment controller after planning and processing to the twin intelligent engineering equipment through the module.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of digital twin simulation, and particularly relates to an intelligent engineering equipment virtual debugging system for a limited dynamic space. BACKGROUND

[0002] Thermal power is the main way of China's power production and supply, and waterway transportation is an important link in coal supply. Intelligent engineering equipment is the main operating equipment in the cabin. The coal piles that cannot be mined due to the limitation of the freedom of the grab bucket are generally gathered together by workers driving these intelligent engineering equipment. The working environment in the cabin is poor and the manual operation efficiency is not high. The unmanned operation of intelligent engineering equipment can better solve these problems.

[0003] However, the realization of automatic unloading needs a large number of experiments in the field. Engineering equipment is not like production line robots or household robots, which are small in size and easy to deploy. Intelligent engineering equipment is usually large in size and high in self-weight. A great time and economic cost is needed for repeated deployment of experiments in the field, and there is a safety hazard. When debugging problems are encountered, a long development cycle is needed to solve the problems and then experiment again. Therefore, it is of great significance to establish a suitable simulation environment and virtual debugging system to enable the development to have a complete and efficient life cycle.

[0004] With the continuous development and upgrading of information technology and engineering industrial device automation technology at home and abroad at the present stage, digital twin technology as a new technology is more and more concerned by many enterprises and governments. Digital twin technology is to make full use of physical models, sensor updates, operation history and other data, and integrate multi-disciplinary, multi-physical, multi-scale and multi-probability simulation processes. Mapping is completed in the virtual space, so as to reflect the whole life cycle process of the corresponding entity engineering equipment.

[0005] However, the current digital twin technology still has many insurmountable gaps and technical barriers. First, digital twin technology is data-driven and is driven by huge data. Various types of sensor data and various communication protocols need to occupy high bandwidth and high-cost hardware configuration. Second, the current digital twin technology is mainly for real-time observation, and the dynamics construction of the twin model is still missing and immature. With the development of information technology, more and more complex algorithms and high-cost model training costs and physical experiment costs are too high. The existing digital twin technology cannot solve the problem well, especially in the field of engineering equipment operation automation. The evaluation and debugging of automatic algorithm are closely related to the dynamics model. The cost of field experiment of the robot is high, the robustness is low, and the dynamics is missing in the debugging process and the artificial development efficiency is low. SUMMARY

[0006] In view of the above problems, the application provides a virtual debugging system for intelligent engineering equipment in a limited dynamic space, which is characterized by realizing virtual-real synchronization and virtual debugging of intelligent engineering equipment to solve the problems of low efficiency and high cost in the operation of intelligent engineering equipment.

[0007] The virtual debugging system for intelligent engineering equipment in a limited dynamic space comprises a twin model design module, a sensor simulation module and a virtual-real interconnection module; the virtual-real interconnection module comprises a computer-simulated twin intelligent engineering equipment and an actual intelligent engineering equipment with entities, and the twin intelligent engineering equipment and the actual intelligent engineering equipment transmit speed and pose information to an upper computer through a ROS communication protocol and subscribe to each other's speed and pose information from the upper computer through the ROS communication protocol;

[0008] The twin model design module comprises a three-dimensional static model unit and a dynamics model unit; the three-dimensional static model unit reconstructs the actual intelligent engineering equipment statically through a modeling software; the three-dimensional static model unit transmits data of the static model to the dynamics model unit; the dynamics model unit constructs a dynamics model of the intelligent engineering equipment in combination with a multibody dynamics library and generates the twin intelligent engineering equipment as a simulated three-dimensional model through an intelligent engineering equipment bottom control driver;

[0009] The multi-sensor perception module comprises a simulated environment perception unit, an actual environment perception unit and a data acquisition and publishing unit; the actual environment perception unit receives actual environment data from sensors of the actual intelligent engineering equipment and transmits the actual environment data to the three-dimensional static model unit; the three-dimensional static model unit reconstructs the environment where the actual intelligent engineering equipment is located in combination with the actual environment data and transmits generated simulated environment data to the simulated environment perception unit; the data acquisition and publishing unit transmits the actual environment data and the simulated environment data to the intelligent engineering equipment controller unit;

[0010] The virtual-real interconnection module comprises the intelligent engineering equipment controller unit; the intelligent engineering equipment controller unit iteratively calculates real-time poses of the virtual intelligent engineering equipment and the actual intelligent engineering equipment according to the simulated environment data and the real-time environment data respectively, generates twin output instructions and actual output instructions according to a start instruction of the upper computer after receiving the start instruction, and transmits the twin output instructions and the actual output instructions to a lower computer communication unit;

[0011] The lower computer communication unit transmits the twin output instructions and the actual output instructions to a PLC virtual machine simulated by a modbus slave and a real PLC respectively through a modbusTCP protocol; the PLC virtual machine transmits the twin output instructions to the twin intelligent engineering equipment, and the real PLC transmits the actual output instructions to the actual intelligent engineering equipment, so that the twin intelligent engineering equipment and the actual intelligent engineering equipment operate at the same speed and pose.

[0012] More specifically, the actual intelligent engineering equipment and the twin intelligent engineering equipment include an intelligent engineering equipment cab, an engine, a lower walking part and a front operation part.

[0013] More specifically, the basic carrier of the twin intelligent engineering equipment in the dynamics model unit is a rigid body; the dynamics model unit divides the joints into two categories of rotating type and translating type to design and analyze the force of each joint, and designs the physical constraints between the rigid bodies.

[0014] The virtual debugging system of the intelligent engineering equipment facing the limited dynamic space of the application can use a virtual debugging mode and a virtual-real interconnection calibration mode, and the use steps are as follows:

[0015] A. Virtual debugging mode:

[0016] A1. The dynamics model unit builds a twin model module, which is composed of an upper computer, an intelligent engineering equipment controller and a twin intelligent engineering equipment to form an intelligent engineering equipment offline debugging system;

[0017] A2. An external staff starts the offline debugging system through the upper computer, the upper computer receives the pose and speed information of the twin intelligent engineering equipment through the ROS communication protocol, and the upper computer gives the operation planning instruction of the intelligent engineering equipment to the intelligent engineering equipment controller unit;

[0018] A3. The external staff starts the simulation environment perception unit, the simulation environment perception unit simulates the data of the environment through the three-dimensional static model unit, and transmits the environment data to the intelligent engineering equipment controller unit through the data acquisition and publishing unit for algorithm input; the intelligent engineering equipment controller unit combines the environment data and the related algorithms of the intelligent engineering equipment to calculate the speed, direction, lifting height and opening angle of the rake shovel required for the action of the twin intelligent engineering equipment, and outputs the twin output instruction;

[0019] A4. The intelligent engineering equipment controller unit sends the twin output instruction to the twin intelligent engineering equipment generated by the dynamics model unit through the lower computer communication unit and the PLC virtual machine in turn, and controls the twin intelligent engineering equipment to carry out the coal pushing operation;

[0020] A5. The twin intelligent engineering equipment transmits the operation picture and the pose information to the upper computer through the ROS communication protocol for display and monitoring;

[0021] A6. Repeat steps A3-A5, the external staff observes the planning operation behavior of the twin intelligent engineering equipment, and the statistical results are uploaded to the actual intelligent engineering equipment until the algorithm requirements of the unmanned intelligent engineering equipment are met.

[0022] B. Virtual-real interconnection calibration mode:

[0023] B1. The kinetic model unit builds a twin intelligent engineering equipment, which consists of an upper computer, an intelligent engineering equipment controller, an actual intelligent engineering equipment, and a twin intelligent engineering equipment system;

[0024] B2. The actual environment perception unit scans the environment where the actual intelligent engineering equipment is located, obtains the actual environment information of the coal pile, and then transmits it to the three-dimensional static model unit through ModbusTCP for establishing a one-to-one restored simulation environment information; the simulation environment perception unit receives the coal pile simulation environment information from the three-dimensional static model unit; the data acquisition and publishing unit receives information from the simulation environment perception unit and the actual environment perception unit, and sends it to the intelligent engineering equipment controller unit;

[0025] B3. The twin intelligent engineering equipment and the actual intelligent engineering equipment output speed and pose information to the upper computer in real time, and the upper computer gives a start instruction to the intelligent engineering equipment controller unit;

[0026] B4. The intelligent engineering equipment controller unit calculates the twin output instruction combining the simulation environment information and the information of the twin intelligent engineering equipment, and calculates the actual output instruction combining the actual environment information and the information of the actual intelligent engineering equipment; wherein the twin output instruction controls the twin intelligent engineering equipment to work through the lower computer communication unit and the PLC virtual machine in turn, and the actual output instruction controls the actual intelligent engineering equipment to work through the lower computer communication unit and the actual PLC in turn;

[0027] B5. The upper computer receives the speed and pose information of the actual intelligent engineering equipment and the twin intelligent engineering equipment through the ROS communication protocol; the actual intelligent engineering equipment and the twin intelligent engineering equipment subscribe to each other's speed and pose information from the upper computer through the ROS communication protocol; the upper computer sends a registration signal to the intelligent engineering equipment controller unit after receiving the speed and pose information of the actual intelligent engineering equipment and the twin intelligent engineering equipment; the intelligent engineering equipment controller unit outputs the speed and pose of the twin intelligent engineering equipment to the actual intelligent engineering equipment and the speed and pose of the actual intelligent engineering equipment to the twin intelligent engineering equipment through the lower computer communication unit after receiving the registration signal; the real-time registration of the action between the actual intelligent engineering equipment and the twin intelligent engineering equipment is realized;

[0028] When the output result of the actual intelligent engineering equipment or the twin intelligent engineering equipment deviates from the expected speed and pose of the algorithm, the upper computer sends a correction instruction to the intelligent engineering equipment controller unit, and the intelligent engineering equipment controller unit automatically corrects the output signal of the twin intelligent engineering equipment and the actual intelligent engineering equipment through the pre-set algorithm logic;

[0029] B6. The twin intelligent engineering equipment and the actual intelligent engineering equipment perform virtual-real interconnection path planning and coal pushing operation according to the operation area output by the intelligent engineering equipment controller unit.

[0030] B7. The operation picture of the twin intelligent engineering equipment and the actual intelligent engineering equipment is transmitted to the control terminal display of the upper computer.

[0031] B8. Repeat steps B4-B7 until the actual intelligent engineering equipment controller unit outputs operation end, all programs are closed, and the control log file is saved.

[0032] The present application has the beneficial effects that the twin model design module combines static geometric model statics and dynamics together, provides high-fidelity model information, so that the control algorithm and planning algorithm are not only debugged on the basis of kinematics, but also can obtain the simulation of the actual transmission system through the dynamics of the whole intelligent engineering equipment, further verify the feasibility, and shorten the development cycle. The multi-sensor perception module provides environment perception information for the twin / actual intelligent engineering equipment through data acquisition and preprocessing calculation of the twin scene, provides a reliable basis for virtual-real interconnection, synchronous planning and calibration of the intelligent engineering equipment. The virtual-real interconnection module executes planning and operation tasks in the twin and actual environment according to the algorithm output and instruction of the intelligent engineering equipment controller unit, realizes automatic driving operation and virtual-real calibration, and displays transmission information in real time through visual monitoring, ensures the stability of communication and algorithm implementation. The intelligent engineering equipment combined with the twin system can improve the operation efficiency of thermal power, mine and wharf. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is the structure diagram of the intelligent engineering equipment virtual debugging system for limited dynamic space of the present application.

[0034] Figure 2 is the model effect diagram of the twin intelligent engineering equipment of the present application.

[0035] Figure 3 is the simulation perception effect diagram of the present application.

[0036] Figure 4 is the virtual-real synchronous work flow diagram of the present application. DETAILED DESCRIPTION

[0037] The present application will be further described below in combination with the drawings of the specification.

[0038] Figure 1 The intelligent engineering equipment virtual debugging system flow chart for limited dynamic space shown includes a twin model module, a simulation sensor perception module and a virtual-real interconnection module.

[0039] The twin model design module includes a three-dimensional static model unit and a multi-body dynamics model unit. The physical properties of the scene where the twin model is located are analyzed according to the specific needs of the twin model; the intelligent engineering equipment, the bulk cargo, and the static physical environment are fused for further visual modeling restoration and simulation.

[0040] The three-dimensional static model unit is used to model the cabin and coal pile san'liao in Blender, analyze the Japanese Komatsu D63E-12 type push rake machine, Doosan DL-250 loader, excavator and GENMA grab ship unloader in solidworks modeling software, and establish a twin model with various physical parameters and model parameters as shown in Figure 2 As shown, the environment where the intelligent engineering equipment is located is reconstructed according to the real scene demand by using unmanned aerial vehicle telemetry, such as the natural environment of mine, wharf and port, and construction engineering equipment. The model of bulk materials such as sand pile, coal pile, stone and bean grain is generally a large number of unit models, and the model of unit bulk cargo needs to be given unique dynamic properties in the dynamics model unit. Finally, all the static model materials and texture maps established above are rendered and visualized in Unreal Engine 5.

[0041] The dynamics model unit is a three-dimensional model that can be visualized and controlled by programs with model hierarchy and parent-child relationship between joints. The format of the three-dimensional model is converted to a STEP format model file as shown in Figure 2The twin model effect diagram shows that the dynamic model of intelligent engineering equipment can be modeled from the cab, engine, lower walking part and front operation part of the intelligent engineering equipment. All components of the cab can be equivalent to a rigid body with Coulomb statics, without internal force, only with friction and gravity properties to the outside. The engine can be equivalent to a rotational joint particle providing angular acceleration. The lower walking part is mainly composed of track and articulated frame, which is a complex structure with multi-body dynamics model. The track can be divided into drive wheel, idler wheel, load wheel and single track plate for design. The drive wheel is responsible for converting the angular velocity provided by the engine into the linear velocity of the track as a whole. The idler wheel is a fulcrum of the track, which is used to keep the motion center of the track and the motion center of the track wheel coplanar. The load wheel is used to support the weight of the track. After the single track plate is integrated into a single track, it combines with the weight of the cab to provide the overall friction and torque of the intelligent engineering equipment. The articulated frame is a cylindrical hinge that connects two two-wheel frames together. Four wheels are driven simultaneously to provide overall friction and torque of the intelligent engineering equipment. The hinge in the middle is generally driven by a hydraulic cylinder for steering of the articulated frame. The joint model is designed using the AGX momentum dynamics library in spaceclaim software and applied between rigid bodies. The model file in.agx format is finally imported into Unreal Engine, where maps and materials are made and rendered.

[0042] The multi-sensor perception module covers the perception simulation of 16 / 32 / 48 / 64 line velodyne lidar, monocular RGB-D camera and IMU sensors. The module includes a simulation environment perception unit, an actual environment perception unit and a data acquisition and publishing unit. As Figure 3 The perception simulation effect diagram, the simulation environment perception unit receives information from the simulation sensor, the actual environment perception unit receives information from the actual sensor including lidar data and inertial sensor data, etc., and transmits it to the virtual-real interconnection module intelligent engineering equipment controller unit through the data acquisition and publishing unit to be used as the input of the algorithm to be debugged. According to the perception result, the data acquisition and publishing unit preprocesses the perception information such as point cloud and inertial navigation information, packs it into a data format readable by the ROS robot operating system, and transmits it to the intelligent engineering equipment controller unit through the ROS topic communication mechanism.

[0043] Specifically, the simulation environment perception unit simulates the perception mechanism of each sensor, including the principle, data structure and data publishing frequency of perception. It mainly acquires data in the simulation environment and preprocesses to eliminate invalid points through mesh body collision point detection and pixel capture in Unreal Engine.

[0044] Figure 4The workflow of the virtual debugging mode and the virtual-real interconnection calibration mode of the present application is shown. First, the host computer gives the job instruction to the intelligent engineering equipment controller unit, and connects the multi-sensor perception module to monitor the environmental information and the intelligent engineering equipment pose information, etc. Secondly, the simulation environment perception unit and the actual environment perception unit of the multi-sensor perception module perceive data and preprocess the data through the data acquisition unit, and the data is published to the intelligent engineering equipment controller unit of the virtual-real interconnection module for processing. The algorithm output of the intelligent engineering equipment controller unit after processing is output to the actual intelligent engineering equipment and the bottom drive of the twin intelligent engineering equipment for algorithm debugging and virtual-real interconnection feedback. When the debugging expectation meets the debugging standard, the whole process system is ended. If it does not meet the standard, the algorithm strategy is adjusted and iteratively optimized.

[0045] The intelligent engineering equipment virtual debugging system for limited dynamic space of the present application uses virtual debugging and virtual-real interconnection feedback to optimize the full life cycle closed-loop control strategy development and debugging of intelligent engineering equipment. It can realize the intelligent full-automatic push rake operation function debugging and interconnection in mine, wharf and port scenes, etc. to improve the operation efficiency of artificial operation of intelligent engineering equipment and avoid the high risk of manual operation.

Claims

1. A smart engineering equipment virtual commissioning system oriented to limited dynamic space, characterized in that: The system comprises a twin model design module, a sensor simulation module, and a virtual-real interconnection module; the virtual-real interconnection module comprises a computer-simulated twin intelligent engineering equipment and an actual intelligent engineering equipment with a physical entity; the twin intelligent engineering equipment and the actual intelligent engineering equipment transmit speed and pose information to an upper computer through a ROS communication protocol and subscribe to each other's speed and pose information from the upper computer through the ROS communication protocol; The twin model design module comprises a three-dimensional static model unit and a dynamics model unit; the three-dimensional static model unit reconstructs the actual intelligent engineering equipment statically through modeling software; the three-dimensional static model unit transmits static model data to the dynamics model unit; the dynamics model unit constructs a dynamics model of the intelligent engineering equipment in combination with a multibody dynamics library and generates a twin intelligent engineering equipment as a simulated three-dimensional model through an intelligent engineering equipment bottom control driver; The multi-sensor perception module comprises a simulated environment perception unit, an actual environment perception unit, and a data acquisition and publishing unit; The actual environment perception unit receives actual environment data from sensors of the actual intelligent engineering equipment and transmits the actual environment data to the three-dimensional static model unit; the three-dimensional static model unit reconstructs an environment where the actual intelligent engineering equipment is located in combination with the actual environment data and transmits generated simulated environment data to the simulated environment perception unit; the data acquisition and publishing unit transmits the actual environment data and the simulated environment data to the intelligent engineering equipment controller unit; The virtual-real interconnection module comprises the intelligent engineering equipment controller unit; the intelligent engineering equipment controller unit iteratively calculates real-time poses of the virtual intelligent engineering equipment and the actual intelligent engineering equipment according to the simulated environment data and the real-time environment data respectively, receives a start instruction from the upper computer, generates a twin output instruction and an actual output instruction according to the start instruction, and transmits the twin output instruction and the actual output instruction to a lower computer communication unit; The lower computer communication unit transmits the twin output instruction and the actual output instruction to a PLC virtual machine simulated by a modbus slave and a real PLC through a modbusTCP protocol respectively; The PLC virtual machine transmits the twin output instruction to the twin intelligent engineering equipment, and the real PLC transmits the actual output instruction to the actual intelligent engineering equipment, so that the twin intelligent engineering equipment and the actual intelligent engineering equipment work at the same speed and pose.

2. The smart engineering equipment virtual commissioning system for limited dynamic space according to claim 1, wherein: The actual intelligent engineering equipment and the twin intelligent engineering equipment comprise an intelligent engineering equipment cab, an engine, a lower walking part, and a front working part.

3. The smart engineering equipment virtual commissioning system for limited dynamic space according to claim 1, wherein: The basic carrier of the twin intelligent engineering equipment in the dynamics model unit is a rigid body; the dynamics model unit divides joints into two categories of rotating type and translating type, analyzes the force of each type of joint, and designs physical constraints between rigid bodies.

4. The smart engineering equipment virtual commissioning system for limited dynamic space of claim 1, wherein: The intelligent engineering equipment controller unit is built-in with a SLAM module for processing sensor data and a path planning and unmanned operation algorithm module.

5. The use method of the intelligent engineering equipment virtual debugging system for a limited dynamic space according to claim 1, comprising the following steps: A. Virtual debugging mode: A1. The twin model module is built by the kinematics model unit, the upper computer, the intelligent engineering equipment controller and the twin intelligent engineering equipment, to form an intelligent engineering equipment offline debugging system; A2. The external staff starts the offline debugging system through the upper computer, the upper computer receives the position and speed information of the twin intelligent engineering equipment through the ROS communication protocol, and the upper computer gives the intelligent engineering equipment operation planning instruction to the intelligent engineering equipment controller unit; A3. The external staff starts the simulation environment perception unit, the simulation environment perception unit simulates the environment data of the three-dimensional static model unit, and transmits the environment data to the intelligent engineering equipment controller unit through the data acquisition and publishing unit for algorithm input; the intelligent engineering equipment controller unit combines the environment data and the intelligent engineering equipment related algorithm to calculate the speed, direction, lifting height and opening angle of the twin intelligent engineering equipment required for action, and outputs the twin output instruction; A4. The intelligent engineering equipment controller unit sends the twin output instruction to the twin intelligent engineering equipment generated by the kinematics model unit through the lower computer communication unit and the PLC virtual machine, to control the twin intelligent engineering equipment to carry out the coal pushing operation; A5. The twin intelligent engineering equipment transmits the operation picture and position information to the upper computer through the ROS communication protocol for display and monitoring; A6. Repeat steps A3-A5, the external staff observes the twin intelligent engineering equipment planning operation behavior, and the statistical results are uploaded to the actual intelligent engineering equipment until the algorithm requirements of the unmanned intelligent engineering equipment are met; B. Virtual-real interconnection calibration mode: B1. The twin intelligent engineering equipment is built by the kinematics model unit, the upper computer, the intelligent engineering equipment controller, the actual intelligent engineering equipment and the twin intelligent engineering equipment, to form an intelligent engineering equipment twin system; B2. The actual environment perception unit scans the environment where the actual intelligent engineering equipment is located, obtains the actual environment information of the coal pile, and then transmits it to the three-dimensional static model unit for establishing one-to-one simulation environment information; The simulation environment perception unit receives the coal pile simulation environment information of the three-dimensional static model unit; the data acquisition and publishing unit receives the information from the simulation environment perception unit and the actual environment perception unit, and sends it to the intelligent engineering equipment controller unit; B3. The twin intelligent engineering equipment and the actual intelligent engineering equipment output the speed and position information to the upper computer in real time, and the upper computer gives the start instruction to the intelligent engineering equipment controller unit; B4. The intelligent engineering equipment controller unit combines the simulation environment information and the information of the twin intelligent engineering equipment to calculate the twin output instruction, and combines the actual environment information and the information of the actual intelligent engineering equipment to calculate the actual output instruction; wherein the twin output instruction controls the twin intelligent engineering equipment to work through the lower computer communication unit and the PLC virtual machine, and the actual output instruction controls the actual intelligent engineering equipment to work through the lower computer communication unit and the actual PLC. B5. The host computer receives the speed and pose information of the actual intelligent engineering equipment and the twin intelligent engineering equipment through the ROS communication protocol; the actual intelligent engineering equipment and the twin intelligent engineering equipment subscribe to each other's speed and pose information from the host computer through the ROS communication protocol; the host computer sends a registration signal to the intelligent engineering equipment controller unit after receiving the speed and pose information of the actual intelligent engineering equipment and the twin intelligent engineering equipment; the intelligent engineering equipment controller unit outputs the speed and pose of the twin intelligent engineering equipment to the actual intelligent engineering equipment and the speed and pose of the actual intelligent engineering equipment to the twin intelligent engineering equipment through the lower computer communication unit after receiving the registration signal; the real-time registration of the actions between the actual intelligent engineering equipment and the twin intelligent engineering equipment is realized; When the output results of the actual intelligent engineering equipment or the twin intelligent engineering equipment deviate from the expected speed and pose of the algorithm, the host computer sends a correction instruction to the intelligent engineering equipment controller unit, and the intelligent engineering equipment controller unit automatically corrects the output signals of the twin intelligent engineering equipment and the actual intelligent engineering equipment through the pre-set algorithm logic; B6. The twin intelligent engineering equipment and the actual intelligent engineering equipment perform virtual-real interconnection path planning and coal pushing operation according to the operation area output by the intelligent engineering equipment controller unit; B7. The operation pictures of the twin intelligent engineering equipment and the actual intelligent engineering equipment are transmitted to the control terminal display of the host computer; B8. Repeat steps B4-B7 until the actual intelligent engineering equipment controller unit outputs the operation end, closes all programs, and saves the control log file.

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