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万方数据 万方数据 学位论文原创性声明 本人郑重声明所呈交的学位论文，是本人在导师的指导下，独立进 行研究所取得的成果。除文中已经注明引用的内容外，本论文不包含其他 个人或集体已发表或撰写过的科研成果。对本文的研究做出贡献的个人和 集体，均已在文中以明确方式标明。本声明的法律责任由本人承担。 论文作者签名签字日期2020 年 06 月 10 日 学位论文版权使用授权书 本学位论文作者和指导教师完全了解太原理工大学有关保留、使用学 位论文的规定学校有权保留并向国家有关部门或机构送交学位论文的复 印件和电子版；允许本学位论文被查阅和借阅；学校可以将本学位论文的 全部或部分内容编入有关数据库进行检索，可以采用影印、缩印或其他复 制手段保存和汇编本学位论文。 本学位论文属于保密 □在年解密后适用本授权书 不保密 论文作者签名导师签名 签字日期2020 年 06 月 10 日签字日期2020 年 6 月 10 日 万方数据 万方数据 硕士学术学位、硕士非工程类专业学位 学位论文答辩信息表 论文题目虚拟煤层环境下采煤机截割路径自主规划方法研究 课题来源*省科技厅项目 论文答辩日期2020 年 6 月 10 日答辩秘书张坤 学位论文答辩委员会成员 姓名职称博导/硕导工作单位 答辩委员 会主席 丁华教授硕导太原理工大学 答辩委员 1吕凯波副教授硕导太原理工大学 答辩委员 2秦晓峰副教授硕导太原理工大学 *课题来源可填国家重点研发计划项目、国家自然科学基金项目、国 家社科基金项目、教育部人文社科项目、国家其他部委项目、省科技厅项 目、省教育厅项目、企事业单位委托项目、其他 万方数据 万方数据 摘要 I 摘要 数字化、信息化是智慧矿山建设的前提和基础。自智慧矿山的概念提 出以来，其发展经历了单机自动化、综合自动化，局部智慧体等阶段，现 如今，已经进入了虚拟现实技术与煤炭开采领域的深度融合的数字化开采 阶段。在由采煤机、液压支架、刮板输送机、转载机等组成的综采工作面 中，采煤机作为主要采煤装备，对其运行监测、截割路径控制的研究越来 越受到广泛重视。本文针对传统虚拟综采工作面中模型数字化程度低、未 结合真实地质地形、 截割自动化程度低的问题， 基于虚拟现实引擎 Unity3D， 研究了采煤机在虚拟煤层环境下虚拟运行及截割路径规划的关键技术，旨 在构建一个符合工程实际的虚拟场景，实现“装备煤层”的综采面全元素 仿真，研究成果中的生产过程预演与评价可为实际生产提供一定的指导。 本文主要研究内容和所取得的成果如下 （1）提出了基于 Delaunay 三角剖分的 TIN 煤层顶底板建模法。首先 对初始地质探测数据 Kring 插值，接着进行 Delaunay 三角剖分，最终在 Unity3D 中利用 mesh 实现煤层建模；在此基础上，对煤层模型分块建模， 实现煤层模型的随采随修、快速更新；切割煤层模型得工作面煤层顶底板 数据，自动绘制得到顶底板轮廓曲线； （2） 构造了采煤机与刮板输送机虚拟模型。 在数字孪生思想的指导下， 参照实体综采装备的几何模型、运动模型和规则模型，构造与实际情况相 符的虚拟模型，实现虚拟采煤机和虚拟刮板输送机的姿态解析与各个动作； （3）实现了“煤层采煤机刮板输送机”的联合运行与截割路径自主 规划。完成了虚拟刮板输送机在煤层底板上自适应排布及虚拟采煤机在刮 板机上自适应行走；提出了一种通过改变采煤机牵引速度调整滚筒运动方 向的自动调高策略，并在相应的开采工艺模型下实现工作面的推进及跟机 自动化，完成采煤机截割路径的自主规划；进行不同工作参数的仿真实验， 构建了模糊综合评价模型，对仿真结果进行评价； （4）设计开发了人机交互、场景漫游等系统。在 Unity3D 的 GUI 系统 中，建立了系统登录界面与各装备监控面板界面、并对场景中的摄像机与 漫游相关操作进行设计，较好地实现了人机交互与场景沉浸。 关键词关键词采煤机；虚拟现实；路径规划；自动调高；Unity3D 万方数据 太原理工大学硕士学位论文 II 万方数据 ABSTRACT III ABSTRACT Digitalization and inatization are the premise and foundation of intelligent mine construction. Since the concept of intelligent mine was put forward, its development has gone through the stages of single machine automation, comprehensive automation, local intelligent body and so on. Now, it has entered the digital mining stage of deep integration of virtual reality technology and coal mining field. In the fully mechanized mining face composed of shearer, hydraulic support, scraper conveyor, transfer machine, etc., as the main mining equipment, the research on its operation monitoring and cutting path control has been paid more and more attention. With regards to the low degree of digitization, lack of real geological terrain, and low degree of automation in the cutting process of the traditional virtual fully mechanized mining face, we studied the key technologies of virtual operation and cutting path planning of the shearer on the three-dimensional 3D virtual coal seam based on the virtual reality engine Unity3D, aiming to build a virtual scene in line with the actual engineering and realize the “equipment coal seam“ integrated mining. The production process preview and uation of the research results can provide some guidance for the actual production. The main contents and achievements of this paper are as follows 1 Based on Delaunay triangulation, the modeling of tin coal seam roof and floor is put forward. Firstly, Kring interpolation is applied to the original geological exploration data, then Delaunay triangulation is carried out, and finally, mesh component is used to realize the coal seam modeling in unity3D. On this basis, the coal seam model is divided into blocks to realize the coal seam models repair and rapid update with mining. The coal seam model is cut to obtain the coal seam roof and floor data, and the roof and floor contour curve is drawn automatically. 2 The virtual model of shearer and scraper conveyor is constructed. Under the guidance of the idea of Digital Twin, referring to the geometric model, movement model and rule model of the solid fully mechanized mining equipment, a virtual model is constructed which is consistent with the actual situation to realize the attitude analysis and various actions of the virtual shearer 万方数据 太原理工大学硕士学位论文 IV and the virtual scraper conveyor. 3 The joint operation of “coal seam shearer scraper conveyor“ and the independent planning of cutting path are realized. The adaptive arrangement of the virtual scraper conveyor on the coal seam floor and the adaptive walking of the virtual shearer on the scraper are completed. An automatic height adjustment strategy is proposed to adjust the moving direction of the drum by changing the haulage speed of the shearer, and the advancing and following automation of the working face are realized under the corresponding mining process model to complete the independent planning of the cutting path of the shearer. Simulation experiments with different working parameters are carried out, a fuzzy comprehensive uation model is built to uate the simulation results. 4 The system of man-machine interaction and roaming is designed and developed. In the GUI system of unity3D, the system login interface and the monitoring panel interface of each equipment are established, and the camera and roaming operations in the scene are designed, which better realizes the man-machine interaction and scene immersion. Key words Shearer; Virtual Reality; Path Planning;Automatic Height-adjusting; Unity3D 万方数据 目录 V 目录 摘要......................................................................................................................................... I ABSTRACT..............................................................................................................................III 第 1 章绪论.............................................................................................................................1 1.1研究背景........................................................................................................................1 1.2研究目的及意义............................................................................................................2 1.3国内外研究动态............................................................................................................3 1.3.1虚拟现实技术在综采工作面的研究现状.............................................................3 1.3.2采煤机自动化截割的研究现状.............................................................................5 1.3.3三维煤层建模的研究现状.....................................................................................6 1.3.4目前研究存在问题及不足.....................................................................................7 1.4主要研究内容及技术路线............................................................................................8 1.5小结................................................................................................................................9 第 2 章虚拟煤层环境下采煤机截割路径自主规划方案设计...........................................11 2.1引言..............................................................................................................................11 2.2数字孪生工作面..........................................................................................................11 2.2.1数字孪生概述.......................................................................................................11 2.2.2数字孪生工作面模型...........................................................................................12 2.3虚拟采煤机截割路径规划方案设计..........................................................................13 2.4主体功能......................................................................................................................14 2.5开发平台及技术..........................................................................................................15 2.6小结..............................................................................................................................17 第 3 章虚拟三维煤层模型构建方法研究...........................................................................19 3.1引言..............................................................................................................................19 3.2煤层建模总体框架......................................................................................................19 3.2.1模型类型选择.......................................................................................................19 3.2.2模型数据来源.......................................................................................................20 3.2.3煤层建模技术路线...............................................................................................21 3.3基于 Kriging 法的煤层建模.......................................................................................22 万方数据 太原理工大学硕士学位论文 VI 3.3.1Kriging 基本原理.................................................................................................22 3.3.2初始煤层建模.......................................................................................................24 3.4煤层模型修正方法......................................................................................................27 3.5煤层模型切割方法......................................................................................................28 3.6小结..............................................................................................................................31 第 4 章采煤机与煤层联合仿真运行方法研究...................................................................33 4.1引言..............................................................................................................................33 4.2联合仿真框架..............................................................................................................33 4.3虚拟采煤机模型..........................................................................................................34 4.3.1滚筒式采煤机结构与功能...................................................................................34 4.3.1父子关系建立与实例化.......................................................................................35 4.3.2姿态解析及动作实现...........................................................................................36 4.4虚拟刮板输送机模型..................................................................................................39 4.4.1刮板输送机结构与功能.......................................................................................39 4.4.2父子关系建立与实例化.......................................................................................40 4.4.3姿态解析及动作实现...........................................................................................41 4.5刮板输送机与煤层联合运行方法..............................................................................42 4.6采煤机与刮板输送机联合运行方法..........................................................................45 4.6.1连接关系...............................................................................................................45 4.6.2采煤机虚拟行走方法...........................................................................................46 4.7小结..............................................................................................................................49 第 5 章虚拟采煤机截割路径自主规划方法研究...............................................................51 5.1引言..............................................................................................................................51 5.2虚拟截割路径自主规划总体思路..............................................................................51 5.3虚拟采煤机生产工艺模型构建..................................................................................51 5.3.1虚拟采煤机割煤方法...........................................................................................52 5.3.2虚拟刮板机推溜工艺模型构建...........................................................................54 5.4虚拟采煤机截割轨迹跟踪方法研究..........................................................................57 5.4.1传统记忆截割技术及其不足...............................................................................57 5.4.2采煤机行走与调高运动学分析...........................................................................58 5.4.3采煤机滚筒自动调高策略...................................................................................60 5.5小结..............................................................................................................................63 万方数据 目录 VII 第 6 章仿真实验与系统发布...............................................................................................65 6.1引言..............................................................................................................................65 6.2虚拟煤层模型验证......................................................................................................65 6.3系统仿真实验..............................................................................................................69 6.3.1实验方案...............................................................................................................69 6.3.2实验结果及分析...................................................................................................71 6.4多目标截割方案评价..................................................................................................74 6.4.1模糊综合评价法简介...........................................................................................74 6.4.2截割方案评价.......................................................................................................74 6.5系统发布......................................................................................................................76 6.5.1交互界面设计.......................................................................................................76 6.5.2场景漫游设置.......................................................................................................79 6.5.3系统发布与测试...................................................................................................80 6.6小结..............................................................................................................................82 第 7 章总结与展望...............................................................................................................83 7.1工作总结......................................................................................................................83 7.2不足与展望..................................................................................................................83 参考文献...................................................................................................................................85 攻读学位期间取得的科研成果...............................................................................................89 致谢.......................................................................................................................................91 万方数据 太原理工大学硕士学位论文 VIII 万方数据 绪论 1 第 1 章绪论 1.1研究背景 煤炭在我国的能源产业中一直占有较大比重， 在煤炭绿色开采与产业可持续发展进 程中，相继提出了智慧矿山、无人矿山等重要概念[1,2]。在这场变革中，我国先后实施了 “中国制造 2025”“互联网”“人工智能”“机械化换人、自动化减人”等一批重大 工程，工业化与信息化深度融合，在新的历史背景下，煤炭行业发展迎来了新的机遇和 挑战。我国煤矿的掘进、综采等已达到较高的机械化水平[3]，随着人工智能、虚拟现实、 物联网、5G 等新兴技术不断应用到煤炭行业，煤炭生产正在淘汰安全程度低、生产效 率低下的采煤工艺和设备，实现由传统作业向自动化、智能化甚至无人化作业发展的历 史跨越。 虚拟现实Virtual Reality,VR是一项综合性的集成技术，包括计算机图形学、计算机 仿真技术、 传感技术、 显示技术等技术， 利用计算机模拟产生一个虚拟的三维空
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