CN103867205A - Remote control system and remote control method of heading machine - Google Patents
Remote control system and remote control method of heading machine Download PDFInfo
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Abstract
The invention discloses a remote control system and a remote control method of a heading machine. The remote control system comprises a sensor arranged on the heading machine, an onboard detection system, an onboard controller, a data communication module and a heading machine remote monitoring platform, wherein the heading machine remote monitoring platform comprises a heading machine virtual control table, a database, a virtual reality system data interface, a heading machine control model module, a heading machine working condition parameter monitoring module and a heading machine virtual prototype platform. The system and the method solve the problems that the working environment of the heading machine in underground coal mine has abundant dust and high noise, an operator has difficulty in mastering the specific situation of the heading cross section, and controls blindly due to lacking of working condition data and pose information of the heading machine, thereby promoting the roadway drifting quality and the drifting safety. The remote control system has good interaction, good reality sense, reasonable design, strong practicability and high popularization and application values.
Description
Technical field
The present invention relates to a kind of development machine tele-control system and method, especially relate to a kind of development machine tele-control system and method based on virtual reality technology.
Background technology
Virtual reality (Virtual Reality) technology is very active research in recent years and application technology.Virtual reality technology application is more and more extensive, from military affairs to civil area, and existing many application systems, and Ying Jing plays an important role in multiple fields.
In prior art, Chinese patent one " development machine long-distance monitoring method and system ", the patent No. is 201010274882.2, this patented technology scheme is passed through on-board controller, remote controllers, laser orientation instrument, laser pickoff, digital compass, wireless network, wireless relay, cable network, distributed sensor networks, wireless relay placing machine etc. has completed remote real-time monitoring development machine tunneling process, duty and dynamic parameter, high speed wireless data transmission, information, the work that arranges and preserve.
Chinese patent one " tunneling machine practical training operation teaching and training method ", the patent that the patent No. is 201010163364.3, this patented technology scheme completes trainee's pre-job training by computer, display, control button, joystick etc.
Chinese patent one " virtual construction system of full-face tunneling boring machine ", the patent No. is 201010241035.6, this patented technology scheme completes virtual experimental and training on operation by stereo projection system, manipulation console etc.
Can be found out by above patent, development machine Long-distance Control method for supervising relies on work condition state, simple pose Parameter Decision Making at present, or simple two dimensional image demonstration development machine work information, is difficult to meet the requirement to equipment control decision in tunneling process.In actual production, driving face dust is large, noise is strong, and operating personnel's sight line is limited, can not grasp the concrete situation of excavated section, is difficult to effectively carry out tunneling process correct decisions.The application of virtual reality technology aspect development machine is also only used in product introduction, virtual experimental or training.
By virtual reality, Real Time Communication Network and modern detecting, set up development machine virtual prototype and operating mode scene virtual scene, utilize three-dimensional prototype technique to reproduce development machine operating mode and the position orientation relation of tunneling process, be aided with proprietary physical impacts model, for driving provides Long-distance Control decision support intuitively, realize automation and the intellectuality of tunneling process, produce few people, the certain basis of even unmanned qualification for realizing mine.
Summary of the invention
The object of this invention is to provide a kind of development machine tele-control system and method, under solution coal mine, development machine working environment dust is large, noise is large, and operating personnel are difficult to grasp the concrete situation of excavated section, lack the control blindness that development machine floor data and positional information cause, thereby promote tunnelling quality and safety.The present invention has good interactivity and the sense of reality, reasonable in design, practical, and application value is high.
Technical scheme of the present invention is: a kind of development machine tele-control system, described system comprises the sensor of installing on development machine, airborne detection system, on-board controller, data communication module, development machine remote monitoring platform, and wherein development machine remote monitoring platform comprises the virtual operation bench of development machine, database, virtual reality system data-interface, development machine control model module, development machine duty parameter monitoring modular, development machine virtual prototype platform;
Described sensor comprises operating mode sensor and Position and attitude sensor.Operating mode sensor comprises that temperature pick up (is arranged in electric control box, detect the temperature of electric control box temperature), vibrating sensor (is arranged on development machine road heading machinery position, detect fuselage driveline vibrations), pressure sensor (is arranged on equipment car body, detect atmospheric pressure), voltage, current sensor (being arranged on system driving circuit part, the voltage and current of testing circuit);
Position and attitude sensor comprises that displacement transducer (is arranged in cutterhead telescopic oil cylinder, measure the stroke of cutterhead, in order to determine cutterhead current position coordinates), three-axis gyroscope (can measure the displacement of development machine vehicle body in inertial space absolute coordinate system, as advancing and the information retreating, also can measure the angle of car body and inertial space absolute coordinate system three axles, as car body attitude information);
Airborne detection system is used for gathering Position and attitude sensor and the operating mode sensing data on development machine, installed, and passes to on-board controller;
On-board controller completes pretreatment and the feature extraction of the local control of development machine, development machine critical piece duty parameter;
Data communication module is made up of on-board controller communication module, fieldbus or Industrial Ethernet, completes the transmission between controller of development machine duty parameter and control instruction.
The virtual operation bench of development machine is converted by development machine controller, for sending the manipulation true development machine of instruction control and virtual prototype.
Database is MYSQL database, completes the storage update of development machine duty parameter and duty image data;
Virtual reality system data-interface is the virtual prototype data-interface of C++ exploitation, completes the each channel data of multi-channel data acquisition board control, MySQL data base read-write and Quest3D and upgrades;
Development machine control model module is made up of the location model of starting shooting, transport condition and track adjustment model, automatic section cut model (for rectangle, trapezoidal and Semicircular arched tunnel), completes development machine location, remote monitoring and automatic section cut;
Development machine duty parameter monitoring modular is used for the duty parameter collecting and real-time the showing of pose parameter, duty and the duty parameter of reaction development machine;
Development machine virtual prototype platform is the development machine dummy emulation system based on Quest3D exploitation, completes that development machine virtual prototype and operative scenario 3D present, virtual prototype dynamic programming and development machine virtual controlling.
A kind of development machine long-range control method, is characterized in that: the virtual operation bench sending controling instruction of development machine remote monitoring platform, and a road control instruction is issued on-board controller by data communication module, and on-board controller receives and controls development machine; Another road control instruction is sent in virtual prototype platform and is driven development machine virtual prototype and true development machine to be synchronized with the movement by virtual reality system data-interface.The sensor operating mode of collection and pose parameter are passed to on-board controller by airborne detection system simultaneously, and on-board controller carries out being uploaded to development machine remote monitoring platform by data communication module after pretreatment, and files storage by database form; Virtual prototype in virtual prototype platform is by the true development machine operating state data in the real-time reading database of virtual reality system data-interface, revise the relevant parameter in development machine control model module, development machine virtual prototype duty is carried out to real time correction, realize the true reappearance of virtual prototype in development machine remote monitoring platform and true development machine duty.
Concrete control procedure is as follows:
The first step, complete the development and Design of development machine remote monitoring platform by Quest3D and C++ software, complete the roaming of the foundation of development machine geometrical model and scene, show in real time the various duties of development machine, develop virtual reality system data interface module and data communication module simultaneously;
Second step, on-board controller Real-time Collection pretreatment development machine duty parameter and pose supplemental characteristic, realize storage and the renewal of floor data;
The 3rd step, set up the data communication between on-board controller and development machine remote monitoring platform, pretreated development machine duty parameter and pose parameter information are uploaded to development machine remote monitoring platform, adopt MySQL database to carry out filing, the storage of data;
The 4th step, resolve and the development machine control instruction sent of transfer of virtual operation bench by virtual reality system data-interface, realize the control of development machine virtual prototype on Quest3D platform;
The 5th step, development machine remote monitoring platform complete tunneling process control by the true development machine of virtual operation bench control;
In the 6th step, Quest3D platform, virtual prototype respective channel reads true development machine duty parameter and the posture information of MySQL database filing in real time, development machine virtual prototype pose, duty parameter in virtual prototype platform are carried out to real time correction, ensure that virtual development machine reflects the validity of true development machine;
Finally, second step to the six steps are carried out in circulation, realize that development machine duty parameter under different condition detects in real time, duty true reappearance and Long-distance Control.
Beneficial effect of the present invention
Due to such scheme, development machine and virtual prototype thereof are issued in instruction by virtual operation bench simultaneously, are resolved control instruction and are passed to Quest3D platform respective channel by virtual reality system data-interface, realize development machine virtual prototype binding action.Simultaneously airborne detection system gathers development machine floor data, is transferred to on-board controller, and through data processing and analysis, the database that is finally transferred to development machine remote monitoring platform by data communication module is filed.Read the database in development machine remote monitoring platform, the information such as real-time update and demonstration development machine virtual prototype floor data and pose, the uniformity of the virtual prototype control model information in guarantee driving face development machine and development machine remote monitoring platform.
Compared with prior art, the present invention has following advantage:
1, the present invention utilizes the development machine duty parameter that airborne detection system provides to revise in real time development machine virtual prototype control model, the directly perceived reproductions such as real-time development machine crawler travel, cutterhead lift rotary stretch, star-wheel rotating, transporter rotating, rear support lifting.
2, according to information such as development machine real-time working condition data and poses, operating personnel utilize virtual report control platform to realize development machine Long-distance Control, have improved production environment.
3, the present invention has set up virtual prototype control model module, can on remote monitoring platform, carry out visual control to development machine, solve under coal mine development machine working environment dust large, noise is large, operating personnel are difficult to grasp the concrete situation of excavated section, lack the control blindness that development machine floor data and positional information cause.
3, the present invention has the presence of good driving environment and good interactivity, makes operating personnel can timely, intuitively grasp development machine and working site spatial information, has effectively promoted tunnelling technical level and production security.
Brief description of the drawings
Fig. 1 is operating principle block diagram of the present invention.
Fig. 2 is the block diagram of system of the present invention.
Fig. 3 is development machine control model module block diagram of the present invention.
Fig. 4 is virtual reality data Interface realization block diagram of the present invention.
Fig. 5 is that virtual platform of the present invention builds block diagram.
Detailed description of the invention
As shown in Figure 1, a kind of development machine tele-control system operating principle: first, a road control instruction is issued on-board controller by data communication module, and on-board controller receives and control development machine; Another road control instruction is sent in virtual prototype platform and is driven development machine virtual prototype and true development machine to be synchronized with the movement by virtual reality system data-interface.Airborne detection system passes to on-board controller by gathering the development machine floor data coming simultaneously, and the database that by data communication module, development machine floor data is passed to the development machine remote monitoring platform of far-end after processing is by analysis filed; Virtual prototype in development machine virtual prototype platform is by the true development machine operating state data in the real-time reading database of virtual reality system data-interface, development machine virtual prototype duty is carried out to real time correction, realize the true reappearance of the information such as virtual prototype and true development machine duty parameter and pose in development machine remote monitoring platform.
As shown in Figure 2, a kind of development machine tele-control system, virtual operation bench in development machine remote monitoring platform sends control instruction, gather the control signal such as handle or rocking bar of installing on development machine remote monitoring platform by multi-channel data acquisition board, one tunnel control instruction is issued on-board controller by data communication module, and on-board controller receives and control development machine; Another road control instruction is sent to the development machine virtual prototype platform based on Quest3D by virtual reality data interface, drives development machine virtual prototype and true development machine to be synchronized with the movement.Simultaneously airborne detection system gathers development machine sensing data, and pass to on-board controller, analyze after pretreatment, through data communication module, detection information characteristics value is transferred to the development machine remote monitoring platform of far-end, by MySQL database, each sensor characteristics Value Data is filed; Development machine duty parameter monitoring modular is presented at the duty parameter of MySQL database in virtual prototype platform by virtual reality system data-interface, completes the monitoring to development machine duty parameter and duty; Simultaneously, operation virtual prototype control model module, read in real time the true development machine data of filing in MySQL database, and revise the parameter such as pose, operating mode of development machine control model with this, development machine virtual prototype duty is revised in real time, realized the true reappearance of the information such as virtual prototype and true development machine duty parameter and pose in development machine remote monitoring platform.
Select corresponding sensor in conjunction with development machine virtual controlling demand.Sensor can be divided into operating mode sensor and Position and attitude sensor.Operating mode sensor comprises that temperature pick up (is arranged in electric control box, detect the temperature of electric control box temperature), vibrating sensor (is arranged on development machine road heading machinery position, detect fuselage driveline vibrations), pressure sensor (is arranged on equipment car body, detect atmospheric pressure), voltage, current sensor (being arranged on system driving circuit part, the voltage and current of testing circuit).
Position and attitude sensor comprises that displacement transducer (is arranged in cutterhead telescopic oil cylinder, measure the stroke of cutterhead, in order to determine cutterhead current position coordinates), three-axis gyroscope (can measure the displacement of development machine vehicle body in inertial space absolute coordinate system, as advancing and the information retreating, also can measure the angle of car body and inertial space absolute coordinate system three axles, as car body attitude information).
As shown in Figure 3, development machine control model module of the present invention is made up of the location model of starting shooting, transport condition and track adjustment model, automatic section cut model (for rectangle, trapezoidal and Semicircular arched tunnel), completes development machine location, remote monitoring and automatic section cut; Multiple displacement transducers and three-axis gyroscope Data Fusion that machine body of boring machine, cutterhead part are installed, complete development machine location, remote monitoring and automatic section cut, determines development machine duty.
Start location model initializes system, sets inertial coodinate system initial point, driving task is carried out to modeling according to information such as preliminary geology, and be coupled to inertial coodinate system with mesh point coordinate form.
Transport condition and track adjustment model are by calling displacement and gyro data, calculate development machine driving speed (or displacement) and pose angle, compare with the development machine control parameter of planning in advance, according to the control of comparative result decision-making development machine, reach the target that development machine motion control and track are adjusted.
Automatic section cut model is according to roadway shape dimensional requirement, forms grid node in inertial coodinate system, and fuselage and cutterhead kinematic parameter when calculating development machine and completing grid node position laneway molding driving, as the control instruction of virtual development machine.
As shown in Figure 4, virtual reality system data-interface of the present invention is: utilize multi-channel data acquisition board api interface function with DLL function, MySQL database, realize button or handle state acquisition and parsing, and set up and store instruction analysis result to virtual operation bench MySQL database respective field.MySQL database interface channel special in Quest3D platform is realized calling of image data, and command adapted thereto and corresponding virtual prototype are moved to binding, has realized virtual prototype action control.
As shown in Figure 5, the building method of development machine remote monitoring platform: first, set up threedimensional model, according to relevant regulations and general arrangement demand, complete the modeling of 3D modeling and virtual scene according to development machine model in modeling software MAYA.Institute's established model, based on true subsurface environment, for guaranteeing the necessary accuracy of model and fidelity, by adding the channel group of difference in functionality, is set up light, pinup picture and video camera in scene.Then carry out model dynamic programming, model is imported to Quest3D and assemble, by Quest3D interior optimization Channel engine, emulation is optimized.Finally completing function at the floor data of real-time calling database builds.
It should be noted that: the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although the present invention is had been described in detail with reference to previous embodiment, for a person skilled in the art, its technical scheme that still can record previous examples is modified, or part technical characterictic is wherein replaced on an equal basis.
Within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
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