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| Research on key technologies of virtual collaboration of three machines in fully mechanized coal mining face |
| XIE Jia-cheng1,2, YANG Zhao-jian1,2, WANG Xue-wen1,2, LI Juan-li1,2, Ren Fang1,2 |
1. College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China;
2. Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan 030024, China |
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Abstract To overcome the problems of the low digital design degree, the uncontrollable virtual model and inconsistent matching incompatibility in the virtual reality simulation of fully mechanized coal mining face, key technologies of virtual collaboration of three machines were proposed based on Unity3D. Firstly, a virtual reality panoramic scene of fully mechanized coal mining face was established and the key technologies which were consisted of the building and repairing of three virtual model, the virtual bending technology of scraper conveyor, the virtual running technology of shearer and the sensing principle technology between the shearer and the hydraulic supports were researched. Then, taking two-way beveling feeding coal cutting mode as an example, it was found that the dynamic relationship, attitude and performance of three machines could be accurately simulated at a very vivid image, and the shearer haulage speed and the follower distance of hydraulic supports could be planned according to the different working conditions. The technology improves the digital design degree of fully mechanized coal mining face and can provide adequate technical support for planning, analysis and decision-making of fully mechanized coal mining face.
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Received: 23 May 2017
Published: 28 February 2018
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综采工作面三机虚拟协同关键技术研究
针对当前综采工作面虚拟仿真数字化设计程度低、虚拟模型不可控、协同配套运行不匹配不协调的问题，在虚拟现实引擎Unity3D下，对综采工作面三机虚拟协同关键技术进行研究。建立了全景综采虚拟现实场景，重点对三机虚拟模型构建与修补、刮板输送机虚拟弯曲、采煤机虚拟运行行走和采煤机与液压支架相互感知等关键技术进行研究。以端部斜切进刀双向割煤方式为例进行分析，发现原型系统可以非常生动形象且真实地再现综采工作面三机的动态配套关系、姿态和性能等运行状况，并可根据不同的工况对采煤机牵引速度与液压支架跟机距离进行规划。本技术提升了综采虚拟现实的数字化设计水平，可以为综采工作面规划、分析与决策提供足够技术支持。
关键词：
虚拟现实,
综采工作面,
三机协同,
Unity3D
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