Advance Search
WANG Miaoyun, ZHANG Xuhui, MA Hongwei, DU Yuyang, ZHANG Yumeng, XIE Nan, WEI Qiannan. Collision detection and pre-warning method for remotely controlledfully-mechanized mining equipment[J]. COAL SCIENCE AND TECHNOLOGY, 2021, 49(9): 110-116.
Citation: WANG Miaoyun, ZHANG Xuhui, MA Hongwei, DU Yuyang, ZHANG Yumeng, XIE Nan, WEI Qiannan. Collision detection and pre-warning method for remotely controlledfully-mechanized mining equipment[J]. COAL SCIENCE AND TECHNOLOGY, 2021, 49(9): 110-116.

Collision detection and pre-warning method for remotely controlledfully-mechanized mining equipment

More Information
  • Available Online: April 02, 2023
  • Published Date: September 24, 2021
  • In view of the problems of large number of equipments,complex position relationship,lack of collision detection means between equipments and difficulty of pre-warning in fully mechanized mining face of coal mine.Combined with Virtual Reality (VR) technology,Multi-sensor Information Fusion (MSIF) technology and Bounding Box Collision Detection (BBCD) technology,this paper puts forward a method of combining virtual ray and bounding box to realize collision detection and early warning monitoring between fully-mechanized mining face equipment in the process of remote control of fully-mechanized mining face equipment,which is based on virtual environment development platform.Firstly,the composition and realization of collision detection and early warning monitoring system for fully-mechanized mining equipment based on virtual reality technology are introduced in detail.Secondly,the principle and method of virtual ray collision detection are described in detail by taking the relationship between the roller of shearer and the guard plate of hydraulic support as an example.Then,according to the coal mining technology,the movement attitude between the equipment is analyzed,and the mathematical model of roller-guard collision detection is established,and the collision detection and pre-warning monitoring between the shearer drum and the hydraulic support guard plate are realized efficiently.Finally,the experiment is verified by the virtual remote control platform of fully-mechanized mining equipment.By comparing the virtual ray detection results with the actual measurement results in the experiment,the maximum error of the collision detection results is within 49.6 mm,which meets the requirements of the actual working condition.The experimental results show that the virtual ray detection method can efficiently identify the collision between devices.It is of great significance to realize the abnormal detection of the fully-mechanized mining face by setting different thresholds to realize the pre-warning and monitoring of the inter-device classification collision.This method will be possible to solve the collision between fully mechanized mining equipment and other abnormal real-time monitoring.
  • Related Articles

    [1]XIE Jiacheng, WANG Xuewen, YANG Zhaojian, LI Juanli, LIU Yang, GE Xing. Technical conception and practice of joint virtual simulation for coal seamand equipment in fully-mechanized coal mining face[J]. COAL SCIENCE AND TECHNOLOGY, 2019, (5).
    [2]XIE Jiacheng, WANG Xuewen, LI Xiang, YANG Zhaojian. Research status and prospect of virtual reality technology in field of coal mine[J]. COAL SCIENCE AND TECHNOLOGY, 2019, (3).
    [3]LI Mei, SUN Zhenming, LYU Pingyang, CHEN Jinchuan, MAO Shanjun. Study on key technology of multiplayer virtual reality training platform forfully-mechanized coal mining face[J]. COAL SCIENCE AND TECHNOLOGY, 2018, (1).
    [4]Zhang Xuhui Dong Runlin Ma Hongwei Du Yuyang Mao Qinghua Wang Chuanwei Xue Xusheng Ma Kun, . Study on remote control technology of mine rescue robot based on virtual reality[J]. COAL SCIENCE AND TECHNOLOGY, 2017, (5).
    [5]HUANG Zeng-hua MIAO Jian-jun, . Application Research of Equipment Centralized Control Technology in Fully-Mechanized Coal Face[J]. COAL SCIENCE AND TECHNOLOGY, 2013, (11).
    [6]NING Gui-feng. Study on Automation Application to Fully-Mechanized Coal Mining in Ultra Thin Seam .[J]. COAL SCIENCE AND TECHNOLOGY, 2013, (11).
    [7]WANG Guo-fa. Development of Fully-Mechanized Coal Mining Technology and Equipment[J]. COAL SCIENCE AND TECHNOLOGY, 2013, (9).
    [8]Application and Development of Fully Mechanized Coal Mining Technology in China[J]. COAL SCIENCE AND TECHNOLOGY, 2012, (10).
    [9]Design and Implementation of Mine Virtual Platform and Electromechanical Monitoring and Measuring Application[J]. COAL SCIENCE AND TECHNOLOGY, 2011, (11).
  • Cited by

    Periodical cited type(14)

    1. 马宏伟,薛旭升,毛清华,齐爱玲,王鹏,聂珍,张旭辉,曹现刚,赵英杰,郭逸风. 论“采煤就是采数据”的学术思想. 煤炭科学技术. 2025(01): 272-283 . 本站查看
    2. 王浥晨,王学文,马凯,李辉,倪强,谢嘉成. 基于全向激光雷达的液压支架护帮板与采煤机防撞监测预警系统研究. 河南理工大学学报(自然科学版). 2025(03): 44-52 .
    3. 徐杰,孙涛,戴剑博,秦录芳. 基于数字孪生技术的桩机姿态与工况监测系统. 机床与液压. 2024(02): 83-87 .
    4. 毛清华,胡鑫,王孟寒,张旭辉,薛旭升. 改进YOLOv5s的采煤机滚筒与支架护帮板干涉状态智能识别. 煤炭科学技术. 2024(02): 253-263 . 本站查看
    5. 杨文娟,赵典,张旭辉,陈鑫,郑西利,刘彦徽,张冉,万继成. 数字孪生驱动的掘锚设备跟踪定位与碰撞检测方法研究. 煤田地质与勘探. 2024(05): 160-173 .
    6. 李鑫超,周脉勇,李轩,祝永涛,秦涛. 基于工作面地质模型自适应开采的碰撞检测方法研究. 煤炭工程. 2024(07): 159-164 .
    7. 张旭辉,刘彦徽,杨文娟,张超,杜昱阳,杨骏豪,杨雯雨. 数字孪生驱动的巷道自动成形截割虚拟调试方法研究. 工矿自动化. 2024(07): 1-11+31 .
    8. 卢学明,孙建强,程海威,胡勇. 煤矿智能化在履带式转载破碎机上的应用和展望. 凿岩机械气动工具. 2023(01): 42-45 .
    9. 赵月静,李继瑞,朱金达,黄风山. 基于模型分析的虚拟装配射线检测方法. 印刷与数字媒体技术研究. 2023(03): 134-140 .
    10. 刘官印,杨子锋,王涛,彭晔. 基于多目三维视觉的电气设备虚拟装配碰撞检测方法. 机械与电子. 2023(06): 26-30 .
    11. 张旭辉,王甜,张超,万继成,杜昱阳,杨文娟,毛清华,石硕,刘彦徽,余恒翰,王亮,乔杰,田江伟,李晓鹏. 数字孪生驱动的悬臂式掘进机虚拟示教记忆截割方法. 煤炭学报. 2023(11): 4247-4260 .
    12. 张旭辉,杨文娟,薛旭升,张超,万继成,毛清华,雷孟宇,杜昱阳,马宏伟,赵友军,李晓鹏,胡成军,田胜利. 煤矿远程智能掘进面临的挑战与研究进展. 煤炭学报. 2022(01): 579-597 .
    13. 张旭辉,吕欣媛,王甜,黄本鑫,郑西利. 数字孪生驱动的掘进机器人决策控制系统研究. 煤炭科学技术. 2022(07): 36-49 . 本站查看
    14. 张飞. 国内采煤机滚筒防碰撞研究进展. 内蒙古煤炭经济. 2022(18): 160-162 .

    Other cited types(7)

Catalog

    Article views (310) PDF downloads (304) Cited by(21)
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return