【作者】 孙海波；

【导师】 段雄；

【作者基本信息】 中国矿业大学 ， 机械设计及理论， 2009， 博士

【摘要】 本文以MG900/2210-WD交流电牵引采煤机为例对采煤机3DVR数字化信息平台关键技术进行了研究。在对采煤机重要工况参数进行实时归档的基础上,采用Virtools及其二次开发技术SDK建立了与采煤机远程监控系统相结合的采煤机3DVR数字化信息平台,利用采煤机远程监控系统提供的实时工况参数来驱动3D模型,实时地显示采煤机的工作状态及变化趋势。研究成果应用于西安煤矿机械厂初步的试验结果表明该3DVR平台能够与采煤机远程监控系统相集成并运行。克服了传统的采煤机远程控制系统中以数据和曲线的形式显示信息、对远程操作人员而言没有真实感、不适合于监测和控制的缺点,使得井上的调度人员可以清楚地了解到综采工作面采煤机的工作状态并对可能发生的故障进行预测和报警。本文取得了如下的工作成果:第一,对于采煤机3DVR数字化信息平台中采煤机实时绘制和加速的关键技术进行了研究,提出一种基于半边压缩的层次细节模型的网格简化改进算法,建立了相应的折叠边的选择策略和误差度量方法,并成功应用于采煤机多层次细节模型的实时绘制,产生了较好的简化结果。实验结果表明能够满足采煤机3DVR数字化信息平台实时图形绘制的要求。在半边压缩的层次细节模型网格简化改进的算法基础上,以三角形表的形式记录了模型简化过程中原顶点和新顶点位置以及顶点之间的连接关系的变动信息;生成由原始模型的最简化模型和一系列简化信息组成的渐进网格表示模式,实现了高效、无损且有连续分辨率的编码。第二,对于煤炭综采工作面虚拟场景环境、设备和煤流离子落煤场景等真实感图形处理的关键技术进行研究,以增加虚拟现实系统中的实时三维图形生成和显示的真实感。对落煤、采煤机行走、滚筒调高、旋转及摇臂内部传动等具体动作在3DVR数字化信息平台中的真实再现进行了研究。第三,研究综采工作面三维虚拟环境中采煤机工作的碰撞检测算法问题。在满足运动碰撞检测精度和尽可能减少计算开销的前提下,为采煤机的实时工作仿真提供保证。最后,总结了采煤机3DVR数字化信息平台的系统结构,建立了合理的人-机界面,实现了综采工作面虚拟场景中的漫游和场景的切换。本文研究内容应用于西安煤矿机械厂初步的试验结果表明:所建立的采煤机3DVR数字化信息平台能够与采煤机的远程监控相结合,有助于实现对采煤机的远程可视化操控、提高矿井生产的安全可靠性。实验结果验证了本论文提出的各种方法的正确性。更多还原

【Abstract】 In this dissertation, MG900/2210-WD AC electrical haulage shearer is taken as an example to study key technologies of 3DVR digital information platform for shearers closely combined with the characteristics of coal mine production in our country. Virtools with its secondary development technology SDK is applied to establish a 3DVR digital information platform for shearer based on real-time filing of important working parametres of shearer. By using the real-time data provided by the remote coal control and monitoring system, the 3D model is driven to display the running state and change trend real-timely. Preliminary experiments carried out in Xi’an Coal Mine Machinery Factory shows that the 3DVR Digital Platform can be connected with the remote coal control system and operate normally. That information is displayed in the form of data and curve in traditional remote coal control and monitoring system, which is unrealistic to the remote operator and unsuitable for remote control and monitoring, is overcome. In this way, the dispatcher outside the mine shaft may be easy to know the working status of the shearer and to find any possible hidden trouble at the mechanized coal face.The following results have been achieved:First, the key technologies of real-time graphics rendering and accelerating for 3DVR digital information platform of shearer are studied. An improved algorithm for 3D real-time level of detail rendering of shearer based on half-collapse is proposed, selection strategy of collapsing edge and erroneous measurement is established, which has been successfully applied in the level of detail rendering of shearer and produced a better simplified result. The results meet the demands of real-time graphics rendering for 3DVR digital information platform of shearer. On the base of the improved algorithm for 3D real-time level of detail rendering of shearer based on half-collapse, the position of the original and the new vertex and the change information between them are recorded in the form of triangle table of half-edge collapse in the course of model simplification. Progressive mesh representation from the simplifest of the original model and a series of simplification information is produced, and efficient, lossless coding with multi-resolution is realized. Simplification experiments of 3D model of shearer has been carried and the effectiveness of the algorithm is verified.Secondly, the key technologies of realistic graphics rendering of other equipments and coal particle flow in the virtual scene of comprehensive mechanized coal face are studied to increase the sense of reality of real-time graphics rendering and display in virtual reality system. True reappearance of shearer position along the coal face, shearer cutting unit working state and the shearer drum height adjustment at the platform is also studied in this dissertation. The contradiction between the sense of reality of scene effects and the request of real-time has been solved at the 3DVR digital information platform of shearer.Thirdly, the Study on the algorithm of collision detection for shearer in the virtual scene of mechanized coal face is carried out, which provides a guarantee for real-time simulation on the premise that the demands of collision detection accuracy is met and the computation expenses is reduced as far as possible.Finally, the system structure of the 3DVR digital information platform is sumerized and a reasonable man-computer interface is established with Virtools in which roaming and switching can be realized in the virtual scene of coal face to realize the real-time control, monitoring and display of shearer.Preliminary experiments carried out in Xi’an Coal Mine Machinery Factory shows that the 3DVR digital information platform for shearer can be combined with the remote coal control, monitoring and fault prediction system, which is helpful to be applied to realize the visual remote operation and control of shearer and improve the safety and reliability of mine production.There are 55 figures, 6 tables and 169 references in this dissertation.更多还原