【作者】 赵国梁；

【导师】 余学义；

【作者基本信息】 西安科技大学 ， 矿业工程， 2012， 博士

【摘要】 煤矿生产系统是一个的复杂时变系统，将虚拟现实技术应用于煤矿安全生产和管理中，具有重要的科学意义和应用价值。针对煤矿综采工作面的特殊复杂性，从安全生产角度出发，对综采工作面安全生产虚拟现实系统的关键理论和技术进行了深入的研究，同时开发了综采工作面安全生产虚拟现实应用系统。主要研究结论如下：（1）综采工作面真三维视觉沉浸技术沉浸感是虚拟现实重要特征之一，研究了立体视觉沉浸显示技术的两种方法实现方法：桌面式立体显示系统和多通道立体显示系统。利用计算机视觉中的双目立体视觉原理，采用双中心投影算法实现了红蓝立体显示系统。针对多通道立体投影系统是需要解决非线性失真、画面的数字图像边缘融合与拼接、数据同步和通道间的色彩与亮度平衡四大问题，提出一种基于极坐标系的从二维平面到三维空间的基于纹理贴图的校正方法，解决了各种投影面几何失真的情况；通过相邻显示区域小部分重叠的拼缝消除技术实现了画面的数字图像边缘融合与拼接；通过帧缓存同步和数据多通道视景控制技术实现了同步控制；通过相邻投影通道gamma曲线匹配法来进行多通道画面的通道间的色彩与亮度平衡。（2）综采工作面生产系统仿真井下三维场景的建立是整个虚拟现实仿真系统的基础。提出了利用loft放样方法创建三维巷道模型，利用多边形体元结构创建地下岩层，二者进行布尔运算，然后形成真实感地下巷道。综采工作面机械设备结构复杂，提出采用OpenGL和3Dmax软件相结合方法实现复杂机械建模，首先在3Dmax中进行建模，以VC作为开发工具，OpenGL作为模型显示和控制平台，将由3Dmax中制作模型生成导出为3DS格式文件，经过一系列模型简化和显示处理读取到OpenGL环境中，从而实现综采工作面复杂机械机构建模。综采设备大部分属于多刚体系统，基于多刚体理论提出一套运动模拟方法，该方法以多体树描述系统的拓扑结构，以体间相对角速度分量和相对位移导数为广义速率，以欧拉角为体间相对方位坐标，用N-E方程推导出动力学方程，实现综采设备的动力学和运动学规律模拟。（3）交互式煤矿安全培训技术煤矿安全技术培训是提高煤矿员工岗位安全技术操作水平和理论素质，确保矿井安全生产的有效途径和重要安全措施之一。传统的煤矿安全培训方法采用多媒体、课堂讲座、试卷考试的形式，内容枯燥，往往效果不佳。首次将网络游戏思想和方法引入到煤矿安全培训领域，借鉴角色扮演类RPG网络游戏的设计思想，将学习、教育、娱乐有机的结合为一体，建立一种新型的交互式煤矿安全培训模式。首先设计了系统模块总体架构，从安全培训的情景设计、环境设计、角色设计、关卡和人物设计四个方面阐述主要设计方法。设计的思想是：该角色设定为一名刚走上工作岗位的学生，从最基层矿工做起，经过各个工种的学习和实践工作，层层闯关，然后成长为煤矿高级领导干部的人生经历。随后又对所涉及的关键技术进行详细阐述，这些关键技术包括：碰撞检测、虚拟矿工建模和行为控制、虚拟矿工人工智能。（4）基于HLA的分布式煤矿安全应急救援演练技术高层次体系结构HLA作为美国国防部军事战场战术演练和演习技术结构，在军事和航空航天仿真中得到广泛应用，但是在煤矿三维仿真领域还没有得到应用，首次将高层次体系结构（HLA）作为分布式交互仿真的系统构架引入煤矿灾害应急救援演练中，重点研究基于HLA的煤矿联邦成员的开发设计流程和方法，说明煤矿联邦成员的信息管理，信息交互方法以及信息的发布、订购原理，对矿工联邦成员的FOM映射方法和数据的编码、解码，编程实现进行说明；然后说明联邦间实现同步的方法和仿真进程控制的实现。最后给出矿井各联邦成员的HLA线程的仿真流程图。最后以黄陵一号矿607工作面为例，以VC作为高级语言开发平台，OpenGL为三维图形开发库，开发了综采工作面安全生产虚拟现实应用系统，包括煤矿安全生产系统仿真、安全技术培训、安全事故应急救援演练、安全监控三维可视化和移动监控模块，实现了井上下三维漫游、安全知识考核、安全避灾训练、灾害模拟和应急救援、安全远程监控三维可视化等功能，对煤矿安全生产起到有力推动作用，具有广泛的应用价值和推广价值。更多还原

【Abstract】 Mine is a multi-hazard complex system, virtual reality technology in coal mine safetyproduction and management, has important scientific significance and application value. Inthis paper, coal mining face of the special complexity of the mining face virtual reality systemsafety critical theory and technology for a more in-depth research, and development of safeproduction mining face virtual reality system.These key technology have been researched:(1)Fully mechanized coal face real three dimension immesion technologyThe immersion is one of the basic characteristics of virtual reality, immersivestereoscopic vision display technology as a vital supporting technology of virtual reality. Thepaper studies the desktop stereoscopic display system and multi-channel stereo displaysystem. Binocular stereo vision principle in computer vision, two-center projection algorithmto achieve the red and blue three-dimensional display system. Need to solve thethree-dimensional projection system for multi-channel nonlinear distortion, a digital image ofthe screen edge blending and stitching, four issues of data synchronization and the channelbetween the color and brightness balance. The paper presents a calibration method based onpolar coordinates from the two-dimensional plane to three-dimensional space based ontexture mapping, to solve a variety of projection plane geometric distortion; adjacent displayregion partially overlapping patchwork cancellation technology to achieve screen the edge ofthe digital image fusion splicing; frame buffer synchronization and data multi-channel visualcontrol technology to achieve the synchronization control; adjacent projection channelgamma curve matching method to carry out multi-channel screen channel between color andbrightness balance.(2) Fully mechanized coal face production system simulation Underground three-dimensional scene to establish the basis of the entire virtual realitysimulation system. Using loft method to create three-dimensional model of roadway, the useof the polygons body structure to create underground rock, the two Boolean operations, andthen form a realistic underground tunnel. Complex structure of fully mechanized coal facemachinery and equipment, simple to use OpenGL function geometric modeling is extremelydifficult, the paper uses the OpenGL and3Dmax Software, combining complex mechanicalmodeling, first of all be modeled in3Dmax, and then as a development tool VC OpenGL as amodel to display and control platform, the production model will be3Dmax generate exportto3DS format files, read the OpenGL environment after a series of model simplification anddisplay processing, in order to achieve the modeling of complex mechanical structure of thefully mechanized coal face.Most of the mining equipment belongs to multi-rigid-body systems, motion control ofequipment to use the theory of classical mechanics (vector mechanics and analyticalmechanics) have significant limitations. The paper proposed a theory of multi-rigid bodymotion simulation method. The method to many-body tree describes the topology of thesystem, relative angular velocity between the body weight and relative displacementderivative of the generalized rate, the Euler angles for the relative position coordinates in thebody, N-E equation is derived kinetic equation, mining equipment simulate the dynamics andkinematics of the law.(3) The coal mine safety training systemThe coal mine safety and technical training to improve the operating level and thetheoretical quality of coal mine employees job security technology to ensure that an effectiveway to mine safety production and one of the important safety measures. Coal mine safetytraining methods using multimedia, classroom lectures, papers exam form, content, boring,and it is often ineffective. Network game ideas and methods introduced into the field of coalmine safety training, drawing on the design idea of playing RPG online games, you will learn,education, entertainment, a combination of organic as a whole, the establishment of a newtype of coal mine safety training mode.The papers involved in the key technology to elaborate on these key technologies, including:collision detection, virtual the miners modeling and behavior control, virtual miners artificialintelligence.(4) HLA-based distributed coal mine safety emergency rescue drillPapers establish the mine emergency rescue drill system based on HLA FrameworkAgreement focus on coal federate in the HLA-based development and design processes and methods, focusing on members of the coal federal information management, informationexchange methods, and the release of information, ordering principle, federal members ofthe FOM mapping methods and data encoding, decoding, programming; federalinter-synchronization methods and simulation process control to achieve. Finally, given theHLA simulation flow chart of the threads in the Federal members of the mine.Finally Huangling No.1mine607face, for example, to the VC as a high-levellanguage development platform, OpenGL3D graphics development libraries, thedevelopment of fully mechanized coal face production safety of virtual reality applications,including coal mine production safety system simulation, security technical training, safetyemergency rescue drills, security monitoring,3D visualization and mobile monitoringmodule to achieve the3D roaming Inoue under the assessment of safety knowledge, safetyand disaster prevention in training, disaster simulation and emergency rescue, security3Dvisualization function, value and promotion of value.更多还原