دانلود کتاب Virtual Reality Technology in Mining Machinery: Virtual Assembly, Virtual Planning and Virtual Monitoring

فهرست مطالب :

Preface
Contents
1 Application Overview
1.1 Introduction
1.2 Research Developments in Virtual Reality Assembly Technology and Systems
1.2.1 Virtual Assembly
1.2.2 Coal Mine Scenario Simulation
1.2.3 Virtual Reality Interactive Tools
1.2.4 3D Modelling of Coal Mining Equipment
1.2.5 Web-Based Information Service Platform and Virtual Assembly Technology
1.2.6 Web-Based Digital Modelling and 3D Dynamic Design
1.2.7 Design of Public Service Platform for Mechanical Equipment
1.3 Research and Development of Monitoring and Dynamic Planning in Fully Mechanized Coal-Mining Face Under Virtual Reality Environment
1.3.1 The Monitoring Method in Fully Mechanized Coal Mining Face
1.3.2 VR Scene Simulation of “Three Machines” in Fully Mechanized Coal-Mining Face
1.3.3 VR Monitoring of “Three Machines” in Fully Mechanized Coal-Mining Face
1.3.4 VR Planning of “Three Machines” in Fully Mechanized Coal-Mining Face
1.4 The Structure and Content Arrangement of the Book
References
2 System Overall Design
2.1 Introduction
2.2 Overall Model and Operation Process of Design and Operation Mode of Comprehensive Working Face Production System Based on Digital Twin
2.2.1 Overall Model
2.2.2 Operation Process
2.3 The First Stage: The Theory and Method of Production System Design of Fully Mechanized Working Face
2.3.1 Carry on the Design of Full Life Cycle of Fully Mechanized Mining Equipment Products
2.3.2 Coal Mine Enterprise Selection and Configuration Design
2.3.3 Case
2.4 The Second Stage: Virtual Fully Mechanized Mining Simulation Analysis
2.4.1 Development of Integrated Software for Element Layout and Virtual Simulation Operation of Fully Mechanized Working Face
2.4.2 New Method of Simulation Credibility Evaluation
2.4.3 Collaborative Intelligent Evolution Method for Modeling and Simulation of Unmanned Fully Mechanized Mining Equipment System
2.4.4 Simulation Technology of Real Coal Seam Operation Based on Digital Twin
2.4.5 Laboratory Cases
2.4.6 Technical Conception and Practice of “Coal Seam + Equipment” Joint Virtual Simulation Operation in Fully Mechanized Mining Face
2.4.7 Agent Based Three Machine Virtual Collaboration and Planning Method
2.5 The Third Stage: Online Virtual Monitoring and Control of Fully Mechanized Production System
2.5.1 Virtual Monitoring
2.5.2 Virtual Control
2.5.3 Monitoring System of Three Machines in Fully Mechanized Mining Face Working Condition in Fully Mechanized Working Face Under VR Environment
2.5.4 Cases
2.6 Digital Twin Development Trend of Production System in Fully Mechanized Working Face
References
3 Virtual Simulation Element Model Transformation Technology and Model Base
3.1 Introduction
3.2 Framework Design
3.3 Technology of Structural Hierarchy
3.4 CAD Modeling Technology
3.5 CAD Model Transformation and Optimization Technology
3.6 CAD Model Restoration Technology
3.7 Search Technology of Google 3dwarehouse Resources
3.8 3DMAX Scene and Animation Technology
3.9 System Implementation
References
4 Virtual Assembly Method Based on OSG
4.1 Introduction
4.2 Coal Machine Equipment Assembly Sequence and Path Planning Method
4.3 The Framework of the Combination of OSG and CEGUI
4.3.1 Combining OSG and CEGUI to Develop System Interface
4.3.2 System Scene Management
4.3.3 Scene Menu Content Design
4.4 Model Manipulation
4.4.1 Model Selection
4.4.2 Model Reset
4.5 Virtual Assembly and Disassembly Demonstration
4.6 Path Record and Playback
4.6.1 Path record
4.6.2 Path Playback
4.7 Automatic Positioning Constraints
4.8 Network Collaborative Assembly
4.8.1 Work Process
4.8.2 Network Cooperative Assembly Based on Windows Sockets
4.8.3 Specific Implementation Process
4.9 Stereoscopic Display
4.9.1 Details and Types
4.9.2 Method for Realizing Binocular Parallax Stereo Display
4.9.3 Stereoscopic Imaging Technology in OSG
4.10 Summary
References
5 Virtual Assembly Method Based on UG
5.1 Introduction
5.2 Overall Design of Virtual Assembly System of Coal Shearer Based on UG
5.2.1 System Design Goals
5.2.2 System Overall Structure Design
5.2.3 System Development Environment Selection
5.2.4 System Function Design
5.3 Data Model Construction Method of Virtual Assembly System
5.3.1 Virtual Assembly Model Construction Method
5.3.2 Virtual Assembly Information Framework Based on XML
5.3.3 Assembly Information Data Model
5.3.4 Assembly Information Data File Based on XML Schema Standard
5.3.5 Construction of Assembly Information Model
5.3.6 Algorithm for Establishing Assembly Information Model
5.4 The Function Realization of the Virtual Assembly System of the Shearer Based on UG
5.4.1 Key Data Planning of Virtual Assembly Environment
5.4.2 Automatic Assembly
5.4.3 Assembly Sequence and Assembly Path Planning
5.4.4 Dynamic Simulation of Assembly Process
5.5 Development of Coal Shearer Virtual Assembly System Based on UG
5.5.1 System Application Framework
5.5.2 System Main Menu Design
5.5.3 Assembly Import Module Development
5.5.4 Automatic Assembly Module Development
5.5.5 Development of Assembly Planning Module
References
6 Human–Machine Interaction Method of Virtual Assembly
6.1 Introduction
6.2 Mouse and Keyboard Human–Computer Interaction
6.2.1 Scene Interaction Based on Trackball
6.2.2 Mouse-Based Assembly Interaction
6.3 Virtual Hand Human–Computer Interaction Subsystem
6.3.1 Technical Route
6.3.2 Establishment of Virtual Hand Model
6.3.3 Establishing the Relationship Between Location Tracker and Data Glove
6.3.4 Virtual Hand Assembly Operation
6.3.5 Implementation of Assembly Interaction Based on Virtual Hands
6.4 Force Feedback Human–Computer Interaction Subsystem
6.4.1 Introduction to Phantom Desktop Equipment
6.4.2 Subsystem Frame Design
6.4.3 Model Import Technology
6.4.4 Force Rendering of Objects
6.4.5 Principle of Force Feedback Control Model
6.4.6 Automatic Positioning Constraints
6.4.7 Tactile and Visual Rendering Modes
References
7 Virtual Assembly Network Method
7.1 Introduction
7.2 Subsystem Frame Design
7.2.1 Subsystem Hardware Design
7.2.2 Subsystem Software Design
7.2.3 Subsystem Structure Design
7.3 Virtual Reality Resource Library
7.4 ActiveX Control Technology
7.4.1 Writing OSG-ActiveX Controls
7.4.2 Server-Side Control Release
7.4.3 Client Environment Configuration
7.5 Basic Interface Design
7.6 Back-End Database Design
7.7 Public Service Edition
7.7.1 Choose Video Production Software
7.7.2 Select the Format to Be Played
7.7.3 Network Playback Code and Effect Test
7.7.4 Multi-view Playback
7.8 Summary
8 Method and Technology of Virtual Single Machine Simulation
8.1 Introduction
8.2 Establishment of Physical Information Sensing System
8.2.1 Sensor Layout of Shearer
8.2.2 Sensor Arrangement of Hydraulic Support
8.2.3 Sensor Arrangement of Scraper Conveyor
8.3 Single Machine Attitude Monitoring Method of Fully Mechanized Mining Equipment
8.3.1 Single Machine Attitude Monitoring Method of Fully Mechanized Mining Equipment
8.3.2 Attitude Monitoring Method of Scraper Conveyor
8.3.3 Attitude Monitoring Method of Hydraulic Support
8.4 Seamless Linkage Method of Hydraulic Support Components Based on Unity3D
8.4.1 Overall Idea of Virtual Simulation Method for Hydraulic Support
8.4.2 Model Construction and Repair
8.4.3 Seamless Linkage Method Between Virtual and Reality
8.4.4 Human-Computer Interaction Modes and Methods
8.5 Virtual Bending Technology of Scraper Conveyor Based on Unity3D
8.5.1 Model Construction and Repair
8.5.2 Virtual Bending Technology of Scraper Conveyor
8.6 Virtual Memory Cutting Method of Coal Shearer Based on Unity3D
8.6.1 Theories and Methods of Virtual Memory Cutting
8.6.2 Mathematical Model of Memory Cutting
8.6.3 Real-Time Virtual Shearer Drum Height Compensation Strategy
8.6.4 Virtual Controller
8.6.5 Virtual Interaction
8.6.6 Shearer Virtual Memory Cutting Interface
8.7 Summary
9 The Method and Technology of Virtual Collaborative Simulation Running
9.1 Introduction
9.2 Overall Research Framework
9.3 Establishment of Virtual Equipment and Coal Seam Model
9.3.1 Two Basic Methods of Coal Seam Modeling
9.3.2 Establishment of Virtual Inherent Coal Seam
9.3.3 Establishment of Virtual Real-Time Updating Coal Seam
9.3.4 Coal Seam Modeling Method with Bidirectional-Driving
9.4 Operation Simulation Method Among Equipment
9.4.1 Cooperation Between Shearer and Scraper Conveyor
9.4.2 Scraper Conveyor and Hydraulic Support Coordination
9.4.3 Collaboration of Shearer and Hydraulic Support Group
9.5 Establishment of Interaction Model Between Coal Seam and Equipment
9.5.1 Action Model of Coal Seam and Equipment
9.5.2 Hydraulic Support and Coal Seam Floor
9.5.3 Scraper Conveyor and Coal Seam Floor
9.5.4 Shearer Cutting Coal Seam
9.6 System Integration Technology Path
9.7 Conclusions
References
10 A Virtual Reality Collaborative Planning Simulator Based on a Multi-agent System
10.1 Introduction
10.2 Framework of FMUnitySim
10.2.1 Overall Framework
10.2.2 Collaborative Mathematical Model of Three Machines
10.2.3 Collaborative Planning Model Based on an MAS
10.2.4 VR Planning Method
10.3 Collaborative Mathematical Model of the Three Machines
10.3.1 Coupling of the Shearer Haulage Speed and Scraper Conveyor Load
10.3.2 Coupling of the Shearer Haulage Speed and Adjustment of the Front Drum Height with the Underground Environment
10.3.3 Coupling of the Following Control of Hydraulic Supports and the Shearer Haulage Speed
10.3.4 Coupling of the Following Control of Hydraulic Supports with the Condition of the Roof and Floor
10.3.5 Coupling of the Shape of the Scraper Conveyor and Advancing Units of the Hydraulic Supports
10.3.6 Delay or Data Loss
10.4 Establishment of Agent
10.4.1 Model of the Shearer Agent
10.4.2 Model of the Scraper Conveyor Agent
10.4.3 Model of the Hydraulic Support Agent
10.4.4 Model of the Hydraulic System Agent
10.4.5 Model of the Underground Environment Agent
10.5 VR Planning Method (FMUnitySim)
10.5.1 3D Model of the Three Machines
10.5.2 Model of the Underground Environment
10.5.3 GUI Interface
10.6 Summary
Reference
11 Sensor Information Architecture and Virtual Reality Interaction Technology
11.1 Introduction
11.2 Real-Time and Reliable Information Acquisition and “Virtual-Real Fusion” Channel Technology
11.2.1 Sensor Placement and Perceptual Information Acquisition
11.2.2 Key Technologies of Real-Time Interactive Channel Interface
11.2.3 Secondary Fusion and Correction of Sensing Information Data
11.2.4 Distributed Collaborative Driving Patterns
11.3 Presentation of Fusion of Virtual-Reality and Perceptual Consistency
11.3.1 Real-Time Driving Framework for Complex Fully-Mechanized Mining Virtual Scene
11.3.2 Key Technologies of Driving Virtual Stand-Alone Support Based on Underlying Model
11.4 Transparent Fully Mechanized Mining Face Industrial Internet Infrastructure Construction
11.4.1 Wired/Wireless Full Coverage Network Communication Platform
11.4.2 Digital Sensing Element
11.4.3 Remote Monitoring System
11.5 Development of Application Layer of Transparent Fully Mechanized Mining Face System
11.5.1 Two-Dimensional Data Monitoring
11.5.2 Video Monitoring
11.5.3 VR Integrated Attitude Monitoring and Early Warning System
11.5.4 Three-Dimensional Transparent Monitoring System Integration
11.6 System Test and Application
11.6.1 Digital Sensing Element Testing
11.6.2 Network Performance and Functional Testing
11.6.3 Visualized Coal Mining Experiment with Remote Intervention
11.6.4 Coordinated Operation Test of Three Engines
11.7 Conclusion
References
12 Working Condition Monitoring and Virtual Simulation Method
12.1 Introduction
12.2 “Three Machine” Virtual Co-simulation Under the Condition of Horizontal Ideal Floor
12.2.1 Key Technologies of Shearer Virtual Walking
12.2.2 Mutual Perception Technology Between Shearer and Hydraulic Support
12.2.3 Mutual Perception Technology Between Hydraulic Supports
12.2.4 Mutual Perception Technology of Hydraulic Support and Scraper Conveyor
12.2.5 Mutual Perception Technology of Virtual Three Machines in Fully Mechanized Mining Face and Coal Mining Technology
12.2.6 Principle of Consistency in Time and Unit
12.3 Coupling Method of Cutter Attitude Between Shearer and Scraper Conveyor
12.3.1 Solving Calculation Process Model of Bending Section
12.3.2 Solution of Bending Section Chute Attitude
12.3.3 Update and Calculation of Shearer’s Walking Path
12.3.4 Calculation of Elongation Length of Hydraulic Support Push Cylinder
12.4 Joint Positioning and Attitude Determination Method of Shearer and Scraper Conveyor
12.4.1 Coupling Analysis of Positioning and Attitude Between Shearer and Scraper Conveyor in Lateral Single Tool Operation
12.4.2 Planning Software Development Based on Unity3D
12.4.3 Positioning and Attitude Determination Fusion Strategy Based on Information Fusion Technology
12.4.4 Reverse Mapping Labeling Strategy Based on a Priori Perspective
12.5 Method of Memorizing Posture Between Groups of Hydraulic Supports
12.5.1 Thought Source of Memory Posture of Hydraulic Support
12.5.2 Analysis of the Relationship Between the Support Height of Hydraulic Support and the Cutting Roof Track of Shearer
12.5.3 VR Monitoring Method of Memory Posture
12.6 Summary
13 Virtual Monitoring System
13.1 Introduction
13.2 Digital Twin Theory of Fully Mechanized Working Face Equipment
13.2.1 Introduction of Digital Twin Theory
13.2.2 Digital Twin Fully Mechanized Face Equipment
13.3 Overall Framework Design of VR + LAN “Three Machine” Condition Monitoring System
13.3.1 System Design Objectives
13.3.2 Hardware Design
13.3.3 Software Design
13.3.4 Real Time Sensing System
13.4 VR Monitoring Method Based on Unity3D
13.4.1 Reservation of State Variables in VR Environment
13.4.2 Real Time Data Reading and Access Method
13.4.3 Real Time Calculation Method of Underlying Mathematical Model
13.4.4 Real Time Rendering of Mining Environment Information
13.4.5 Fault Occurrence Screen Representation
13.4.6 Implementation of Real-Time Switching Video Monitoring Screen in VR Environment
13.5 Virtual Monitoring and Real Time Synchronization Method Based on LAN
13.5.1 Collaboration and Data Flow Based on RPC Technology
13.6 Real Time Coupling Strategy of Multi Software
13.6.1 Kingview + SQL Server
13.6.2 SQL SERVER + Unity3D
13.6.3 Matlab Calculation Result Processing
13.7 Prototype System Development
13.8 Summary
14 Summary and Conclusions
14.1 Work Summary
14.2 Main Conclusions