数字孪生驱动的带式输送机自移机尾远程监控技术  

Digital Twin-Driven Remote Monitoring Technology of Self-Moving Belt Conveyor Tail

作　　者：林尔康 张宏伟[1,2] 蒲忠辉 肖卫 LIN Erkang;ZHANG Hongwei;PU Zhonghui;XIAO Wei(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo,Henan 454003,China;Henan Key Laboratory of Intelligent Detection and Control of Coal Mine Equipment,Jiaozuo,Henan 454003,China;Henan Longyu Energy Company Limited,Shangqiu,Henan 476600,China)

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作市454003 [2]河南省煤矿装备智能检测与控制重点实验室,河南焦作市454003 [3]河南龙宇能源股份有限公司,河南商丘市476600

出　　处：《矿业研究与开发》2024年第2期186-193,共8页Mining Research and Development

基　　金：国家自然科学基金项目(U1804147);河南省高校科技创新团队项目(20IRTSTHN019)。

摘　　要：针对煤矿井下带式输送机自移机尾推进过程中存在智能化水平低、推进质量差以及状态监测困难等问题,开展了基于数字孪生技术的煤矿井下带式输送机自移机尾远程监控技术研究。首先,通过研究自移机尾在数字孪生五维模型上的应用,提出了自移机尾数字孪生监控系统总体方案;其次,对设备机身和推移油缸进行姿态分析,在Unity3D中实现自移机尾的运动仿真;最后,建立自移机尾虚拟模型与远程控制界面,实现物理设备和虚拟模型的人机交互与协同。试验结果表明,自移机尾可在所构建的基于数字孪生技术的系统驱动下稳定迈步前移,设备运动状态可以在虚拟远程监控界面准确呈现,设备推进过程中的虚拟模型运动轨迹与物理设备的实际运动轨迹重合度达97.74%。研究结果可为智能矿山的远程监控技术发展提供借鉴。During the propulsion process of the self-moving belt conveyor tail in coal mines,there are problems such as low intelligence level,poor propulsion quality,and difficulty in status monitoring.Aiming at these problems,the remote monitoring technology of self-moving belt conveyor tail in coal mine based on digital twin technology was studied.Firstly,by studying the application of the self-moving tail on the digital twin five-dimensional model,a general scheme of the self-moving tail digital twin monitoring system was proposed.Secondly,the attitude analysis of the equipment body and the forward-moving cylinder was carried out,and the motion simulation of the self-moving tail was realized in Unity3D.Finally,the virtual model of the self-moving tail and the remote control interface were established to realize the human-computer interaction and collaboration between the physical equipment and the virtual model.The experimental results show that the self-moving tail can move forward steadily driven by the constructed system based on digital twin technology,and the equipment motion state can be accurately presented in the virtual remote monitoring interface.The coincidence degree between the virtual model motion trajectory during the propulsion process and the actual motion data trajectory of the physical equipment reaches 97.74%.The research results can provide a reference for the development of remote monitoring technology in intelligent mines.

关 键 词：数字孪生 带式输送机 智能矿山 自移机尾 虚实同步控制 远程控制 

分 类 号：TD528.1[矿业工程—矿山机电] TD67