【作者】 李建忠；

【导师】 陈鸿章； 郭勇义；

【作者基本信息】 太原理工大学 ， 采矿工程， 2010， 博士

【摘要】 煤炭开采是一个的复杂时变系统,井下作业环境恶劣,地质条件复杂多变,人、机、环境多种因素相互交错,致使许多传统技术的应用受到严重限制。特别是在综采工作面和采空区,传统的研究方法不仅实验环境难以保证,而且耗资巨大,又相当危险,研究结果也难以得到验证。因此,在这个信息化时代,将虚拟现实技术与煤炭行业相结合,研究科学认知煤矿开采环境的新方法,成为当前解决煤矿安全生产的崭新课题。本文将巷道的各种数据信息分为测量数据、断面数据和属性数据三类,按照弧段节点的数据结构将巷道分为巷道体、巷道弧和巷道节点三种元素,建立了巷道弧、节点、导线点、断面和属性五个数据表,并分析了巷道体—巷道弧、巷道弧—节点、巷道体—节点间的拓扑关系。提出基于巷道中线断面建模法,即通过导线点数据计算出巷道中线点坐标,在中线处绘制一系列巷道断面线框模型,并将它们用线段连接起来构成巷道的表面模型,用上、下、左、右四个弧段来描述巷道的断面形态,最后经过纹理影射处理,生成整体巷道的三维模型。本文分析了虚拟场景的建模特点和建模方法,选用OpenGL作为建模工具,通过几何建模、形象建模和行为建模三个步骤建立采场设备模型。运用运动学、动力学分析综采设备的运动力学特性,提出使用约束型反向关联运动的方法对液压支架进行行为建模,运用子父体层次模型对采煤机进行行为建模。应用OpenGL提供的选择机制,利用鼠标控制设备上的虚拟控制器,实现液压支架和采煤机的交互操纵。设置系统计时器,利用时钟控制各个综采设备的运行状态,应用三维动画双缓存技术实现生产工艺过程的动态模拟。本文总结了我国采场覆岩移动规律的研究成果,对上覆岩层进行了层次划分和结构分类,将顶板分为五类:易垮落松软顶板、中等垮落性顶板1、中等垮落性顶板2、难垮落的坚硬顶板、假塑性弯曲顶板。采用基于面模型的线框模型建模方法,建立了采场覆岩的动态模型。系统能够根据上覆岩层的数据自动判别顶板结构类型,计算并确定出直接顶数目、直接顶厚度、关键层的数目和位置,关键层的破断顺序,基本顶的初次垮落步距和周期垮落步距等参数。系统能够动态模拟采场任意时空位置的覆岩运动,实现了不同结构类型顶板垮落过程的虚拟表示,为研究矿山压力和岩层移动提供了新的思路,可以验证经典的矿山压力假说关于覆岩移动的模型。井下场景复杂,逼真的再现导致计算机运行缓慢,本文运用模型简化、实例、单元分割、雾化等技术,提高了画面渲染速度,满足了虚拟现实实时性的要求。设计出场景漫游、视点控制、位置查询、碰撞检测等交互手段,利用Visual C++和OpenGL开发出基于PC机的煤矿井下虚拟现实系统,逼真地再现了综采工作面场景和覆岩垮落过程。更多还原

【Abstract】 Coal mining is a complex time-varying system, in which various factors such as man, machine, and environment interact with each other, the tough underground work environments, complicated geological conditions and the mixture of different environmental factors give rise to the limitation of many traditional technology, especially in fully-mechanized face and roof. Conventional method had not only to guarantee the experimental environment, but also to demand a large cost while the process is dangerous and the result is hard to verify. Therefore, in the information age, the combination of VR technology and coal industry in researching the scientific cognition of coal mining environment is becoming a new method to solve the safety problem in coal mine production.Roadway data information was classified into measurement data, section data and attribute data in the paper. Roadway was classified into three elements: body, arch and node according to data structure of arch and node. Five datasheets of arch, node, traverse point, section and attribute were set up. Topological relations of body-arch, arch-node and body-node were analysised. Section Modeling method based on laneway midline was provided, namely calculate the coordinate of the median point of laneway midline with traverse point data,draw a series of line frame models of the laneway section at the midline; connect them with lines to form laneway surface model; describe the section features with four archs: up, down, left and right; finally 3D Model of the whole roadway was created after treated with texture mapping.Modeling characteristics and methods of virtual scene were analysised in the paper and OpenGL was chosed as modeling tool. Mine stope equipment model was set up through three steps: geometric modeling, image modeling and behavior modeling. Dynamic characteristic of fully mechanized mining equipments was analysised by using kinematics and dynamics. The behavior modeling of powered supports was set up with the method of constrained inverse kinematics, and shearer was established with the method of father-son hierarchical model. Powered supports and shearer can be controlled with the application of selection mechanism provided by OpenGL and virtual controller operated by mouse. By setting system timing device, using clock to control the operation of mining equipment and the applying of 3D animation double buffer technology, the dynamic simulation of the production process can be achieved at last.This paper summarized the research results of movement law of overburden rock, divided the overlying strata into five categories: soft collapsed roof, first medium collapsed roof, second medium collapsed roof, hard roof and bending plastic roof. Based on the model of the line box modeling method, the dynamic model of overburden rock was also established. According to the data of overlying strata, the system can automatically estimate the category of roof structure, calculated and determined parameters such as the number and thickness of immediate roof, and the number and position of key strata, broken order, the first collapse and the cycle collapse pace of the main roof. The overlying strata movement can be simulated no matter which happens at anywhere or on anytime. The system can promote the visualization of the collapse of different roof structure, and it provides us a new idea of studying the underground pressure and the strata movement, which can verify the underground pressure hypothesis about the classical model of overburden rock movement.The vivid representation of the complex underground scene result in the declination to computer operation speed, this paper used the simplified models, examples, partition and fog technology to improve the image rendering speed, met the requirement of VR about real-time. It had also designed methods such as scene roaming, spot controlling, position querying and collision detection. By using Visual c++ and OpenGL, the VR- mine system based on the PC was developed, reappear the operation in fully-mechanized scene and collapse of overburden rock realistically.更多还原