College of Mechanical and Vehicle Engineering,Taiyuan University of Technology
Shanxi Key Laboratory of Fully-Mechanized Coal Mining Equipment,Taiyuan University of Technolgy
National Key Laboratory of Intelligent Mining Equipment Technology

近年来,随着3D可视化、虚拟现实、增强现实、数字孪生、信息物理系统(CPS)等数字技术与物理综采工作面深度集成,形成了一种虚实结合的综采工作面智能操作模式。基于“人”、“机”、“环”和“法”4个要素,分析了综采工作面XR技术的发展过程,分为4个阶段:XR1.0阶段———由物理到虚拟的单向虚拟仿真、XR2.0阶段———离线工业数据驱动的虚拟规划与调试、XR3.0阶段———实时数据驱动的虚拟监测、XR4.0阶段———双向数据驱动的虚拟反向控制。分析了各阶段的虚拟系统与真实物理系统的连接、数据的使用、不同对象的特征、支持技术和典型应用等5个方面。在1.0阶段,利用三维建模信息和专家知识建立虚拟工作面,并通过人机交互技术对采矿人员进行模拟操作和培训。在2.0阶段,实际的离线数据驱动虚拟场景用于虚拟规划和虚拟调试。在第3.0阶段,建立了一个包含虚拟监控和预测功能的数字虚拟工作面。在第4.0阶段,物理系统和虚拟系统已经实现同步运行,并采用虚拟决策的最优策略来实时控制真实的物理过程。最后,总结了XR四个阶段的关系,并展望了当前技术发展中存在的问题,需要突破的关键技术,以及下一步继续促进虚拟开发和实际开发的集成的方式。

In recent years,digital technologies,including 3D visualization,virtual reality,augmented reality,digital twin,and Cyber physical systems(CPS),has gradually been deeply integrated with longwall mining,thus de-velop a new intelligent operation mode of longwall mining with the integration of virtual and real.Based on the four el-ements of human,machine,environment and method,this paper analyzes the digital longwall mining technology and its integration process,which is divided into four stages:XR 1.0-unidirectional virtual simulation from physical to virtual,XR 2.0-offline industrial data-driven virtual planning and debugging,XR 3.0-real-time data-driven virtu-al monitoring,XR 4.0-bidirectional data-driven virtual reverse control.Five aspects of each stage,including the con-nection between virtual and real way,data using,characteristics for different objects,support technology and typical application,were analyzed.In the 1.0 stage,3D modeling information and expert knowledge are used to establish the virtual working face,and the simulation operation and training of mining personnel are carried out through human-computer interaction technology.In the 2.0 stage,the actual offline data component parameter scenarios are used for virtual planning and virtual debugging.At the stage 3.0,a digital virtual working face containing virtual moni-toring and prediction functions was established.At the stage 4.0,the physical mining system and the virtual sys-tem have been synchronized,and the optimal strategy of virtual decision-making is used to control the real physical process in real time.Finally,the relationship between the four stages of XR was summarized,and the current prob-lems in technological development,key technologies that need to be overcome,and ways to continue promoting the in-tegration of virtual development and actual development in the next step were discussed.

中央引导地方科技发展资金资助项目(YDZJSX2022A014);山西省留学人员科技活动择优资助重点资助项目(20230008);山西省回国留学人员科研资助项目(2023-71)

王学文,王孝亭,谢嘉成,等.综采工作面 XR 技术发展综述:从虚拟 3D 可视化到数字孪生的演化[J].绿 色矿山,2024,2(1):76-85.

WANG Xuewen,WANG Xiaoting,XIE Jiacheng,et al.Review of XR technology development in fully mecha-nized mining faces:From 3D visualization to digital twin[J].Journal of Green Mine,2024,2(1):76-85.