复杂矿井三维可视化生产调度系统及关键技术研究
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摘要
复杂巷道三维可视化生产调度系统是一项复杂的系统工程,它既包括对生产作业情况、人员设备分布情况的实时监测,也包括井下人员之间,井下人员与地面调度管理人员之间的无线通信,以及对井下各个工作单元生产作业的协调组织与管理。本文主要是在对相关理论进行深入研究的基础上,结合非煤地下矿山生产调度的实际进行了系统研究,构建了一套高效、实用数字化生产调度系统。
(1)井下复杂巷道3D空间可视化研究。根据井下巷道的数据特点,建立巷道三维数据模型和巷道空间拓扑关系,在此基础上对巷道网络进行逼近、插值处理,使建立的巷道网络能够与真实巷道的空间位置关系相一致,然后提出基于解析几何和基于巷道断面的离散数据点的两种复杂巷道体重构算法,并对后者进行了详细的仿真实现。证明该算法在复杂不规则巷道断面进行拼接时,具有通用性,有效性,巷道体的重构为生产调度系统提供了3D可视化平台。
(2)井下巷道无线传感器定位算法研究。根据井下巷道的空间结构及井下无线基站的定位特点,在深入研究各种测距方法的基础上,提出了对称和对称双向到达时间(SDS-TWA)的测距方法,该算法能够避免由于传感器节点间时间不同步产生的测距误差,实现井下巷道基站之间的准确测距,在此算法的基础上,设计了符合井下巷道和工作面的单点、两点、多点无线精确定位算法,并对算法进行了仿真,证明了算法的有效性和实用性。
(3)井下生产调度优化模型研究。根据地下矿生产计划、生产调度的实际情况,结合计算智能中的蚁算法,对其收敛速度和全局收敛能力进行改进,并证明了对算法改进的有效性,然后利用改进的蚁群算法建立了井下生产调度智能优化模型；并以梅山-330m地下矿生产调度为例进行模型仿真实验,证明了该模型对井下生产调度优化的有效性,从而为实现井下生产智能调度提供了基础。
(4)复杂矿井三维可视化生产调度系统集成研究。根据当前三维可视化、无线通信、无线定位技术的发展特点,提出将WiFi、3DGIS、UWB技术结合本文前面对井下复杂巷道3D空间构模技术、井下巷道无线传感定位算法及井下生产调度优化模型等关键技术的研究,利用多技术融合的特点对复杂矿井三维可视化生产调度系统进行了总体设计和集成开发,设计实现了一套高效、实用数字化生产调度系统。
Three-dimensional Visual Production Scheduling System of Intricate Underground Tunnels is a complicated system engineering. It contains not only realtime monitoring of the production operation, personnel and equipment distribution, but also wireless communication among people under mine and dispatchers on the ground. It also includes coordinating and management of each working unit's producation. This paper primarily focus on modeling and implementing of the crucial technology based on carefully research about the theories related. So it laies a good foundation to implement above-mentioned system.
(1) Study on 3D spatial visualization of intricate laneway under mine.According to the data's feature of the laneway under mine, the topological relationship between three-dimensional data model and laneway is built. Based on dispersed data points of the laneway's cross-section, a algorithm on constructing intricate laneway model is put forword. The reconstruction of intricate laneway provides a 3D visual plantform for production & scheduling System.
(2) Study on position algorithm of wireless sensor under mine.Based on deep research on various kinds of distance measuring methods,and according to spatial structure of the laneway under mine and position characters of underground wireless base station, a new methods upon symmetrical two-way time of arrival(SDS-TWA) is raised.And in foundation of TWA arithmetic, a wireless precise position algorithm is designed, which corresponds with single-point,double-point and multipoint features of laneway and working face under mine.
(3) Study on dispatch optimize model under mine.Rely on the practical situation of subsurface mine producation scheduling, and combined with swarm intelligence algorithm in computational intelligence field, a intelligent optimize model is set up by taking advantage of improved ant colony algorithm. A model emulation experiment has been done, which proved the validity of this model in optimazing scheduling under mine.Thus, it provides theoretical basis for implementing intelligent scheduling under mine.
(4) Study on integrated Three-dimensional Visual Production Scheduling System of Intricate Laneway.Based on 3D spatial modeling technology of intricate laneway under mine, underground wireless sensor position algorithm, production scheduling optimize model, and some other technologies such as WiFi,3DGIS, UWB, the entire system and integrated research on integrated three-dimensional visual production scheduling system of intricate laneway is designed. This laies the foundation for implementing the system.
(1)井下复杂巷道3D空间可视化研究。根据井下巷道的数据特点,建立巷道三维数据模型和巷道空间拓扑关系,在此基础上对巷道网络进行逼近、插值处理,使建立的巷道网络能够与真实巷道的空间位置关系相一致,然后提出基于解析几何和基于巷道断面的离散数据点的两种复杂巷道体重构算法,并对后者进行了详细的仿真实现。证明该算法在复杂不规则巷道断面进行拼接时,具有通用性,有效性,巷道体的重构为生产调度系统提供了3D可视化平台。
(2)井下巷道无线传感器定位算法研究。根据井下巷道的空间结构及井下无线基站的定位特点,在深入研究各种测距方法的基础上,提出了对称和对称双向到达时间(SDS-TWA)的测距方法,该算法能够避免由于传感器节点间时间不同步产生的测距误差,实现井下巷道基站之间的准确测距,在此算法的基础上,设计了符合井下巷道和工作面的单点、两点、多点无线精确定位算法,并对算法进行了仿真,证明了算法的有效性和实用性。
(3)井下生产调度优化模型研究。根据地下矿生产计划、生产调度的实际情况,结合计算智能中的蚁算法,对其收敛速度和全局收敛能力进行改进,并证明了对算法改进的有效性,然后利用改进的蚁群算法建立了井下生产调度智能优化模型；并以梅山-330m地下矿生产调度为例进行模型仿真实验,证明了该模型对井下生产调度优化的有效性,从而为实现井下生产智能调度提供了基础。
(4)复杂矿井三维可视化生产调度系统集成研究。根据当前三维可视化、无线通信、无线定位技术的发展特点,提出将WiFi、3DGIS、UWB技术结合本文前面对井下复杂巷道3D空间构模技术、井下巷道无线传感定位算法及井下生产调度优化模型等关键技术的研究,利用多技术融合的特点对复杂矿井三维可视化生产调度系统进行了总体设计和集成开发,设计实现了一套高效、实用数字化生产调度系统。
Three-dimensional Visual Production Scheduling System of Intricate Underground Tunnels is a complicated system engineering. It contains not only realtime monitoring of the production operation, personnel and equipment distribution, but also wireless communication among people under mine and dispatchers on the ground. It also includes coordinating and management of each working unit's producation. This paper primarily focus on modeling and implementing of the crucial technology based on carefully research about the theories related. So it laies a good foundation to implement above-mentioned system.
(1) Study on 3D spatial visualization of intricate laneway under mine.According to the data's feature of the laneway under mine, the topological relationship between three-dimensional data model and laneway is built. Based on dispersed data points of the laneway's cross-section, a algorithm on constructing intricate laneway model is put forword. The reconstruction of intricate laneway provides a 3D visual plantform for production & scheduling System.
(2) Study on position algorithm of wireless sensor under mine.Based on deep research on various kinds of distance measuring methods,and according to spatial structure of the laneway under mine and position characters of underground wireless base station, a new methods upon symmetrical two-way time of arrival(SDS-TWA) is raised.And in foundation of TWA arithmetic, a wireless precise position algorithm is designed, which corresponds with single-point,double-point and multipoint features of laneway and working face under mine.
(3) Study on dispatch optimize model under mine.Rely on the practical situation of subsurface mine producation scheduling, and combined with swarm intelligence algorithm in computational intelligence field, a intelligent optimize model is set up by taking advantage of improved ant colony algorithm. A model emulation experiment has been done, which proved the validity of this model in optimazing scheduling under mine.Thus, it provides theoretical basis for implementing intelligent scheduling under mine.
(4) Study on integrated Three-dimensional Visual Production Scheduling System of Intricate Laneway.Based on 3D spatial modeling technology of intricate laneway under mine, underground wireless sensor position algorithm, production scheduling optimize model, and some other technologies such as WiFi,3DGIS, UWB, the entire system and integrated research on integrated three-dimensional visual production scheduling system of intricate laneway is designed. This laies the foundation for implementing the system.
引文
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