Abstract: Aiming at the problem of remote intelligent control on cantilever machine,a Human-Cyber-Physical System (HCPS) interaction mechanism was put forward to combine virtual and real worlds,which were realized by the interaction between physical space of the tunneling face and tunneling information in virtual space.Combined with the cantilevered roadheader model,an Digital Twins (DT) based intelligent control system of the cantilevered roadheader was proposed,which realized the fusion of ground virtual tunneling and underground actual tunneling from three aspects:data perception of working conditions,construction of digital twins and human-machine-ring interaction.A remote virtual control experiment platform was built to verify the functions of virtual and real synchronization.The test of cutting path tracking showed that the system could realize the virtual and real synchronous control of the roadheader,and the accuracy deviation of the cutting head was less than 40mm,which met the quality control requirements of roadway development in coal mining.The DT-driven intelligent control method based on Virtual Reality (VR) were applied in visual tunneling system and intelligent tunneling robot system,the results were good through practice.The virtual remote control research provided a new method for the automatic working face and promoted the development of intelligent system in coal mine.

Key words: digital twins, human-information-physical system, virtual manipulation, cantilever roadheader, remote control

摘要： 针对悬臂式掘进机智能控制时面临的远程操控问题,结合数字孪生和虚拟仿真等技术,提出面向煤矿井下装备智能控制的“人—信息—物理系统”(HCPS)交互机制,实现掘进工作面物理空间与掘进信息虚拟空间的深度融合与交互;结合悬臂式掘进机模型,提出数字孪生驱动的悬臂式掘进机智能操控系统,从工况数据感知、数字孪生体构建、人—机—环交互3个方面实现地面虚拟掘进与井下实际掘进的深度融合;搭建悬臂式掘进机远程虚拟操控实验平台,以验证孪生数据驱动下的虚实同步等功能,截割轨迹跟踪测试表明,系统可实现掘进机虚实同步控制,截割头位置精度偏差小于40 mm,满足煤矿开采中巷道开拓的质量控制要求。基于数字孪生驱动和虚拟现实呈现的井下设备智能操控方法,在煤矿巷道可视化掘进系统和智能掘进机器人系统中应用效果良好,为煤矿井下综采综掘工作面设备的远程智能监测与控制提供了全新的思路,对促进工作面智能化系统发展重要的借鉴意义。

关键词: 数字孪生, 人&mdash, 信息&mdash, 物理系统, 虚拟操控, 悬臂式掘进机, 远程控制