Research on Digital Twin Technology of Coal Mine Tunneling Machine System

doi:10.16182/j.issn1004731x.joss.23-0678

Abstract

Abstract:

Aiming at the problems in coal mine tunneling operations, including complex geological structures, harsh on-site conditions, low automation of excavation equipment, and frequent safety incidents, a digital twin solution is proposed. PLC as hardware core, MQTT protocol, and EMQX as foundation, through the integration of IoT, internet, digital twins, and virtual reality technologies, the mapping rules for parameter matrices and a fault cause analysis table are established, which realize the functions such as data collection, processing during excavation, data mapping between equipment and twin models, data storage, process simulation, remote control, intelligent fault detection, and early warning, and significantly enhance the digitization and automation levels of coal mine tunneling operations. Results show that the solution is highly feasible, reliable, and practical for improving the tunnel excavation process of coal mines, with significant potential for broader application.

Key words: tunnel excavation, digital twin technology, IoT, AR, remote operations

CLC Number:

TP391.9

Cai Xingwang, Pei Yaoqiang, Yang Jihua, Pang Ruifeng. Research on Digital Twin Technology of Coal Mine Tunneling Machine System[J]. Journal of System Simulation, 2024, 36(10): 2455-2468.

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设备名称	类型	安装位置
人体红外传感器	GHW-5矿用热释红外传感器	掘进机机身两侧
球型摄像仪	Dahua SD6AL230F-HNI	掘进机本体左、中、右、各一个
温度传感器	GWD60矿用温度传感器	掘进机体、巷道
PLC控制器	自研	掘进机体、巷道
隔爆型摄像仪	MAK120064	巷道

寄存器地址	采集数值	优化数值	对应参数
12469	0×0000	0	油箱温度
12470	0×0000	0	系统电压
12460	0000 0000 0000 0000/0000 0000 0000 0001	0/1	油泵启停状态
12460	0000 0000 0000 0000/0000 0000 0000 0010	0/1	截割低速启停状态
12461	0000 0000 0000 0000/0000 0000 0000 0001	0/1	左行走前
12461	0000 0000 0000 0000/0000 0000 0000 0010	0/1	左行走后

时间戳/s	油泵压力/MPa	油泵温度/℃	粉尘浓度/(mg/m³)	瓦斯浓度/(m³/t.r.)
1669860718	18.536	84.692	435.284	0.91
1669860719	17.920	84.883	434.689	0.93
1669860720	19.273	83.297	433.925	0.86
1669860721	15.528	84.154	435.101	0.75
1669860722	16.648	85.297	430.837	0.70

序号	对比项	有订阅系统	无订阅系统
1	采集程序	仅服务器安装，PC端不安装，管理方便	每个PC端都需要安装，管理繁琐
2	PC性能	PC端不运行采集程序的，对PC端要求低	PC端需要运行采集程序，对PC端要求高
3	网络配置	相对简单，只需通过网络连接到服务器即可	网络连接繁琐，要求必须接入到PLC
4	系统安全性	无须接入PLC，安全性高	必须接入PLC，有安全风险
5	PLC负荷	PC端展示的数据均来自于订阅服务器，订阅服务器从PLC上采集数据后，分发到PC端，PLC负荷低	每个PC端展示的每一条数据都需要从PLC直接采集，PC端数量多时，PLC负荷高

故障现象	原因1	原因2	原因3	原因4
液压油温度过高	油箱的油量不足	液压油油质不良	冷却器水量不足或内部堵塞	各溢流阀的调整值过高
截割头不转动	截割电动机过负荷、温度过高	零部件损坏	截割电动机烧坏
…