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This paper proposes a method of constructing a high-precision virtual scene of mining equipment, coal seam roof and floor using actual mining data to meet the industry’s visualisation demands. By analysing the relationships between the shearer, scraper conveyor and coal seam, four kinds of coal seam floor construction methods are established on the basis of the shearer’s running track, the cutting track, the running track of the supporting slipper and the shape of scraper conveyor. The virtual operation scene of the mining and transportation equipment is built in Unity3D to achieve a collaborative operation in a complex coal seam environment. By comparing the actual pitch angle with the virtual pitch angle of the shearer, it is found that the running track of the supporting slipper can better reflect the change trend of the coal seam floor. This method improves the accuracy of the virtual simulation of mining and transportation equipment and provides technical support for its virtual monitoring.

Constructing a high-precision virtual scene of mining equipment and coal seam roof and floor using actual mining data