Mine underground personnel safety system using digital twinning and augmented reality technology

Abstract

The application discloses a mine underground personnel safety system applying digital twinning and augmented reality technology, which comprises a server, a 3D virtual scene, a plurality of digital twinning bodies, and a data acquisition device and an augmented reality display terminal which are respectively in communication connection with the server; the plurality of digital twinning bodies are respectively in bidirectional communication connection with a plurality of physical entities; the augmented reality display terminal comprises a display screen, a 3D simulation scene and a 2D simulation scene which are mapped on the display screen, and a 3D range adjusting module for controlling the mapping range of the 3D simulation scene and a 2D range adjusting module for controlling the mapping range of the 2D simulation scene. Through the above mode, the three-dimensional model of the current environment is synchronously transmitted to the underground operation personnel by using the digital twinning technology and the augmented reality technology, a two-dimensional model is constructed according to the three-dimensional model, the surrounding environment information is acquired in a more simple mode, the range of the visual scene can be adjusted and presented according to the corresponding proportion, and the information of a farther place can be conveniently viewed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine underground safety monitoring and management, in particular to a mine underground personnel safety system applying digital twinning and augmented reality technology. BACKGROUND

[0002] Digital twinning is a simulation process integrating multi-discipline, multi-physical quantity, multi-scale and multi-probability, which fully utilizes physical model, sensor update, operation history and other data to complete mapping in virtual space and reflect the whole life cycle process of the corresponding entity equipment. With the rapid development of digital twinning technology, the intelligent mining of underground mines has also made great progress. At present, the digital twinning technology of mines is mainly used to build and update real-time dynamic three-dimensional models of mine surface, underground engineering environment, personnel, equipment and additional attributes; and the augmented reality technology of mines is mainly used for safety education and training courses. These two technologies are relatively simple in the application of mines, and cannot realize the application of the inherent safety aspect, cannot realize the use of augmented reality technology by underground workers to master the real-time dynamic three-dimensional model of mine digital twinning, and cannot realize the visual information and safety warning of the received dangerous working environment and surrounding large equipment.

[0003] The existing technology provides a mine unmanned fully-mechanized excavation working face digital twinning intelligent monitoring model simulation system. This technology constructs a digital twinning model, uses machine vision and edge computing, and uses a deep learning algorithm for perception analysis, simulation, iterative optimization and decision control; based on data twinning and data driving, the virtual space digital twinning unmanned fully-mechanized excavation working face realizes real-time monitoring, intelligent perception, accurate positioning and health prediction of the remote physical space mine unmanned fully-mechanized excavation working face, and then realizes real-time interaction and virtual monitoring of the digital twinning body and the physical entity through a VR or AR human-computer interface. Although this technology combines digital twinning technology and augmented reality technology, and can display a three-dimensional model in real time through a video display terminal, the technology does not deeply mine the digital twinning and augmented reality technology, the functions are not perfect, there is no safety application, and workers are easy to feel tired when wearing augmented reality display terminals for a long time to watch three-dimensional models, and too much information in the three-dimensional model affects the user's timely acquisition of the required information.

[0004] Therefore, it is necessary to design a mine underground personnel safety system applying digital twinning and augmented reality technology, which can display two-dimensional and three-dimensional models at the same time, adjust the scene range of each model, and provide real-time safety warning information. SUMMARY

[0005] In order to overcome the above problems, the application provides a mine underground personnel safety system applying digital twinning and augmented reality technology, which synchronously transmits a three-dimensional model of a current environment to underground workers by using digital twinning technology and augmented reality technology, constructs a two-dimensional model according to the three-dimensional model, obtains surrounding environment information in a more simple way, and can adjust the range of a visual scene and present according to a corresponding scale, so as to facilitate viewing information far away.

[0006] In order to achieve the above purpose, the technical scheme adopted by the application is:

[0007] A mine underground personnel safety system applying digital twinning and augmented reality technology, comprising a server, a 3D virtual scene constructed in the server, a plurality of digital twinning bodies implanted in the 3D virtual scene, and a data acquisition device and an augmented reality display terminal respectively in communication connection with the server, the plurality of digital twinning bodies are respectively in bidirectional communication connection with a plurality of physical entities, the augmented reality display terminal comprises a display screen, a 3D simulation scene and a 2D simulation scene mapped on the display screen, and a 3D range adjustment module for controlling the mapping range of the 3D simulation scene and a 2D range adjustment module for controlling the mapping range of the 2D simulation scene.

[0008] Further, the data acquisition device is distributed on the ground surface of a mining area and underground of the mining area, and comprises an inclined camera device, a three-dimensional laser scanner, a total station, a GPS positioning device, a UWB positioning device, a gas sensor, and a ground pressure sensor, the server stores various data collected by the data acquisition device and current position information of the data acquisition device, and updates the 3D virtual scene and the digital twinning bodies in real time according to the various data.

[0009] Further, the augmented reality display terminal further comprises a visual tracking module and a positioning module respectively in communication connection with the server, the visual tracking module is used for tracking the change of a line of sight of a physical entity wearing the augmented reality display terminal, and the positioning module is used for positioning current position information of the augmented reality display terminal; the server constructs a 3D simulation scene and maps it on the display screen after calling corresponding 3D virtual scenes and digital twinning bodies according to the current position information and the scene and physical entities in the line of sight range of the augmented reality display terminal, so as to realize real-time dynamic updating of a three-dimensional model of a mine underground project in a visible range of a visual angle of the physical entity wearing the augmented reality display terminal and an invisible range.

[0010] Further, the server intercepts the position of each physical entity and the distribution of the actual environment in the 3D virtual scene in the same horizontal plane according to the 3D virtual scene corresponding to the current underground mine engineering three-dimensional model, so as to construct the 2D simulation scene corresponding to the 3D virtual scene; the server stores the mark symbol of the plurality of digital twins when mapped on a two-dimensional plane, and displays the mark symbol corresponding to the digital twin at the corresponding position in the 2D simulation scene according to the information of each digital twin in the 3D simulation scene.

[0011] Further, the 3D simulation scene is a three-dimensional perspective model, which is used to map the scene and physical entities visible in the current line of sight range, and the scene and physical entities blocked by the visible scene and physical entities in the mapping range, and the 3D simulation scene displays the name and corresponding work information of each digital twin in the current scene in real time.

[0012] Further, the augmented reality display terminal further comprises a warning module in communication connection with the server, the server performs risk assessment on each item of information collected by the data acquisition device in the current position range of the augmented reality display terminal, to generate the warning information of the augmented reality display terminal in the current position range, and deliver the warning information to the warning module; the warning module is electrically connected with the alarm component arranged on the augmented reality display terminal, to control the augmented reality display terminal to superimpose the warning information on the 3D simulation scene and display the warning information visually, and control the alarm component to emit an alarm sound or play the warning information, the warning information including a dangerous gas warning, an unstable surrounding rock warning, a dim dangerous environment warning, a blocked personnel warning, and a blocked large equipment warning.

[0013] Further, the 3D range adjustment module is electrically connected with the 3D range adjustment button arranged on the augmented reality display terminal, to adjust the maximum extension area of the current line of sight range of the augmented reality display terminal, the 3D range adjustment module comprising a first-level 3D mode, a second-level 3D mode, and a third-level 3D mode.

[0014] Further, the 3D simulation scene in the first-level 3D mode is a simulation scene and a digital twin within a 10m range radiated outward from the current augmented reality display terminal, and the simulation scene and the digital twin are presented in a 1:1 ratio; the 3D simulation scene in the second-level 3D mode is a simulation scene and a digital twin within a 20m range radiated outward from the current augmented reality display terminal, and the simulation scene and the digital twin are presented in a 1:0.5 ratio; the 3D simulation scene in the third-level 3D mode is a simulation scene and a digital twin within a 30m range radiated outward from the current augmented reality display terminal, and the simulation scene and the digital twin are presented in a 1:0.25 ratio.

[0015] Further, the 2D range adjustment module is electrically connected with a 2D range adjustment button arranged on the augmented reality display terminal, so as to adjust the maximum extension area of the current line-of-sight range of the augmented reality display terminal, and the 2D range adjustment module comprises a first-level 2D mode, a second-level 2D mode and a third-level 2D mode.

[0016] Further, the 2D simulation scene in the first-level 2D mode is a simulation scene and a digital twin within a 10m range radiated outward from the current augmented reality display terminal, and the simulation scene and the digital twin are presented in a 1:1 ratio; the 2D simulation scene in the second-level 2D mode is a simulation scene and a digital twin within a 20m range radiated outward from the current augmented reality display terminal, and the simulation scene and the digital twin are presented in a 1:0.5 ratio; the 2D simulation scene in the third-level 2D mode is a simulation scene and a digital twin within a 30m range radiated outward from the current augmented reality display terminal, and the simulation scene and the digital twin are presented in a 1:0.25 ratio.

[0017] Compared with the prior art, the application has the following beneficial effects:

[0018] 1. The mine underground personnel safety system using digital twin and augmented reality technology of the application synchronously transmits the three-dimensional model of the current environment, the position and state information of the digital twin, and the environment warning information to the underground workers by using the digital twin technology and the augmented reality technology, so as to provide three different ways of safety warning information for the underground workers, including visual safety warning information, safety warning alarm sound and safety warning voice broadcast, to prevent accidents; at the same time, a two-dimensional model is constructed according to the three-dimensional model, the position information of the roadway trend and personnel, vehicles or large equipment is presented on the two-dimensional model, the surrounding environment information is obtained in a more simple way, and the user can view the three-dimensional model or the two-dimensional model according to the demand, so that the practicability and convenience of the application are greatly improved.

[0019] 2. The mine underground personnel safety system using digital twin and augmented reality technology of the present application presents the information far away from the user by adjusting the mapping range of the three-dimensional model and the two-dimensional model and presenting according to the corresponding scale, and the user can select the most comfortable scale model to avoid dizziness, eye fatigue and other phenomena caused by long-term wearing. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of the mine underground personnel safety system using digital twin and augmented reality technology of the present application;

[0021] Figure 2 is a flow schematic diagram of the mine underground personnel safety system using digital twin and augmented reality technology of the present application;

[0022] Figure 3 is a simulation effect schematic diagram of the mine underground personnel safety system using digital twin and augmented reality technology of the present application;

[0023] The labels of the components in the drawings are as follows: 10, server; 20, data acquisition device; 30, augmented reality display terminal. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be described in detail below with reference to the drawings and specific embodiments.

[0025] Here, it also needs to be explained that, in order to avoid the present application being obscured by unnecessary details, only the structures and / or processing steps closely related to the scheme of the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0026] In addition, it also needs to be explained that the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0027] EMBODIMENT

[0028] As Figures 1 to 2As shown, a mine underground personnel safety system 100 applying digital twin and augmented reality technology comprises a server 10, a 3D virtual scene constructed in the server 10, a plurality of digital twins implanted in the 3D virtual scene, and a data acquisition device 20 and an augmented reality display terminal 30 respectively in communication connection with the server 10. The plurality of digital twins are respectively in bidirectional communication connection with a plurality of physical entities, and the three-dimensional coordinate information and state information of the corresponding digital twin in the 3D virtual scene are updated in time according to the physical entity. The physical entity includes but is not limited to roadway, chute, ramp, stope, ore body, mobile equipment, fixed facility, vehicle, and worker.

[0029] The augmented reality display terminal 30 comprises a display screen, a 3D simulation scene and a 2D simulation scene mapped on the display screen, and a 3D range adjustment module for controlling the mapping range of the 3D simulation scene and a 2D range adjustment module for controlling the mapping range of the 2D simulation scene. The augmented reality display terminal 30 is an augmented reality glasses, which uses augmented reality technology to synchronously present the mine underground engineering three-dimensional model constructed by the visual real scene and the invisible real scene that the wearer can see through the glasses on the display screen, so as to facilitate the worker to obtain the visual information of the surrounding rock, obstacle shielding, dim environment, and working environment under poor visibility conditions, and to assist the worker to accurately make decisions after grasping the surrounding environment, effectively avoid safety hazards such as safety prohibited area, abnormal environment entry, unstable surrounding rock area intrusion, mechanical equipment collision, and falling, and ensure personnel operation safety.

[0030] In this way, the three-dimensional model of the current environment, the position and state information of the digital twin, and the environmental warning information are synchronously transmitted to the underground worker by using digital twin technology and augmented reality technology, so as to provide three different ways of safety warning information for the underground worker, including visual safety warning information, safety warning alarm sound, and safety warning voice broadcast, to prevent accidents. At the same time, a two-dimensional model is constructed according to the three-dimensional model, and the position information of the roadway trend and personnel, vehicle, or large equipment is presented on the two-dimensional model, so that the surrounding environment information is obtained in a more simple way, and the user can view the three-dimensional model or the two-dimensional model according to the demand. In addition, the 3D range adjustment module and the 2D range adjustment module can adjust the mapping range of the three-dimensional model and the two-dimensional model and present them in the corresponding proportion, so as to facilitate the user to view the information at a farther place, and the user can select the most comfortable proportion model to avoid dizziness, eye fatigue, and other phenomena caused by long-time wearing.

[0031] For example, Figures 1 to 2As shown, in some embodiments, the augmented reality display terminal 30 further includes a visual tracking module and a positioning module, which are respectively communicatively connected to the server 10. The visual tracking module is used to track the gaze changes of the physical entity wearing the augmented reality display terminal 30, so as to follow the wearer's gaze shift and capture the physical scene area corresponding to the current gaze. The positioning module is used to locate the current position information of the augmented reality display terminal 30, so as to update the three-dimensional position information of the corresponding digital twin in the 3D virtual scene, and lock the 3D virtual scene within the user's current surrounding range, so as to realize the synchronous update and change of the mapped 3D simulated scene with the change of viewing angle.

[0032] Based on the current location information and the scene and physical entities within the field of view transmitted by the augmented reality display terminal 30, the server 10 retrieves the corresponding 3D virtual scene and digital twin, constructs a 3D simulated scene, and maps it onto the display screen. This enables real-time dynamic updates of the visible and invisible 3D models of the underground mine engineering from the perspective of the physical entities being viewed by the wearer of the augmented reality display terminal 30. The invisible 3D models include physical entities such as facilities, vehicles, and personnel obscured by tunnels within the physical scene. By generating a 3D perspective model from the 3D simulated scene through rendering or other methods, it can map the visible scene and physical entities within the current field of view, as well as the scenes and physical entities obscured by the visible scene and physical entities within the mapped range.

[0033] Specifically, in underground mines, various tunnels are excavated, and large equipment, vehicles, and personnel operate in different tunnels. When users walk through these tunnels, their view is easily obstructed, making it impossible to see environmental information hidden by the tunnels. This increases the risk of collisions with vehicles or other people when passing tunnel intersections. However, by using a 3D perspective model, users can easily see various physical entities within their line of sight that are obstructed by the tunnels, allowing them to avoid collisions in advance.

[0034] Specifically, the 3D simulation scene displays the names and corresponding work information of each digital twin within the current scene in real time, allowing users to directly access various information about the digital twins mapped within the 3D simulation scene. For example, the type of vehicle and the straight-line distance between the vehicle and the user, the job title and name of the personnel, and the straight-line distance between the personnel and the user.

[0035] like Figures 1 to 3As shown, in some embodiments, the server 10 intercepts the position of each physical entity and the distribution of the actual environment in the 3D virtual scene in the same horizontal plane according to the 3D virtual scene corresponding to the current underground engineering three-dimensional model of the mine, thereby constructing the 2D simulation scene corresponding to the 3D virtual scene. At the same time, the server 10 stores a plurality of marker symbols of digital twins when mapped to a two-dimensional plane, and displays the marker symbols corresponding to the digital twins at the corresponding positions in the 2D simulation scene according to the information of each digital twin in the 3D simulation scene.

[0036] Specifically, according to the current 3D simulation scene, the ground under the feet of the person wearing the augmented reality display terminal 30 is taken as the horizontal plane, the two-dimensional profile of the roadway and the surrounding rock and other infrastructure is constructed according to the trend and layout of the roadway and the surrounding rock and other infrastructure in the 3D simulation scene, and the marker symbols corresponding to the digital twins are marked at the corresponding positions on the two-dimensional profile according to the name and position information of the digital twins in the current 3D simulation scene, so that the staff can more simply and intuitively see the surrounding environment information.

[0037] As shown, Figures 1 to 2 In some embodiments, the data acquisition device 20 is distributed throughout the surface of the mining area and the underground of the mining area, and includes six safety and risk avoidance systems, a total station, a tilt camera device, a three-dimensional laser scanner, a GPS positioning device, a UWB positioning device, a gas sensor, and a ground pressure sensor. The database in the server 10 stores the data collected by the data acquisition device 20 and the position information of the current data acquisition device 20, and constructs the 3D virtual scene and the digital twin according to the data through the modeling software, and updates the 3D virtual scene and the digital twin in real time.

[0038] The augmented reality display terminal 30 also includes a warning module in communication connection with the server 10, which performs risk assessment on the information collected by the data acquisition device 20 within the current position range of the augmented reality display terminal 30 to generate warning information of the augmented reality display terminal 30 within the current position range, and transmits the warning information to the warning module. The warning module is electrically connected with the alarm component arranged on the augmented reality display terminal 30 to control the augmented reality display terminal to superimpose the visual display of the warning information on the 3D simulation scene, and control the alarm component to emit an alarm sound or play the warning information.

[0039] The early warning information includes dangerous gas early warning, unstable surrounding rock early warning, dim dangerous environment early warning, blocked personnel early warning, and blocked large equipment early warning. Specifically, the dangerous gas early warning is to monitor the toxic and harmful gas in the underground environment through a gas sensor. The unstable surrounding rock early warning is to monitor the surrounding rock pressure through a pressure sensor arranged in the surrounding rock, and when the pressure value reaches the alarm threshold, an unstable surrounding rock early warning is issued. The dim dangerous environment early warning is to monitor the light intensity of each area according to the light sensors distributed in the underground, and when the light intensity is lower than the alarm threshold, a dim dangerous environment early warning is issued. The blocked personnel early warning and the blocked large equipment early warning are to determine whether the user will collide with the vehicle and other personnel according to the distance between the user and the vehicle and personnel near the user, and in combination with the motion direction and speed of the vehicle and personnel, whether the user will collide with the vehicle and other personnel according to the current walking route and speed.

[0040] In addition, the early warning module can also mark the areas of unstable surrounding rock, areas with harmful gas, areas with unstable ground pressure, and safety prohibited areas in the current 3D simulation scene, so as to facilitate the user to avoid in advance.

[0041] As shown in FIG. 1, in some embodiments, the 3D range adjustment module is electrically connected with a 3D range adjustment button arranged on the augmented reality display terminal 30, to adjust the maximum extension area of the current line of sight range of the augmented reality display terminal 30. The user can select different adjustment ranges by pressing the 3D range adjustment button. The 3D range adjustment module includes a first-level 3D mode, a second-level 3D mode, and a third-level 3D mode. Figures 1 to 2 Specifically, the 3D simulation scene in the first-level 3D mode is the simulation scene and digital twin within 10m range radiating outward from the current augmented reality display terminal 30 as the center, and the simulation scene and digital twin are presented in a 1:1 ratio. The 3D simulation scene in the second-level 3D mode is the simulation scene and digital twin within 20m range radiating outward from the current augmented reality display terminal 30 as the center, and the simulation scene and digital twin are presented in a 1:0.5 ratio. The 3D simulation scene in the third-level 3D mode is the simulation scene and digital twin within 30m range radiating outward from the current augmented reality display terminal 30 as the center, and the simulation scene and digital twin are presented in a 1:0.25 ratio.

[0042]

[0043] ​It is worth noting that, based on the understanding of the technical solution of the present invention by those skilled in the art, the radiation range and presentation ratio of the simulated scene in each level of 3D mode in the present invention can be adjusted as needed. For example, the radiation range of the first-level 3D mode can be set to 5m, and the presentation ratio of the second-level 3D mode can be set to 1:0.8. The radiation range and presentation ratio of the simulated scene can be designed according to the total area of ​​the underground mine and the preferences or comfort of different users. Therefore, the above equivalent structure can be understood as an equivalent implementation method using the solution of the present invention.

[0044] This setup allows users to switch between different modes to view information further away. The 3D simulation scene in the primary 3D mode is the clearest and less likely to cause discomfort even after prolonged viewing. Furthermore, users can select the most comfortable scale model, avoiding dizziness and eye strain from wearing it for extended periods.

[0045] like Figures 1 to 2 As shown, in some embodiments, the 2D range adjustment module is electrically connected to the 2D range adjustment button disposed on the augmented reality display terminal 30 to adjust the maximum extension area of ​​the current field of view of the augmented reality display terminal 30. The 2D range adjustment module includes a first-level 2D mode, a second-level 2D mode, and a third-level 2D mode.

[0046] Specifically, the 2D simulation scene in Level 1 2D mode is a simulated scene and digital twin radiating outward within a 10m radius from the current augmented reality display terminal 30, presented at a 1:1 ratio; the 2D simulation scene in Level 2 2D mode is a simulated scene and digital twin radiating outward within a 20m radius from the current augmented reality display terminal 30, presented at a 1:0.5 ratio; and the 2D simulation scene in Level 3 2D mode is a simulated scene and digital twin radiating outward within a 30m radius from the current augmented reality display terminal 30, presented at a 1:0.25 ratio.

[0047] It is worth noting that the 2D range adjustment module and the 3D range adjustment module have the same principle and function, and will not be described again.

[0048] The above merely aims to illustrate the technical solutions of the present application, but not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced equivalently; any equivalent structure or equivalent flow conversion made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A mine underground personnel safety system applying digital twin and augmented reality technologies, characterized in that, The system includes a server (10), a 3D virtual scene built within the server (10), several digital twins embedded within the 3D virtual scene, and a data acquisition device (20) and an augmented reality display terminal (30) that are respectively connected to the server (10) in communication. The several digital twins are respectively connected to several physical entities in bidirectional communication. The augmented reality display terminal (30) includes a display screen, a 3D simulated scene and a 2D simulated scene mapped on the display screen, and a 3D range adjustment module that controls the mapping range of the 3D simulated scene and a 2D range adjustment module that controls the mapping range of the 2D simulated scene. The augmented reality display terminal is worn by the personnel in the mine. The augmented reality display terminal is used to display the 3D simulated scene within the wearer's field of vision. The augmented reality display terminal also includes a 3D range adjustment button, which is used to adjust the maximum extension area of ​​the field of vision. The 3D range adjustment includes a first-level 3D mode, a second-level 3D mode, and a third-level 3D mode. In the first-level 3D mode, the maximum extension area of ​​the field of view is a range of 10m radiating outward from the current augmented reality display terminal (30), and the 3D simulated scene and digital twin are presented at a 1:1 ratio; in the second-level 3D mode, the maximum extension area of ​​the field of view is a range of 20m radiating outward from the current augmented reality display terminal (30), and the 3D simulated scene and digital twin are presented at a 1:0.5 ratio; in the third-level 3D mode, the maximum extension area of ​​the field of view is a range of 30m radiating outward from the current augmented reality display terminal (30), and the 3D simulated scene and digital twin are presented at a 1:0.25 ratio.

2. The underground personnel safety system for mines using digital twin and augmented reality technologies as described in claim 1, characterized in that, The data acquisition device (20) is distributed throughout the surface and underground of the mining area, and includes a tilt camera, a three-dimensional laser scanner, a total station, a GPS positioning device, a UWB positioning device, a gas sensor, and a ground pressure sensor. The server (10) stores the data collected by the data acquisition device (20) and the current location information of the data acquisition device (20), and updates the 3D virtual scene and the digital twin in real time according to the data.

3. The underground personnel safety system for mines using digital twin and augmented reality technologies according to claim 2, characterized in that, The augmented reality display terminal (30) also includes a visual tracking module and a positioning module that are respectively connected to the server (10). The visual tracking module is used to track the changes in the gaze of the physical entity wearing the augmented reality display terminal (30), and the positioning module is used to locate the current position information of the augmented reality display terminal (30). The server (10) retrieves the corresponding 3D virtual scene and digital twin based on the current position information transmitted by the augmented reality display terminal (30) and the scene and physical entity within the field of vision, and then constructs a 3D simulation scene and maps it onto the display screen to realize the real-time dynamic update of the visible and invisible three-dimensional model of the underground mine engineering from the perspective of the physical entity wearing the augmented reality display terminal (30).

4. The underground personnel safety system for mines using digital twin and augmented reality technologies according to claim 3, characterized in that, The server (10) extracts the positions of various physical entities and the distribution direction of the actual environment in the 3D virtual scene corresponding to the current three-dimensional model of the underground mine project, thereby constructing a 2D simulation scene corresponding to the 3D virtual scene; the server (10) stores the marking symbols of the several digital twins when mapped to the two-dimensional plane, and displays the marking symbols corresponding to the digital twins at the corresponding positions in the 2D simulation scene according to the information of each digital twin in the 3D simulation scene.

5. The underground personnel safety system for mines using digital twin and augmented reality technologies according to claim 4, characterized in that, The 3D simulation scene is a three-dimensional perspective model used to map the visible scenes and physical entities within the current line of sight, as well as the scenes and physical entities within the mapping range that are occluded by the visible scenes and physical entities. The 3D simulation scene displays the names and corresponding working information of each digital twin in the current scene in real time.

6. The underground personnel safety system for mines using digital twin and augmented reality technologies according to claim 5, characterized in that, The augmented reality display terminal (30) also includes an early warning module that is communicatively connected to the server (10). The server (10) performs risk assessment on the various information collected by the data acquisition device (20) within the current location range of the augmented reality display terminal (30) to generate early warning information for the augmented reality display terminal (30) within the current location range and transmits the early warning information to the early warning module. The early warning module is electrically connected to an alarm component installed on the augmented reality display terminal (30) to control the augmented reality display terminal (30) to overlay and visualize the early warning information on the 3D simulation scene, and to control the alarm component to emit an alarm sound or play the early warning information. The early warning information includes warnings for dangerous gases, unstable surrounding rocks, dimly lit dangerous environments, obscured personnel, and obscured large equipment.

7. The underground personnel safety system for mines using digital twin and augmented reality technologies according to claim 6, characterized in that, The 2D range adjustment module is electrically connected to the 2D range adjustment button on the augmented reality display terminal (30) to adjust the maximum extension area of ​​the current field of view of the augmented reality display terminal (30). The 2D range adjustment module includes a first-level 2D mode, a second-level 2D mode, and a third-level 2D mode.

8. The underground personnel safety system for mines using digital twin and augmented reality technologies according to claim 7, characterized in that, The 2D simulation scene in the first-level 2D mode is a simulation scene and digital twin radiating outward within a 10m range centered on the current augmented reality display terminal (30), and the simulation scene and digital twin are presented at a 1:1 ratio; The 2D simulation scene in the second-level 2D mode is a simulation scene and digital twin radiating outward within a 20m range centered on the current augmented reality display terminal (30), and the simulation scene and digital twin are presented at a ratio of 1:0.5; the 2D simulation scene in the third-level 2D mode is a simulation scene and digital twin radiating outward within a 30m range centered on the current augmented reality display terminal (30), and the simulation scene and digital twin are presented at a ratio of 1:0.25.

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