A method, system and device for monitoring the operating pose of a mining equipment

Abstract

The application discloses a kind of mine equipment operating pose monitoring method, system and equipment, method includes: obtaining the three-dimensional model of pre-constructed mine equipment;Collect the operating pose data of mine equipment, operating pose data is the displacement data and deformation data of each component of mine equipment;According to operating pose data and three-dimensional model, determine the instantaneous position set of each component;According to instantaneous position set, generate the instantaneous three-dimensional model of mine equipment.Solve the problem that traditional video monitoring system with camera as core cannot monitor equipment pose details in mine equipment monitoring field due to poor environment, etc..Through the scene application of three-dimensional visualization, form self-controllable three-dimensional visualization virtual engine, support the three-dimensional visualization monitoring digital twin scene application development of each industrial equipment in mine, reduce the work difficulty of mine production monitoring staff, help mine information intercommunication, fusion application, help mine to reduce cost and increase efficiency.

Description

Technical Field

[0001] This application relates to the field of equipment testing, specifically to a method, system, and medium for monitoring the operating posture of mining equipment. Background Technology

[0002] Mining environments are harsh, and the operating conditions of mining equipment are complex. Traditional monitoring methods based on cameras and other equipment are affected by factors such as dust, light, and humidity in the mine. At the same time, current equipment monitoring applications in mines are mostly presented in the form of simple numbers, two-dimensional charts, or pseudo-three-dimensional graphics, which is not conducive to production monitoring personnel's intuitive observation of the operating details of mining equipment. The monitoring effect cannot meet the needs of safe production in mines.

[0003] Therefore, there is an urgent need for a method to monitor the operating posture of mining equipment. Summary of the Invention

[0004] To address the aforementioned problems, this application proposes a method, system, and equipment for monitoring the operating posture of mining equipment, including:

[0005] A pre-constructed 3D model of the mining equipment is obtained; the operating posture data of the mining equipment is collected, which includes displacement and deformation data of each component of the mining equipment; based on the operating posture data and the 3D model, the instantaneous position set of each component is determined; based on the instantaneous position set, an instantaneous 3D model of the mining equipment is generated.

[0006] In one example, generating the instantaneous 3D model of the mining equipment based on the instantaneous position set specifically includes: abstracting the outlines of each component of the mining equipment into polygons based on the instantaneous position set; decomposing the polygons into several triangles, and performing curve reconstruction on the polygons using the several triangles to obtain a curved outline; and performing raster and texture rendering on the several triangles and the curved outline to obtain the instantaneous 3D model of the mining equipment.

[0007] In one example, the method further includes: determining the preset shortest side length and average side length of the polygon, and determining the generation speed of the instantaneous 3D model; if the generation speed is higher than a first preset threshold, then slowing down the generation speed of the instantaneous 3D model by reducing the shortest side length and the average side length; if the generation speed is lower than a second preset threshold, then increasing the generation speed of the instantaneous 3D model by increasing the shortest side length and the average side length; if there is a case of non-convergence in the curve restoration process, then using the shortest side of the polygon as the initial value of the minimum radius of curvature of the curve contour in the 3D model, and using a bisection method to reduce the radius of curvature of the curve contour to ensure that the curve contour restoration process converges.

[0008] In one example, after acquiring the operating pose data of the mining equipment, the method further includes: determining the industrial protocol corresponding to each mining equipment, and converting the industrial protocol into a preset detection data acquisition standard protocol; and converting the operating pose data under different industrial protocols into operating pose data in a unified format according to the detection data acquisition standard protocol.

[0009] In one example, after acquiring the operating pose data of the mining equipment, the method further includes: determining the structural type corresponding to each component; and setting pose change boundary conditions corresponding to each component of the mining equipment according to the structural type, wherein the boundary conditions are used to limit the displacement threshold corresponding to each component of the mining equipment.

[0010] In one example, determining the pose change boundary conditions corresponding to each component based on the structure type specifically includes: determining the connection nodes between the components based on the structure type; determining a first node and a second node among the connection nodes based on the structure type, wherein the second node will displace with the displacement of the first node; and determining the pose change boundary conditions corresponding to each component based on the pose change boundary conditions of the first node.

[0011] In one example, after generating the instantaneous three-dimensional model of the mining equipment, the method further includes: collecting the next moment's operating pose data of the mining equipment at a preset data acquisition frequency; and generating the next moment's instantaneous three-dimensional model based on the current moment's instantaneous three-dimensional model and the next moment's operating pose data.

[0012] In one example, the operational pose data comes from the mining equipment control system and sensors, including displacement sensors, angle sensors, velocity sensors, and acceleration sensors.

[0013] This application also provides a monitoring system for the operating posture of mining equipment, comprising: a 3D model import module for acquiring a pre-constructed 3D model of the mining equipment; an operating data acquisition module for acquiring operating posture data of the mining equipment, wherein the operating posture data is displacement data and deformation data of each component of the mining equipment; an operating posture calculation module for determining the instantaneous position set of each component based on the operating posture data and the 3D model; and a model rendering engine module for generating an instantaneous 3D model of the mining equipment based on the instantaneous position set.

[0014] This application also provides a monitoring device for the operating posture of mining equipment, characterized in that it includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform: acquiring a pre-constructed three-dimensional model of the mining equipment; collecting operating posture data of the mining equipment, the operating posture data being displacement data and deformation data of each component of the mining equipment; determining the instantaneous position set of each component based on the operating posture data and the three-dimensional model; and generating an instantaneous three-dimensional model of the mining equipment based on the instantaneous position set.

[0015] The method proposed in this application can solve the problem that traditional camera-based video monitoring systems cannot monitor equipment position and pose details in the field of mining equipment monitoring due to harsh environments. Through the application of 3D visualization scenarios, an independent and controllable 3D visualization virtual engine is formed to support the development of digital twin scenario applications for 3D visualization monitoring of various industrial equipment in mines, reduce the workload of mine production monitoring personnel, facilitate information exchange and integrated applications in mines, and help mines reduce costs and increase efficiency. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a flowchart illustrating a method for monitoring the operating posture of mining equipment according to an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the structure of a monitoring system for the operating posture of mining equipment according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the structure of a monitoring device for the operating posture of mining equipment in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0022] Figure 1 This is a flowchart illustrating a method for monitoring the operating posture of mining equipment, provided in one or more embodiments of this specification. Based on the Yunzhou Industrial Internet platform, this method can be applied to various mining equipment. The process can be executed by computing devices in the relevant field, and certain input parameters or intermediate results in the process can be manually adjusted to help improve accuracy.

[0023] The analysis method involved in the embodiments of this application can be implemented by a terminal device or a server, and this application does not impose any special limitations on it. For ease of understanding and description, the following embodiments are all described in detail using a server as an example.

[0024] It should be noted that the server can be a single device or a system composed of multiple devices, i.e., a distributed server. This application does not make any specific limitations on this.

[0025] like Figure 1 As shown, this application provides a method comprising:

[0026] S101: Obtain a pre-built 3D model of the mining equipment.

[0027] To facilitate users in quickly building virtual scenes of mining equipment operation, an external model import interface is provided. The required 3D equipment models need to be built using third-party modeling software and then imported via the interface in standard intermediate file formats such as .3ds, .STL, and .STEP. After import, the model is displayed directly in 3D on the Yunzhou platform's interactive interface through a browser. The system also supports storing imported models, allowing users to build a 3D model library and helping non-professional 3D modelers quickly build 3D scenes. In other words, the aforementioned 3D models can be pre-stored in the computer's storage device, and the computer can retrieve the 3D model from the storage device when needed. Of course, the computer can also obtain the 3D model from other external devices. For example, the 3D model can be stored in the cloud, and the computer can retrieve the 3D model from the cloud when needed. This embodiment does not limit the method of obtaining the 3D model.

[0028] S102: Collect the operating posture data of the mining equipment, wherein the operating posture data is the displacement data and deformation data of each component of the mining equipment.

[0029] The motion of each component of a mining equipment can be broken down into basic translational and rotational motions in three-dimensional space. The cooperative motion between these components follows the kinematic principles of mechanical components, including the motion principles of classic structures such as multi-links, gears, belts, and cams. Therefore, it is necessary to collect the operational posture data of the mining equipment, which includes the displacement and deformation data of each component.

[0030] In one embodiment, after acquiring the operational posture data of the mining equipment, it is also necessary to determine the corresponding industrial protocol for each piece of mining equipment and convert the industrial protocol into a preset detection data acquisition standard protocol. Based on the industrial protocols supported by typical mining equipment, a protocol conversion program is developed to acquire operational posture data of different mining equipment and convert the different industrial protocols into a unified preset detection data acquisition standard protocol, achieving protocol unification and data acquisition. Typical mining equipment industrial protocols involve various fieldbus and industrial Ethernet protocols. For fieldbuses, these specifically include FF fieldbus, Profibus fieldbus, CAN fieldbus, LonWorks fieldbus, WorldFIP fieldbus, HART fieldbus, Interbus fieldbus, and SwiftNET fieldbus. For industrial Ethernet, these specifically include Modbus TCP / IP, ProfiNet, and Ethernet / IP.

[0031] Furthermore, based on the microservice architecture of the Yunzhou Industrial Internet Platform PaaS layer, the conversion programs for the above industrial protocols can be encapsulated into standard microservices, and the registration of each protocol conversion program microservice in the Yunzhou Platform PaaS layer microservice management center can be completed. Leveraging the openness and scalability of the Yunzhou Industrial Internet Platform PaaS layer, the registration interface for industrial protocol conversion microservices on the Yunzhou Platform is made available to the public, facilitating users to quickly develop protocol conversion program microservices for converting other industrial protocols to standard protocols.

[0032] In one embodiment, the operational pose data comes from the mining equipment control system and sensors, including displacement sensors, angle sensors, velocity sensors, and acceleration sensors.

[0033] S103: Determine the instantaneous position set of each component based on the running pose data and the three-dimensional model.

[0034] Since the motion of each component of mining equipment can be broken down into basic translational and rotational motions in three-dimensional space, and the cooperative motion between these components follows the kinematic principles of mechanical components, including the motion principles of classic structures such as multi-links, gears, belts, and cams, the instantaneous position set of each component can be determined by running pose data and a three-dimensional model. This instantaneous position set refers to the current position of each component.

[0035] It should be noted that, based on the Yunzhou Industrial Internet platform, the kinematics calculation program for mechanical structures exists in the form of code blocks. Each code block consists of five parts: an independent variable assignment interface, a dependent variable assignment interface, a code block connection front end, a code block connection back end, and the program body. The code block is displayed graphically, with an overall rectangular shape. Each side of the rectangle has one or more triangles or rectangles. The triangles on the left side represent the code block connection front end, the triangles on the right side represent the code block connection back end, the triangles on the top side represent the independent variable assignment interface, and the triangles on the bottom side represent the dependent variable assignment interface. Input parameters are set through the independent variable assignment interface, and output parameters are obtained through the dependent variable assignment interface. Using mouse operations, multiple code blocks can be connected by lines to form the code block connection front end, code block connection back end, independent variable assignment interface, and dependent variable assignment interface, enabling combined calls to the kinematics calculation program for mechanical structures.

[0036] In one embodiment, the aforementioned basic motion and classical structural motion principles can be programmed into computers based on the PaaS layer microservice architecture of the Yunzhou Industrial Internet Platform. The programs are then encapsulated into microservices, and each kinematic calculation program microservice is registered in the Yunzhou Platform PaaS layer microservice management center. Leveraging the openness and scalability of the Yunzhou Industrial Internet Platform PaaS layer, the platform's registration interface for structural kinematic calculation program microservices is made available to the public, facilitating users of the mining equipment operation posture 3D visualization monitoring APP to quickly develop other mechanical structure kinematic calculation program microservices.

[0037] In one embodiment, after collecting the operational pose data of the mining equipment, it is also necessary to determine the structural type corresponding to each component. Then, based on the structural type, pose change boundary conditions are set for each component.

[0038] Furthermore, when determining the pose change boundary conditions for each component based on the structure type, the connection nodes between the components can be determined first, and then the first and second nodes among the connection nodes can be determined based on the structure type. The second node will displace with the displacement of the first node. Based on the pose change boundary conditions of the first node, the pose change boundary conditions for each component can be determined. Specifically, the instantaneous position calculation of each component's motion can be simplified by defining parent-child relationships, enabling the virtual prototype of the mining equipment to be driven by displacement and pose parameters. By having a parent node Frame containing a child node Frame, and a child node Frame containing another child node Frame, there is a parent-child action inheritance relationship between nodes (when the parent node moves, the child node moves accordingly, but when the child node moves, the parent node remains unchanged). By reasonably defining the parent-child relationships of equipment components according to the relationships between the various parts of the mining equipment and the requirements of computational convenience, the setting of pose change boundary conditions for the mining equipment model can be simplified.

[0039] S104: Generate an instantaneous three-dimensional model of the mining equipment based on the instantaneous position set.

[0040] Utilizing the 3D real-time engine (IDPEngine) technology, data information, business processes, and working status are displayed in graphical or image form, rendered in real time, to reproduce the operating posture of mining equipment to the greatest extent possible. Through an algorithm set, the mining equipment is abstracted into polygons and various curves, and the final image is calculated and output from the computing resources of the Yunzhou Industrial Internet Platform.

[0041] In one embodiment, when generating an instantaneous 3D model of mining equipment based on an instantaneous position set, the first step is to approximate the graphic structure of the mining equipment using polygons based on the instantaneous position set. Then, the polygons are decomposed into several triangles, and the polygons are restored to curves using these triangles to obtain curve contours. Finally, raster and texture rendering are performed on the triangles and curve contours to obtain the instantaneous 3D model of the mining equipment.

[0042] Furthermore, the rendering algorithm's accuracy is adjustable. Rendering efficiency can be adjusted by modifying the shortest and average side lengths of the polygon. Shorter shortest and average side lengths allow for optimal pose reconstruction of the mining equipment, fully showcasing its pose details. Longer shortest and average side lengths enable rapid rendering of the mining equipment, meeting the real-time requirements of mining equipment operation monitoring. During the reconstruction of the polygon's outer contour into a curved contour, calculation non-convergence may occur. To address this issue, this invention proposes a polygon contour reconstruction fact-monitoring algorithm. Using the shortest side of the polygon as the initial value of the minimum radius of curvature of the curved contour in the 3D model, a bisection method is used to reduce the radius of curvature of the curved contour, ensuring convergence of the contour reconstruction process. Simultaneously, the reconstruction progress is monitored in real-time during the reconstruction calculation. In case of anomalies, the curve resolution value is automatically adjusted, achieving optimal reconstruction from polygon to curve while ensuring convergence.

[0043] In one embodiment, after generating the instantaneous 3D model of the mining equipment at the current moment, when generating the instantaneous 3D model of the mining equipment at the next moment, it is necessary to collect the operating pose data of the mining equipment at the next moment at a preset data acquisition frequency, and then generate the instantaneous 3D model of the next moment based on the instantaneous 3D model at the current moment and the operating pose data at the next moment.

[0044] like Figure 2 As shown in the figure, this application embodiment also provides a monitoring system for the operating posture of mining equipment, including:

[0045] The 3D model import module 201 obtains a pre-built 3D model of the mining equipment.

[0046] The data acquisition module 202 is used to collect the operating posture data of the mining equipment, which includes displacement and deformation data of each component of the mining equipment.

[0047] The pose calculation module 203 determines the instantaneous position set of each component based on the pose data and the three-dimensional model.

[0048] The model rendering engine module 204 generates an instantaneous 3D model of the mining equipment based on the instantaneous position set.

[0049] like Figure 3 As shown in the illustration, this application also provides a monitoring device for the operating posture of mining equipment, comprising:

[0050] At least one processor; and,

[0051] A memory communicatively connected to the at least one processor; wherein,

[0052] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0053] A pre-constructed 3D model of the mining equipment is obtained; the operating posture data of the mining equipment is collected, which includes displacement and deformation data of each component of the mining equipment; based on the operating posture data and the 3D model, the instantaneous position set of each component is determined; based on the instantaneous position set, an instantaneous 3D model of the mining equipment is generated.

[0054] This application embodiment also provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0055] A pre-constructed 3D model of the mining equipment is obtained; the operating posture data of the mining equipment is collected, which includes displacement and deformation data of each component of the mining equipment; based on the operating posture data and the 3D model, the instantaneous position set of each component is determined; based on the instantaneous position set, an instantaneous 3D model of the mining equipment is generated.

[0056] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and medium embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the description of the method embodiments.

[0057] The devices and media provided in this application are one-to-one with the methods. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0058] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0060] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0061] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0062] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0063] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0064] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0065] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for monitoring the operating posture of mining equipment, characterized in that, include: Obtain a pre-built 3D model of the mining equipment; Collect the operating posture data of the mining equipment, wherein the operating posture data is the displacement data and deformation data of each component of the mining equipment; Based on the operational pose data and the three-dimensional model, determine the instantaneous position set of each component; Based on the instantaneous position set, generate an instantaneous three-dimensional model of the mining equipment; The step of generating an instantaneous three-dimensional model of the mining equipment based on the instantaneous position set specifically includes: Based on the instantaneous position set, the outlines of each component of the mining equipment are abstracted into polygons; The polygon is decomposed into several triangles, and the polygon is restored as a curve using the triangles to obtain the curve outline. Raster and texture rendering are performed on the aforementioned triangles and the curved contours to obtain an instantaneous three-dimensional model of the mining equipment; The method further includes: Determine the preset shortest side length and average side length of the polygon, and determine the generation speed of the instantaneous 3D model; If the generation speed is higher than a first preset threshold, the generation speed of the instantaneous 3D model is slowed down by reducing the shortest side length and the average side length. If the generation speed is lower than the second preset threshold, the generation speed of the instantaneous 3D model is increased by expanding the shortest side length and the average side length. If there is a case of non-convergence in the curve restoration process, the shortest side of the polygon is taken as the initial value of the minimum radius of curvature of the curve profile in the three-dimensional model, and the radius of curvature of the curve profile is reduced by the bisection method to ensure that the curve profile restoration process converges.

2. The method according to claim 1, characterized in that, After collecting the operational posture data of the mining equipment, the method further includes: Determine the industrial protocol corresponding to each mining equipment, and convert the industrial protocol into a preset detection data acquisition standard protocol; According to the aforementioned detection data acquisition standard protocol, the operational pose data under different industrial protocols are converted into operational pose data in a unified format.

3. The method according to claim 1, characterized in that, After collecting the operational posture data of the mining equipment, the method further includes: Determine the structural type corresponding to each of the components; Based on the structure type, pose change boundary conditions are set for each component of the mining equipment, and the boundary conditions are used to limit the displacement thresholds for each component of the mining equipment.

4. The method according to claim 3, characterized in that, The step of determining the pose change boundary conditions corresponding to each component based on the structure type specifically includes: Determine the connection nodes between the components based on the structure type; The first node and the second node in the connection nodes are determined according to the structure type, wherein the second node will be displaced as the first node is displaced; Based on the pose change boundary conditions of the first node, determine the pose change boundary conditions corresponding to each component.

5. The method according to claim 1, characterized in that, After generating the instantaneous three-dimensional model of the mining equipment, the method further includes: At a preset data acquisition frequency, the operating posture data of the mining equipment at the next moment is collected; Based on the instantaneous 3D model at the current moment and the operating pose data at the next moment, generate the instantaneous 3D model at the next moment.

6. The method according to claim 1, characterized in that, The operational posture data comes from the mining equipment control system and sensors, including displacement sensors, angle sensors, velocity sensors, and acceleration sensors.

7. A monitoring system for the operating posture of mining equipment, characterized in that, include: The 3D model import module allows you to obtain pre-built 3D models of mining equipment. The data acquisition module is run to collect the operating posture data of the mining equipment, which includes displacement and deformation data of each component of the mining equipment. The pose calculation module is run to determine the instantaneous position set of each component based on the running pose data and the three-dimensional model. The model rendering engine module generates an instantaneous 3D model of the mining equipment based on the instantaneous position set. The step of generating an instantaneous three-dimensional model of the mining equipment based on the instantaneous position set specifically includes: Based on the instantaneous position set, the outlines of each component of the mining equipment are abstracted into polygons; The polygon is decomposed into several triangles, and the polygon is restored as a curve using the triangles to obtain the curve outline. Raster and texture rendering are performed on the aforementioned triangles and the curved contours to obtain an instantaneous three-dimensional model of the mining equipment; Determine the preset shortest side length and average side length of the polygon, and determine the generation speed of the instantaneous 3D model; If the generation speed is higher than a first preset threshold, the generation speed of the instantaneous 3D model is slowed down by reducing the shortest side length and the average side length. If the generation speed is lower than the second preset threshold, the generation speed of the instantaneous 3D model is increased by expanding the shortest side length and the average side length. If there is a case of non-convergence in the curve restoration process, the shortest side of the polygon is taken as the initial value of the minimum radius of curvature of the curve profile in the three-dimensional model, and the radius of curvature of the curve profile is reduced by the bisection method to ensure that the curve profile restoration process converges.

8. A monitoring device for the operating posture of mining equipment, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform the steps of the method as claimed in any one of claims 1-6.

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