Three-dimensional simulation system, method and device for coal mine equipment

Abstract

The embodiment of the invention provides a three-dimensional simulation system, method and device for coal mine equipment, and the system comprises a fully-mechanized face information input module, a dynamic matching module, a data collection module, a multi-source data fusion processing module, a data transmission module, and a three-dimensional model scene obtaining module. The fully mechanized face information input module is connected with the dynamic matching module and the three-dimensional model scene acquisition module, and the dynamic matching module and the data acquisition module are connected with at least one controller data source to achieve information interaction. According to the coal mine equipment three-dimensional simulation solution provided by the embodiment of the invention, the more real three-dimensional model of the fully mechanized coal mining face is established, the entity controller and the virtual controller are combined, and multiple data sources of the controller and the server are read and processed at the same time, so that the simulation test environment can be quickly established at low cost, and the simulation test efficiency is improved. The reliability and stability of the result are ensured, and certain flexibility and expandability are provided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of three-dimensional simulation of coal mine equipment, and in particular, to a three-dimensional simulation system, method and device for coal mine equipment. Background Art

[0002] The existing three-dimensional simulation scheme for fully mechanized mining working faces generally includes the following aspects: environment construction and testing. At present, most of the tests on processes and twin technologies in China are deployed in the control center of the actual coal mine park, and a full set of tests are carried out without affecting normal production. For the simulation of processes and twin technologies in some foreign coal mines, a full set of real equipment is built on the ground, such as important coal mine equipment such as brackets, scrapers, and coal mining machines, and the software is connected for debugging and recording. The equipment and environment construction is very complicated; the data source of the current three-dimensional model is basically a single source, which is uniformly read from the server system supporting the fully mechanized mining working face, and the status and data of each component of the fully mechanized mining equipment are directly obtained through network communication methods such as WebSocket or Mqtt, and then processed and displayed on the three-dimensional program interface; three-dimensional data model construction. Most of the current technology software builds three-dimensional models based on pictures and video materials collected on site and measurement data, and then performs three-dimensional modeling. However, due to environmental restrictions, there are certain difficulties in measuring and shooting underground equipment, resulting in some errors in the model, and the accuracy and precision of the three-dimensional simulation are insufficient. In addition, there are also problems such as single data source, insufficient system scalability and modifiability in the existing technology. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the embodiments of the present disclosure provide a three-dimensional simulation system, method and device for coal mine equipment.

[0004] In order to solve the above-mentioned technical problems, an embodiment of the present disclosure provides, on the one hand, a three-dimensional simulation system for coal mine equipment, including a comprehensive mining face information input module, a dynamic proportioning module, a data acquisition module, a multi-source data fusion processing module, a data transmission module and a three-dimensional model scene acquisition module. The comprehensive mining face information input module is respectively connected to the dynamic proportioning module and the three-dimensional model scene acquisition module, and the dynamic proportioning module and the data acquisition module are respectively connected to at least one controller data source to realize information interaction.

[0005] In some embodiments, the comprehensive mining face information input module is used to collect basic information related to the comprehensive mining working face and transmit the basic information to the dynamic proportioning module and the three-dimensional model scene acquisition module respectively; the dynamic proportioning module is used to dynamically adjust the proportioning relationship between the physical controller and the virtual controller according to the actual needs of the system and environmental changes through the basic information; the data acquisition module is used to associate the controller data after dynamic proportioning with at least one of the controller data sources; the multi-source data fusion processing module is used to perform deep fusion processing on the data collected from the controller data source; the data transmission module is used to transmit the multi-source data after fusion processing based on the device ID.

[0006] In some embodiments, the controller data source includes a server, a virtual controller list, and a physical controller list, and the controllers recorded in the virtual controller list and the physical controller list are all stored on the server.

[0007] In some embodiments, the 3D model scene acquisition module is connected to a 3D model resource library to achieve information interaction.

[0008] In some embodiments, the three-dimensional model scene acquisition module includes at least a three-dimensional scene dynamic loading module, a three-dimensional device classification module and an interface registration module. The three-dimensional scene dynamic loading module is used to load the specified three-dimensional device model and scene resources from the three-dimensional model resource library through the basic information; the three-dimensional device classification module is used to classify different three-dimensional device models; the interface registration module is used to obtain the information output by the three-dimensional device classification module through the device control script, and register the data interface of the data source that can be obtained by the current device.

[0009] In some embodiments, the 3D model resource library includes a 3D model construction module and a 3D model scene resource candidate library, and the 3D device model information is input into the 3D model scene resource candidate library through the 3D model construction module.

[0010] In some embodiments, the three-dimensional simulation system also includes a three-dimensional device binding module, the three-dimensional device action module and a user interface interaction module. The three-dimensional device binding module is connected to the interface registration module and the data transmission module. The three-dimensional device binding module is used to realize the binding of the device ID and the three-dimensional device. The three-dimensional device action module is used to simulate and test the bound three-dimensional device.

[0011] An embodiment of the present disclosure provides a three-dimensional simulation method for coal mine equipment, including:

[0012] Dynamically adjust the ratio between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face;

[0013] Associating the dynamically proportioned data with at least one of the controller data sources and fusing the data collected from different controller data sources;

[0014] The fused data and 3D device data are bound and simulated and tested.

[0015] In some embodiments, the data collected from different controller data sources are fused and processed, including:

[0016] The device data collected from different controller data sources are preprocessed, and the preprocessing includes at least data cleaning, data standardization and data format conversion; the preprocessed device data is feature extracted and data fused based on a fusion algorithm; the device data after data fusion is post-processed, and the post-processing includes at least data verification, data persistence and result display.

[0017] An embodiment of the present disclosure provides a three-dimensional simulation device for coal mine equipment, comprising:

[0018] The ratio adjustment module is used to dynamically adjust the ratio between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face;

[0019] An association and fusion module, used to associate the data after dynamic proportioning with at least one of the controller data sources and to fuse the data collected from different controller data sources;

[0020] The binding processing module is used to bind the fused data and the three-dimensional device data and perform simulation and testing.

[0021] The disclosed embodiments can realize large-scale rotation as well as precise positioning and grasping of the valve body, realize automatic loading of the valve body, meet the requirements of automated mass production to improve work efficiency, avoid the phenomena of under-installation, missed installation and wrong installation caused by human participation, meet the requirements of precise positioning while ensuring the sealing quality of the hydraulic valve, avoid damage or scratches on the workpiece surface that affect the sealing, and improve product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of the layout of a three-dimensional simulation system for coal mine equipment provided by an embodiment of the present disclosure;

[0024] Figure 2 A schematic diagram of the operation of a three-dimensional simulation system for coal mine equipment provided by an embodiment of the present disclosure;

[0025] Figure 3 A schematic diagram of the steps of a three-dimensional simulation method for coal mine equipment provided in an embodiment of the present disclosure.

[0026] Reference numerals:

[0027] 1-Fully integrated mining face information input module; 2-Dynamic proportioning module; 3-Data acquisition module 4; Multi-source data fusion processing module; 5-Data transmission module; 6-3D scene dynamic loading module; 7-3D equipment classification module; 8-Interface registration module; 9-3D equipment binding module; 10-3D equipment action module; 100-3D model resource library; 101-3D model construction module; 102-3D model scene resource alternative library; 200-Controller data source; 201-Server; 202-Virtual controller list; 203-Entity controller list. DETAILED DESCRIPTION

[0028] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0029] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0031] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0032] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0033] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0034] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0035] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0036] The first embodiment of the present disclosure provides a three-dimensional simulation system for coal mine equipment, which is used to perform three-dimensional simulation of the actual working conditions of a fully mechanized mining face, such as Figure 1 As shown, it includes a fully mechanized mining face information input module 1, a dynamic proportioning module 2, a data acquisition module 3, a multi-source data fusion processing module 4, a data transmission module 5 and a three-dimensional model scene acquisition module. Among them, the fully mechanized mining face information input module 1 is connected to the dynamic proportioning module 2 and the three-dimensional model scene acquisition module respectively, and the data acquisition module 3, the multi-source data fusion processing module 4 and the data transmission module 5 are connected in sequence.

[0037] Furthermore, the dynamic proportioning module 2 and the data acquisition module 3 are respectively connected to at least one controller data source 200 to realize information interaction, and the three-dimensional model scene acquisition module is connected to the three-dimensional model resource library 100 to realize information interaction.

[0038] The controller data source 200 here includes a server 201 , a virtual controller list 202 , and a physical controller list 203 , wherein the controllers recorded in the virtual controller list 202 and the physical controller list 203 are all stored on the server 201 .

[0039] Specifically, the fully mechanized mining face information input module 1 is used to collect basic information related to the fully mechanized mining face, where the basic information at least includes basic situation information of the current fully mechanized mining face, equipment model and quantity information, coal seam situation information, etc., where the basic situation information is, for example, terrain information, and the equipment here generally refers to coal mining equipment such as supports, scrapers, and coal mining machines, and can also be physical controllers or virtual controllers. The fully mechanized mining face information input module 1 transmits the basic information to the dynamic proportioning module 2 and the three-dimensional model scene acquisition module respectively.

[0040] Furthermore, the dynamic matching module 2 is used to dynamically adjust the matching relationship between the physical controller and the virtual controller according to the actual needs of the system and environmental changes through the basic information provided by the comprehensive mining face information input module 1. The actual needs and environmental changes here can be reflected as changes in the system load. For example, when the system load is too large, the number of virtual controllers can be increased or the processing capacity of the virtual controllers can be improved to share the processing burden of the physical controllers; conversely, when the system load is low, the number of virtual controllers can be reduced or the processing capacity of the virtual controllers can be reduced to save energy and cost.

[0041] like Figure 2 As shown, after the dynamic matching of devices between the physical controller and the virtual controller is completed, the dynamic matching module 2 sends information to the controller data source 200 to determine the data source of each device in the physical controller and the virtual controller, for example, determining the virtual controller and the physical controller from the virtual controller list 202 and the physical controller list 203, so as to facilitate loading from the server 201.

[0042] The dynamic proportioning module 2 here is a key module of the three-dimensional simulation system. By connecting the physical controller and the virtual controller and dynamically allocating the number of devices, etc., it can make the environment more flexible and convenient to build, simplify the complexity of the test environment, reduce the test cost and difficulty and shorten the test cycle. It can quickly respond to the dynamic changes in demand during the coal mine production process, solve the problems of difficulty in building existing test scenarios, weak scalability, inaccurate data, lagging functions and high system update costs. By having a three-dimensional simulation method that can be dynamically proportioned in the physical controller and the virtual controller, the limitations and complexity of the test environment construction are reduced, the flexibility of the solution is improved and the cost of environment construction is reduced. In addition, it can also enable faster and more flexible system updates when it is necessary to add or modify equipment. When dealing with different working surface environments, the system can build and update faster and more flexibly and at a lower cost while ensuring that the software test results are true and reliable, providing high scalability.

[0043] Furthermore, the data acquisition module 3 is used to associate the dynamically proportioned device data with at least one of the controller data sources 200, wherein all the data in the controller data source 200 are strongly associated with the specific device through the unique identifier of the device, i.e., the device ID, so as to provide a basis for subsequent data processing. Figure 2As shown, the server-based devices 1, 2... obtain relevant data from the server 201, the server+virtual controller-based devices 11, 12... obtain relevant data from the virtual controller list 202, and the server+physical controller-based devices 21, 22... obtain relevant data from the physical controller list 203.

[0044] Furthermore, the multi-source data fusion processing module 4 is used to integrate, clean and convert the data collected from different controller data sources 200 and finally perform deep fusion processing to extract more comprehensive and accurate information. The multi-source data fusion processing here includes the following steps:

[0045] (1) Data preprocessing: Data preprocessing is the first step in multi-source data fusion processing. Its main purpose is to ensure the quality and consistency of data. It specifically includes the following steps: ① Data cleaning: remove outliers and missing values, and process duplicate data to ensure the accuracy and completeness of the data. Among them, for heterogeneous data sources, it is also necessary to mark their unique IDs for subsequent processing; ② Data standardization: unify the data to the same dimension and range for subsequent fusion processing; ③ Data format conversion: convert data from different sources and in different formats into a unified format for subsequent data fusion processing.

[0046] (2) Data fusion: Data fusion is the core part of the multi-source data fusion processing module. Its main purpose is to organically fuse the pre-processed data to extract more comprehensive and accurate information. It includes the following steps: ① Feature extraction: extract feature information from each piece of data. These feature information will serve as the basis for subsequent data fusion; ② Fusion algorithm selection: select a suitable fusion algorithm based on the data type and fusion target; ③ Algorithm implementation and optimization: implement it according to the specific algorithm and ensure the correctness and efficiency of the algorithm. At the same time, optimize the algorithm to improve the fusion performance and robustness.

[0047] (3) Data post-processing: The main purpose of data post-processing is to further process and analyze the fused data to generate more valuable information. It includes the following steps: ① Data verification: verify the fused data to ensure the accuracy and completeness of the data; ② Data persistence: store the fused data persistently for subsequent use and analysis; ③ Result display: display the fused data results through a graphical interface or other means so that users can intuitively understand the data distribution and patterns.

[0048] Here, multi-source data is fused and processed based on the three-dimensional model of the fully mechanized mining face. On the one hand, data is obtained from the server through network communication, and on the other hand, the physical and virtual controllers are connected through wired direct connection. This multi-source data acquisition method significantly improves the data transmission efficiency and enhances the fault tolerance of the system on the basis of ensuring data accuracy. More importantly, this method has shown extremely high reliability in practical applications and tests. Through direct connection with physical and virtual controllers, we can respond to changes in equipment status more quickly, simulate and test the operation of coal mine equipment more accurately, and thus provide strong technical support for safe production in coal mines.

[0049] The multi-source data fusion processing method greatly improves the reliability and fault tolerance of data while ensuring data transmission efficiency. Compared with the previous use of a single data source, the multi-source data fusion processing method greatly improves the operational stability and test efficiency in actual application scenarios.

[0050] Furthermore, the data transmission module 5 is used to use the multi-source data after deep fusion processing as the key index for data transmission according to the unique identifier specific to each device (i.e., the device's unique device ID), so as to ensure the accuracy of the data and the precise positioning of the target device.

[0051] Furthermore, the three-dimensional model scene acquisition module is connected to the three-dimensional model resource library 100 to realize information interaction, wherein the three-dimensional model resource library 100 here includes a three-dimensional model construction module 101 and a three-dimensional model scene resource candidate library 102, and the three-dimensional model construction module 101 is used to input complete and high-precision three-dimensional device model information into the three-dimensional model scene resource candidate library 102.

[0052] The three-dimensional scene construction module 101 is used to perform high-precision, proportional three-dimensional modeling of key equipment in the coal mining system based on the original audio and video data, high-resolution photos and a series of supporting drawings collected on site, using modeling software (such as 3DMax) as a technical platform, which includes the following steps:

[0053] (1) Based on the audio and video data collected on site, carefully observe and analyze the actual operating status, structural details and spatial relationships of the equipment. These dynamic and static information will serve as an important reference for subsequent modeling work. (2) Use high-definition photos to further capture the surface texture, color and subtle features of the equipment to ensure that the appearance of the equipment can be truly restored during the modeling process. At the same time, the supporting drawings will serve as the size benchmark for modeling to ensure that all equipment models are constructed according to the actual proportions, thereby ensuring the accuracy and practicality of the model. In addition, during the modeling process, special attention is paid to the connection relationship and movement characteristics between the equipment to ensure that in the subsequent virtual reality or simulation, these devices can work together according to the actual workflow.

[0054] Finally, the three-dimensional scene construction module 101 outputs complete, accurate and highly realistic three-dimensional equipment information of coal mine equipment so as to be input into the three-dimensional model scene resource candidate library 102 .

[0055] By building a more accurate 3D model, we can ensure the restoration of the physical structure and motion posture of coal mine equipment as much as possible, thus providing better basic support for the simulation of data and actions. Compared with the previous old modeling method, the equipment structure and screen performance are more restored to the real equipment, greatly improving the accuracy and precision of the simulation.

[0056] In this embodiment, the 3D model scene acquisition module at least includes a 3D scene dynamic loading module 6, a 3D device classification module 7 and an interface registration module 8, wherein:

[0057] Furthermore, the three-dimensional scene dynamic loading module 6 is used to obtain the basic information provided by the comprehensive mining face information input module 1, confirm the three-dimensional models and scenes that the current system needs to load, and load the specified three-dimensional equipment models and scene resources from the three-dimensional model resource library 100, thereby realizing dynamic loading of three-dimensional models and scenes to adapt to various working face environments and reduce development costs and testing complexity.

[0058] Furthermore, the three-dimensional device classification module 7 is used to classify the three-dimensional device models of different devices and divide the devices of the three-dimensional device models into different parts according to information such as device type and available data source, so as to facilitate subsequent binding and control of device control scripts.

[0059] Furthermore, the interface registration module 8 is used to obtain the information output by the three-dimensional device classification module 7 through the device control script, by registering the data interface of the data source that can be obtained by the current device, where the device ID is the unique device identifier, to ensure accurate and comprehensive acquisition of data.

[0060] The three-dimensional simulation system in this embodiment further includes a three-dimensional device binding module 9 and a three-dimensional device action module 10 . The three-dimensional device binding module 9 is connected to the interface registration module 8 and the data transmission module 5 .

[0061] The three-dimensional device binding module 9 is used for data interaction related to the three-dimensional device, especially for efficient retrieval and matching based on the unique device ID of the received device. Due to the strong association between the device ID and the device that has been established in the early stage, that is, each device number uniquely corresponds to a specific three-dimensional device, the system can quickly identify the target device and accurately transmit the fused data, which will be transmitted to the three-dimensional device binding module 9, which is used for data interaction related to the three-dimensional device.

[0062] The above transmission process not only relies on accurate device ID matching, but also relies on efficient and stable data transmission protocols and technologies. It ensures that data will not be lost or tampered with during transmission, while ensuring the speed and real-time nature of transmission to meet the needs of 3D devices for real-time data processing and response. In this way, accurate transmission and utilization of multi-source data can be achieved, providing comprehensive and accurate data support for 3D devices, thereby improving the operating efficiency, intelligence level and user experience of the equipment. At the same time, it also provides a reliable data foundation for subsequent data analysis and decision-making.

[0063] Furthermore, the 3D device action module 10 is used to simulate and test the bound 3D device, and for example includes a simulation module 11 and a test module 12. In addition, the simulation module 11 and the test module 12 are also connected to a user interface interaction module 13, through which the user can operate.

[0064] Compared with the prior art, the embodiments of the present disclosure have the following advantages:

[0065] In terms of assembly and environment construction, since most coal mine equipment is large in size and difficult to transport and assemble, there are many limitations in the supporting software development and testing process. For example, a special test site needs to be built, which increases the test cost and complexity. The assembly and transportation process also requires special transportation tools and solutions, which may extend the test cycle and affect the progress of software development. This method combines physical and virtual controllers to ensure that the software test results are true and reliable, providing greater solution flexibility and lower environment construction costs.

[0066] In terms of three-dimensional models, one of the important factors restricting the development of coal mine virtual reality systems is that the research on three-dimensional data models and data structures is still immature, which limits the accuracy and precision of simulation. This embodiment improves the accuracy and precision of simulation by performing high-precision three-dimensional modeling of different coal mine equipment on the fully mechanized mining working face in proportion, so as to better reflect the real state and performance of coal mine equipment.

[0067] In terms of data sources, the data sources of the current three-dimensional model are basically servers connected to the coal mine working face, and the data processed by the server is displayed on the interface after secondary processing. While reading the server data, the disclosed embodiment directly connects to the physical controller and virtual controller of the actual coal mine equipment, while ensuring data accuracy, it also improves the data transmission efficiency and fault tolerance, greatly improving the reliability of actual application and testing.

[0068] In terms of scalability, during the coal mine production process, the monitoring and control requirements of equipment and underground environment will change, such as adding equipment or sensor nodes or detecting signals. Traditional systems often need to be re-integrated or redeveloped, resulting in functional lag and high system update costs. The disclosed embodiment solves the problem of low scalability of existing measurement and control systems by introducing a method for constructing a dynamically proportioned physical and virtual controller. This allows faster and more flexible system updates when equipment needs to be added or modified.

[0069] The three-dimensional simulation solution for coal mine equipment based on physical controllers and virtual controllers provided by the embodiments of the present disclosure establishes a more realistic three-dimensional model of the comprehensive mining working face, combines physical controllers and virtual controllers, and simultaneously reads and processes multiple data sources of the controllers and servers. It can quickly and cheaply build a simulation test environment while ensuring the reliability and stability of the results and providing certain flexibility and scalability.

[0070] The second embodiment of the present disclosure provides a three-dimensional simulation method for coal mine equipment, which is applicable to the three-dimensional simulation system for coal mine equipment in the first embodiment. Figure 3 As shown, it includes:

[0071] S101, dynamically adjusting the ratio between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face;

[0072] S102, associating the data after dynamic matching with at least one of the controller data sources and fusing the data collected from different controller data sources;

[0073] S103, binding the fused data and the three-dimensional device data and performing simulation and testing.

[0074] Furthermore, the data collected from different controller data sources are fused and processed, including:

[0075] The device data collected from different controller data sources are preprocessed, and the preprocessing includes at least data cleaning, data standardization and data format conversion; the preprocessed device data is feature extracted and data fused based on a fusion algorithm; the device data after data fusion is post-processed, and the post-processing includes at least data verification, data persistence and result display.

[0076] The three-dimensional simulation solution for coal mine equipment based on physical controllers and virtual controllers provided by the embodiments of the present disclosure establishes a more realistic three-dimensional model of the comprehensive mining working face, combines physical controllers and virtual controllers, and simultaneously reads and processes multiple data sources of the controllers and servers. It can quickly and cheaply build a simulation test environment while ensuring the reliability and stability of the results and providing certain flexibility and scalability.

[0077] Based on the same inventive concept, the third embodiment of the present disclosure provides a three-dimensional simulation device for coal mine equipment, which may be, for example, a control device in a three-dimensional simulation system, including a mutually coupled ratio adjustment module, an association fusion module, and a simulation test module, wherein:

[0078] The ratio adjustment module is used to dynamically adjust the ratio relationship between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face;

[0079] The association and fusion module is used to associate the data after dynamic proportioning with at least one of the controller data sources and to fuse the data collected from different controller data sources;

[0080] The simulation test module is used to bind the fused data and the three-dimensional device data and perform simulation and testing.

[0081] The three-dimensional simulation solution for coal mine equipment based on physical controllers and virtual controllers provided by the embodiments of the present disclosure establishes a more realistic three-dimensional model of the comprehensive mining working face, combines physical controllers and virtual controllers, and simultaneously reads and processes multiple data sources of the controllers and servers. It can quickly and cheaply build a simulation test environment while ensuring the reliability and stability of the results and providing certain flexibility and scalability.

[0082] A fourth embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:

[0083] S11, dynamically adjust the ratio between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face;

[0084] S12, associating the data after dynamic proportioning with at least one of the controller data sources and fusing the data collected from different controller data sources;

[0085] S13, binding the fused data and the three-dimensional device data and performing simulation and testing.

[0086] The storage medium of the present disclosure stores a computer program, which can implement the methods in different implementation modes of the above-mentioned second embodiment when executed by a processor.

[0087] The three-dimensional simulation solution for coal mine equipment based on physical controllers and virtual controllers provided by the embodiments of the present disclosure establishes a more realistic three-dimensional model of the comprehensive mining working face, combines physical controllers and virtual controllers, and simultaneously reads and processes multiple data sources of the controllers and servers. It can quickly and cheaply build a simulation test environment while ensuring the reliability and stability of the results and providing certain flexibility and scalability.

[0088] A fifth embodiment of the present disclosure provides an electronic device, the electronic device comprising at least a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program on the memory, specifically including:

[0089] S21, dynamically adjust the matching relationship between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face;

[0090] S22, associating the data after dynamic proportioning with at least one of the controller data sources and fusing the data collected from different controller data sources;

[0091] S23, binding the fused data and the three-dimensional device data and performing simulation and testing.

[0092] The memory of the electronic device of the present disclosure stores a computer program, and the processor implements the methods of other implementations in the above-mentioned second embodiment when executing the computer program in the memory.

[0093] The three-dimensional simulation solution for coal mine equipment based on physical controllers and virtual controllers provided by the embodiments of the present disclosure establishes a more realistic three-dimensional model of the comprehensive mining working face, combines physical controllers and virtual controllers, and simultaneously reads and processes multiple data sources of the controllers and servers. It can quickly and cheaply build a simulation test environment while ensuring the reliability and stability of the results and providing certain flexibility and scalability.

[0094] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0095] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0097] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0100] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiment when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0101] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0102] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A three-dimensional simulation system for coal mine equipment, characterized in that: It includes a comprehensive mining face information input module, a dynamic proportioning module, a data acquisition module, a multi-source data fusion processing module, a data transmission module and a three-dimensional model scene acquisition module. The comprehensive mining face information input module is respectively connected to the dynamic proportioning module and the three-dimensional model scene acquisition module, and the dynamic proportioning module and the data acquisition module are respectively connected to at least one controller data source to realize information interaction.

2. The three-dimensional simulation system according to claim 1, characterized in that: The comprehensive mining face information input module is used to collect basic information related to the comprehensive mining working face and transmit the basic information to the dynamic proportioning module and the three-dimensional model scene acquisition module respectively; the dynamic proportioning module is used to dynamically adjust the proportioning relationship between the physical controller and the virtual controller according to the actual needs of the system and environmental changes through the basic information; the data acquisition module is used to associate the controller data after dynamic proportioning with at least one of the controller data sources; the multi-source data fusion processing module is used to perform deep fusion processing on the data collected from the controller data source; the data transmission module is used to transmit the multi-source data after fusion processing based on the device ID.

3. The three-dimensional simulation system according to claim 2, characterized in that: The controller data source includes a server, a virtual controller list and a physical controller list, and the controllers recorded in the virtual controller list and the physical controller list are all stored on the server.

4. The three-dimensional simulation system according to claim 2, characterized in that: The three-dimensional model scene acquisition module is connected with the three-dimensional model resource library to realize information interaction.

5. The three-dimensional simulation system according to claim 4, characterized in that: The three-dimensional model scene acquisition module at least includes a three-dimensional scene dynamic loading module, a three-dimensional device classification module and an interface registration module. The three-dimensional scene dynamic loading module is used to load the specified three-dimensional device model and scene resources from the three-dimensional model resource library through the basic information; the three-dimensional device classification module is used to classify different three-dimensional device models; the interface registration module is used to obtain the information output by the three-dimensional device classification module through the device control script, and register the data interface of the data source that can be obtained by the current device.

6. The three-dimensional simulation system according to claim 5, characterized in that: The 3D model resource library includes a 3D model construction module and a 3D model scene resource candidate library, and the 3D device model information is input into the 3D model scene resource candidate library through the 3D model construction module.

7. The three-dimensional simulation system according to claim 1, characterized in that: The three-dimensional simulation system also includes a three-dimensional device binding module, a three-dimensional device action module and a user interface interaction module. The three-dimensional device binding module is connected to the interface registration module and the data transmission module. The three-dimensional device binding module is used to realize the binding of the device ID and the three-dimensional device. The three-dimensional device action module is used to simulate and test the bound three-dimensional device.

8. A three-dimensional simulation method for coal mine equipment, characterized in that: include: Dynamically adjust the ratio between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face; Associating the dynamically proportioned data with at least one of the controller data sources and fusing the data collected from different controller data sources; The fused data and 3D device data are bound and simulated and tested.

9. The three-dimensional simulation method according to claim 8, characterized in that: The data collected from different controller data sources are fused and processed, including: The device data collected from different controller data sources are preprocessed, and the preprocessing includes at least data cleaning, data standardization and data format conversion; the preprocessed device data is feature extracted and data fused based on a fusion algorithm; the device data after data fusion is post-processed, and the post-processing includes at least data verification, data persistence and result display.

10. A three-dimensional simulation device for coal mine equipment, characterized in that: include: The ratio adjustment module is used to dynamically adjust the ratio relationship between the physical controller and the virtual controller based on the basic information of the fully mechanized mining face; An association and fusion module, used to associate the data after dynamic proportioning with at least one of the controller data sources and to fuse the data collected from different controller data sources; The binding processing module is used to bind the fused data and the three-dimensional device data and perform simulation and testing.

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