Coal mining data simulation playback method, device, equipment and medium

Abstract

The invention provides a coal mining data simulation playback method, apparatus and device, and a medium. The method comprises the steps of obtaining snapshot data of a playback period where a playback point is located and frame data between the snapshot point and the playback point; the playback period represents that the coal face executes a coal cutting process once; the snapshot data represents position information and attitude information of each device on the coal face; collecting snapshot data corresponding to the next coal cutting process when one coal cutting process is finished; the frame data represents position information and attitude information which are changed when equipment executes actions in the coal face; and generating three-dimensional simulation scene data for playback according to the snapshot data and the frame data. According to the invention, under the application of an unmanned intelligent mining technology, on the premise that a worker cannot monitor the coal mining process in real time, simulation scene display can be carried out on the required coal cutting process so as to check whether a coal cutting fault occurs or not.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine fully mechanized mining, and in particular to a method, device, equipment and medium for simulating and replaying coal mining data. Background Art

[0002] The coal mine is mined by using comprehensive mechanical mining technology. The comprehensive mechanical mining technology is a long-lasting mining process in which the coal layer is mined repeatedly by the comprehensive mining face.

[0003] The use of unmanned intelligent mining technology makes it impossible for staff to monitor the coal mining process in real time, making it difficult to check whether there are any coal cutting failures. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a method, device, equipment and medium for simulating and replaying coal mining data.

[0005] The present invention provides a coal mining data simulation playback method, comprising: Acquire the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point; the playback cycle represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device in the coal mining face; at the end of a coal cutting process, collect the snapshot data corresponding to the next coal cutting process; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; Three-dimensional simulation scene data is generated according to the snapshot data and the frame data for playback.

[0006] According to a coal mining data simulation playback method provided by the present invention, generating three-dimensional simulation scene data according to the snapshot data and the frame data for playback includes: Based on the timestamp corresponding to the frame data, the interval duration of adjacent frame data from the snapshot point to the playback point is obtained, and the snapshot data and the frame data are sequentially merged according to the interval duration to generate merged data; based on the merged data, scene simulation is performed to generate three-dimensional simulation scene data and play it back.

[0007] According to a coal mining data simulation playback method provided by the present invention, the method further includes: Acquire incremental data, wherein the incremental data represents frame data after the playback point; Continue to generate three-dimensional simulation scene data for playback according to the snapshot data and the incremental data; After determining that the incremental data within the playback period where the playback point is located is acquired, it is determined whether to continue playback or end playback.

[0008] According to a coal mining data simulation playback method provided by the present invention, the step of obtaining snapshot data of a playback period where a playback point is located and frame data from the snapshot point to the playback point includes: Determine the frame data with abnormalities in all playback cycles; If there is an abnormal frame data in a playback cycle, the timestamp of the abnormal frame data is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point are obtained; If there are two or more abnormal frame data in a playback cycle, the timestamp of the abnormal frame data with a later time is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data between the snapshot point and the playback point are obtained.

[0009] According to a coal mining data simulation playback method provided by the present invention, the method further includes: If the interval between the playback point and the end point of the playback period where the playback point is located is less than the preset duration, the snapshot data of the playback period where the playback point is located and all frame data in the playback period where the playback point is located are obtained.

[0010] According to a coal mining data simulation playback method provided by the present invention, the method further includes: When receiving a start signal of the coal cutting process at the working face, a data snapshot operation is performed, a playback cycle code is generated, and snapshot data corresponding to the playback cycle code is stored; During the coal cutting process at the working face, after receiving the execution action instruction of the device, the frame data and recording timestamp corresponding to the execution action instruction are obtained; The frame data are stored in sequence based on the timestamps, and a corresponding relationship is established with the playback period code.

[0011] According to a coal mining data simulation playback method provided by the present invention, the step of determining the abnormal frame data in all playback cycles includes: If it is determined that the change value of the position information and the change value of the posture information in a frame of data do not meet the preset conditions, then the frame data is stored abnormally.

[0012] The present invention also provides a coal mining data simulation playback device, comprising: An acquisition module is used to acquire the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point; the playback cycle represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device of the coal mining face; at the end of a coal cutting process, the snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; A processing module is used to generate three-dimensional simulation scene data for playback according to the snapshot data and the frame data.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the above-mentioned coal mining data simulation playback methods is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned coal mining data simulation playback methods is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned coal mining data simulation playback methods.

[0016] The present invention provides a coal mining data simulation playback method, device, equipment and medium, which obtains snapshot data of the playback period where the playback point is located and frame data from the snapshot point to the playback point, generates three-dimensional simulation scene data for playback based on the snapshot data and frame data. Under the application of unmanned intelligent mining technology, under the premise that the coal mining process cannot be monitored by the staff in real time, it can realize the simulation scene display of the required coal cutting process to check whether there is any coal cutting fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of the coal mining data simulation playback method provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the snapshot data and frame data storage process provided by the present invention.

[0020] Figure 3 It is a schematic diagram of the display process of obtaining frame data between a snapshot point and a playback point provided by the present invention.

[0021] Figure 4 It is a structural schematic diagram of the coal mining data simulation playback device provided by the present invention.

[0022] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Combine the following Figure 1-Figure 5 The present invention describes the coal mining data simulation playback method, device, equipment and medium.

[0025] Figure 1 A schematic diagram of a coal mining data simulation playback method provided by the present invention is shown in FIG. Figure 1 , the method comprises the following steps: Step 11, obtaining the snapshot data of the playback period where the playback point is located and the frame data from the snapshot point to the playback point; the playback period represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device of the coal mining face; at the end of a coal cutting process, the snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; Step 12: Generate three-dimensional simulation scene data based on the snapshot data and frame data for playback.

[0026] Regarding steps 11 and 12, it should be noted that the coal mine is mined using comprehensive mechanical mining technology (referred to as fully mechanized mining). This comprehensive mechanical mining technology is a long-lasting mining process in which the coal layer is mined repeatedly by the fully mechanized mining face. With the use of unmanned intelligent mining technology, it is impossible for the staff to monitor the coal mining process in real time, so it is necessary to simulate and replay certain coal cutting scenes in the later stage to check whether there is a coal cutting failure.

[0027] In the present invention, each coal cutting process of the coal mining face is used as a playback cycle when replaying the coal cutting scene. At the end of one coal cutting process, a data snapshot is taken for the next coal cutting process to obtain corresponding snapshot data. The starting point of the execution data snapshot is regarded as the snapshot point. Multiple coal cutting processes are represented by the 0th coal cutting, the 1st coal cutting, the 2nd coal cutting... the nth coal cutting, and accordingly, the snapshot data is represented by the 0th snapshot, the 1st snapshot, the 2nd snapshot... the nth snapshot. In each coal cutting process, when the equipment in the coal mining face performs an action, the data of the equipment action changes is collected in real time and regarded as frame data. Each frame of data carries a timestamp, and the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action. Accordingly, the snapshot data represents the position information and posture information of each device on the coal mining face. In the present invention, the recording of the timestamp facilitates the calculation of the time interval between adjacent frame data according to the timestamp when replaying the coal cutting scene.

[0028] In the present invention, when each device on the fully mechanized mining face executes the corresponding action in accordance with the action instruction, a special device will record the execution process of the device to obtain frame data and snapshot data. The playback data server will obtain these data and store the snapshot data and frame data collected in each playback cycle in the database. Figure 2 It can be seen that the process of sending the snapshot data and frame data generated in each playback cycle to the database for storage is equivalent to the data recording process performed by the playback data service segment.

[0029] In the present invention, the MQTT protocol is used to transmit data to the playback data server. MQTT is a machine-to-machine (M2M) / Internet of Things (IoT) connection protocol. It is designed as an extremely lightweight publish / subscribe message transmission protocol. It is very useful for remote connections where a small code footprint is required and / or network bandwidth is very precious. It is designed for constrained devices and low-bandwidth, high-latency or unreliable networks. These principles also make the protocol ideal for connected devices in the emerging "machine-to-machine" (M2M) or Internet of Things (IoT) world, as well as mobile applications where bandwidth and battery power are very high. For example, it has been used for sensors that communicate with agents via satellite links, dial-up connections to medical service providers, and a range of home automation and small device scenarios. It is also ideal for mobile applications because it is small in size, low in power consumption, has minimal data packets, and can efficiently distribute information to one or more receivers.

[0030] In the present invention, the playback of the coal cutting process needs to determine a playback point, which can be determined by the staff input or by the timestamp corresponding to the frame data with the fault. After the playback point is determined, the snapshot data of the playback period where the playback point is located and the frame data between the snapshot point and the playback point are obtained from the playback data server. In other words, the playback data server will obtain the playback point, and determine the snapshot data of the playback period and the frame data between the snapshot point and the playback point based on the playback point. See Figure 3 It can be seen that the snapshot data of the playback period is determined based on the playback point and the display process of the frame data from the snapshot point to the playback point.

[0031] In the present invention, the playback request server combines the snapshot data of the playback period at the playback point and the frame data from the snapshot point to the playback point to generate 3D simulation scene data, performs 3D simulation loading on the 3D simulation scene data to play back the 3D simulation scene screen.

[0032] The coal mining data simulation playback method provided by the present invention obtains the snapshot data of the playback period where the playback point is located and the frame data between the snapshot point and the playback point, and generates three-dimensional simulation scene data for playback based on the snapshot data and the frame data. Under the application of unmanned intelligent mining technology, under the premise that the coal mining process cannot be monitored by the staff in real time, it can realize the simulation scene display of the required coal cutting process to check whether there is any coal cutting fault or not.

[0033] In a further method of the above method, the processing process of generating three-dimensional simulation scene data for playback according to snapshot data and frame data is mainly explained as follows: Based on the timestamp corresponding to the frame data, the interval duration between adjacent frame data from the snapshot point to the playback point is obtained, and the snapshot data and the frame data are sequentially merged according to the interval duration to generate merged data; scene simulation is performed based on the merged data to generate three-dimensional simulation scene data and play it back.

[0034] It should be noted that the recording of timestamps facilitates the calculation of the time interval between adjacent frame data based on the timestamps when replaying the coal cutting scene. The snapshot data and frame data are sequentially merged and the time interval between adjacent frame data is increased to match the complete working scene of the comprehensive mining face. Therefore, the snapshot data and frame data are sequentially merged according to the interval length to generate merged data, and the scene simulation is performed based on the merged data to generate three-dimensional simulation scene data and replay it. It should also be noted that in order to achieve fast loading of the simulation scene, the time interval between adjacent frames can be ignored when merging data, and only the data status after the data merging is completed can be focused on.

[0035] In a further method of the above method, when it is necessary to continue to play back the simulation scene for the entire playback cycle, all frame data after the playback point need to be played back. At this time, based on generating the three-dimensional simulation scene data according to the snapshot data and the frame data from the snapshot point to the playback point, new frame data is added, and the frame data after the playback point is used as incremental data.

[0036] Next, three-dimensional simulation scene data is continued to be generated based on the snapshot data and incremental data for playback. When it is determined that all incremental data within the playback cycle where the playback point is located are obtained, the playback of the simulation scene of the current recycling cycle is completed. If it is necessary to continue to play back the simulation scenes of other playback cycles, a request to continue playback is received at this time, and the playback of the simulation scene is continued. If it is not necessary to continue to play back the simulation scenes of other playback cycles, a request to end playback is interpreted at this time, and the playback of the simulation scene is ended.

[0037] In a further method of the above method, the processing of obtaining the snapshot data of the playback period where the playback point is located and the frame data between the snapshot point and the playback point is explained as follows: Determine the frame data with abnormalities in all playback cycles.

[0038] If there is an abnormal frame data in a playback cycle, the timestamp of the abnormal frame data is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point are obtained.

[0039] If there are two or more abnormal frame data in a playback cycle, the timestamp of the abnormal frame data with a later time is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data between the snapshot point and the playback point are obtained.

[0040] In this regard, it should be noted that in the present invention, since the main purpose is to check the fault conditions during the coal cutting process, the time when the fault condition occurs is used as the playback point. At this time, the frame data stored in all playback cycles must be analyzed to analyze the frame data with abnormalities. Further, since the frame data represents the position information and posture information that change when the equipment in the coal mining face performs an action, in the fault analysis, if it is determined that the change value of the position information and the change value of the posture information in a frame data do not meet the preset conditions, the frame data storage is abnormal.

[0041] If there is an abnormal frame data in a playback cycle, the timestamp of the abnormal frame data is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point are obtained.

[0042] If there are two or more abnormal frame data in a playback cycle, the timestamp of the abnormal frame data with a later time is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data between the snapshot point and the playback point are obtained. In this way, the "frame data between the snapshot point and the playback point" can cover all abnormal frame data.

[0043] Furthermore, when the interval between the playback point and the end point of the playback cycle where the playback point is located is less than the preset duration, it means that the frame data corresponding to the playback point is close to the last frame data of the entire playback cycle. At this time, the snapshot data of the playback cycle where the playback point is located and all the frame data in the playback cycle where the playback point is located are directly obtained.

[0044] In a further method of the above method, the process of storing the snapshot data and the frame data in the database is mainly explained, as follows: When receiving the start signal of the coal cutting process of the working face, a data snapshot operation is performed, a playback cycle code is generated, and snapshot data corresponding to the playback cycle code is stored.

[0045] During the coal cutting process at the working face, after receiving the execution action instruction of the equipment, the frame data and recording timestamp corresponding to the execution action instruction are obtained.

[0046] The frame data is stored in sequence based on the timestamp and a corresponding relationship is established with the playback period code.

[0047] In the database, a corresponding relationship between the playback cycle code, timestamp, and frame data is established, so that after the recycling point is determined, the corresponding recycling cycle and each frame data can be quickly determined.

[0048] The coal mining data simulation playback device provided by the present invention is described below. The coal mining data simulation playback device described below and the coal mining data simulation playback method described above can be referenced to each other.

[0049] Figure 4 A schematic diagram of the process flow of a coal mining data simulation playback device provided by the present invention is shown in FIG. Figure 4 , the device comprises an acquisition module 41 and a processing module 42, wherein: The acquisition module is used to obtain the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point; the playback cycle represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device in the coal mining face; at the end of a coal cutting process, the snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; The processing module is used to generate three-dimensional simulation scene data for playback based on the snapshot data and frame data.

[0050] Since the principle of the device of the embodiment of the present invention is the same as that of the method of the above embodiment, a more detailed explanation is omitted here.

[0051] It should be noted that, in the embodiments of the present invention, relevant functional modules may be implemented by a hardware processor.

[0052] The coal mining data simulation playback device provided by the present invention obtains the snapshot data of the playback period where the playback point is located and the frame data between the snapshot point and the playback point, and generates three-dimensional simulation scene data for playback based on the snapshot data and the frame data. Under the application of unmanned intelligent mining technology, under the premise that the coal mining process cannot be monitored by the staff in real time, it can realize the simulation scene display of the required coal cutting process to check whether there is any coal cutting failure or not.

[0053] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 51 (processor), a communication interface 52 (Communications Interface), a memory 53 (memory) and a communication bus 54, wherein the processor 51, the communication interface 52, and the memory 53 communicate with each other through the communication bus 54. The processor 51 may call the logic instructions in the memory 53 to execute the coal mining data simulation playback method, which includes: obtaining the snapshot data of the playback period where the playback point is located and the frame data from the snapshot point to the playback point; the playback period represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device of the coal mining face; at the end of a coal cutting process, the snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; and three-dimensional simulation scene data is generated according to the snapshot data and the frame data for playback.

[0054] In addition, the logic instructions in the above-mentioned memory 53 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0055] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the coal mining data simulation playback method provided by the above methods, which method includes: obtaining snapshot data of the playback period where the playback point is located and frame data from the snapshot point to the playback point; the playback period represents a coal cutting process performed by the coal mining working face; the snapshot data represents the position information and posture information of each equipment on the coal mining working face; at the end of a coal cutting process, snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining working face performs an action; and three-dimensional simulation scene data is generated according to the snapshot data and frame data for playback.

[0056] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the coal mining data simulation playback method provided by the above-mentioned methods, the method comprising: obtaining snapshot data of the playback period where the playback point is located and frame data from the snapshot point to the playback point; the playback period represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each equipment of the coal mining face; at the end of a coal cutting process, snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; and generating three-dimensional simulation scene data for playback based on the snapshot data and frame data.

[0057] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0058] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these 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 invention.

Claims

1. A coal mining data simulation playback method, characterized in that: include: Get the snapshot data of the playback period where the playback point is located and the frame data from the snapshot point to the playback point; The playback cycle represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device in the coal mining face; at the end of a coal cutting process, the snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; Three-dimensional simulation scene data is generated according to the snapshot data and the frame data for playback.

2. The coal mining data simulation playback method according to claim 1, characterized in that: Generating three-dimensional simulation scene data for playback according to the snapshot data and the frame data includes: Based on the timestamp corresponding to the frame data, the interval duration of adjacent frame data from the snapshot point to the playback point is obtained, and the snapshot data and the frame data are sequentially merged according to the interval duration to generate merged data; based on the merged data, scene simulation is performed to generate three-dimensional simulation scene data and play it back.

3. The coal mining data simulation playback method according to claim 1, characterized in that: The method further comprises: Acquire incremental data, wherein the incremental data represents frame data after the playback point; Continue to generate three-dimensional simulation scene data for playback according to the snapshot data and the incremental data; After determining that all incremental data within the playback period at the playback point is acquired, continue playback or end playback.

4. The coal mining data simulation playback method according to claim 1, characterized in that: The step of obtaining the snapshot data of the playback period where the playback point is located and the frame data between the snapshot point and the playback point includes: Determine the frame data with abnormalities in all playback cycles; If there is an abnormal frame data in a playback cycle, the timestamp of the abnormal frame data is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data from the snapshot point to the playback point are obtained; If there are two or more abnormal frame data in a playback cycle, the timestamp of the abnormal frame data with a later time is used as the playback point, and the snapshot data of the playback cycle where the playback point is located and the frame data between the snapshot point and the playback point are obtained.

5. The coal mining data simulation playback method according to claim 1 or 4, characterized in that: The method further comprises: If the interval between the playback point and the end point of the playback period where the playback point is located is less than the preset duration, the snapshot data of the playback period where the playback point is located and all frame data in the playback period where the playback point is located are obtained.

6. The method for simulating and replaying coal mining data according to claim 1, characterized in that: The method further comprises: When receiving a start signal of the coal cutting process at the working face, a data snapshot operation is performed, a playback cycle code is generated, and snapshot data corresponding to the playback cycle code is stored; During the coal cutting process at the working face, after receiving the execution action instruction of the device, the frame data and recording timestamp corresponding to the execution action instruction are obtained; The frame data are stored in sequence based on the timestamps, and a corresponding relationship is established with the playback period code.

7. The coal mining data simulation playback method according to claim 4, characterized in that: The determining of abnormal frame data in all playback cycles includes: If it is determined that the change value of the position information and the change value of the posture information in a frame of data do not meet the preset conditions, then the frame data is stored abnormally.

8. A coal mining data simulation playback device, characterized in that: include: An acquisition module, used to acquire the snapshot data of the playback period where the playback point is located and the frame data between the snapshot point and the playback point; The playback cycle represents a coal cutting process performed by the coal mining face; the snapshot data represents the position information and posture information of each device in the coal mining face; at the end of a coal cutting process, the snapshot data corresponding to the next coal cutting process is collected; the frame data represents the position information and posture information that changes when the equipment in the coal mining face performs an action; A processing module is used to generate three-dimensional simulation scene data for playback according to the snapshot data and the frame data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, it implements the coal mining data simulation playback method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the coal mining data simulation playback method as described in any one of claims 1 to 7 is implemented.

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