Three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment

Abstract

The invention relates to the technical field of coal mine underground operation, in particular to a coal mine underground environment three-dimensional dynamic modeling and simulation analysis method. The technical problems that in the prior art, due to the fact that coal mine underground environment display is not visual, accurate space positioning and analysis are difficult to conduct, and due to the fact that a static model cannot simulate dynamic changes of the underground environment, dynamic analysis is insufficient are solved. According to the technical scheme, the three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment comprises the following steps: modeling an underground static entity of a coal mine, constructing a three-dimensional model of an underground dynamic entity of the coal mine, carrying out spatial analysis by utilizing the three-dimensional dynamic model, and carrying out early warning on underground geological disasters of the coal mine. By constructing the three-dimensional dynamic model of the underground coal mine environment and combining a simulation analysis method, the static structure and dynamic change of the underground environment are comprehensively and visually displayed, powerful support is provided for safe production and efficient management of a coal mine, and the safety and efficiency of coal mine production are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground coal mine operations, and particularly to a three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment. Background Art

[0002] The underground coal mine environment is complex and changeable, involving multiple aspects such as geological structures, rock layer distributions, roadway layouts, and underground operation equipment. Traditional two-dimensional drawings and static models are difficult to comprehensively and intuitively display the dynamic changes of the underground environment, resulting in many potential safety hazards and low efficiency problems during the production process. The existing technologies mainly rely on two-dimensional floor plans for mine design and production management, which have obvious deficiencies in expressing spatial relationships and conducting dynamic analysis. For example, two-dimensional drawings cannot accurately reflect the three-dimensional spatial structure of roadways, making it difficult to perform precise spatial positioning and analysis. At the same time, static models cannot simulate the dynamic changes of the underground environment, such as equipment movement, personnel flow, and the occurrence process of geological disasters, resulting in limited understanding and response capabilities for the underground environment.

[0003] Therefore, in view of the above problems, a three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment is proposed. By constructing a three-dimensional dynamic model of the underground coal mine environment and combining simulation analysis methods, the static structure and dynamic changes of the underground environment are comprehensively and intuitively displayed, providing strong support for the safe production and efficient management of coal mines, so as to improve the safety and efficiency of coal mine production. Summary of the Invention

[0004] In order to overcome the problems in the prior art that the display of the underground coal mine environment is not intuitive, making it difficult to perform precise spatial positioning and analysis, and the static model cannot simulate the dynamic changes of the underground environment, resulting in insufficient dynamic analysis.

[0005] The technical solution of the present invention is as follows: A three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment, comprising the following steps:

[0006] S1: Collect geological exploration data, roadway layout drawings, and underground operation equipment parameter information of the underground coal mine, and perform data cleaning, format conversion, and unified coordinate system processing on the collected data;

[0007] S2: Model the static entities of the underground coal mine, construct static entity models of mine shafts and chambers, and stratify different rocks according to their properties, and connect the same rock layer to construct a layered model of the rock layer;

[0008] S3: Construct a three-dimensional model of the dynamic entities in the underground coal mine, and set their motion attributes, including speed and trajectory. At the same time, model the underground operation personnel, and perform dynamic interaction and simulation between the personnel model and the mining equipment to simulate the actual production scenario in the underground coal mine;

[0009] S4: Conduct spatial analysis using a three-dimensional dynamic model, including shortest path analysis, disaster risk analysis, and flooding analysis, and evaluate the impact of different mining plans on the underground environment through simulation analysis to optimize the mining plan;

[0010] S5: Based on the three-dimensional dynamic model, combined with geological exploration data and real-time monitoring information, give early warnings of geological disasters in the coal mine. By simulating and analyzing the occurrence process and influence range of geological disasters, formulate prevention and control measures and emergency plans;

[0011] S6: Conduct real-time monitoring and analysis of the operating status of mining equipment to detect equipment failures in a timely manner. At the same time, optimize the operating parameters of the equipment by simulating and analyzing the operating efficiency and energy consumption of the equipment, improve production efficiency and reduce energy consumption.

[0012] Preferably, in step S1, collect geological exploration data, roadway layout drawings, and underground operation equipment parameter information in the coal mine, and perform data cleaning, format conversion, and unified coordinate system processing on the collected data. The specific steps are as follows:

[0013] S101: Extract coal seam distribution, rock type, and geological structure information from the geological exploration report, and collect geological exploration borehole data, including borehole location, depth, and lithology description, to obtain the stratigraphic structure and lithologic stratification of the stratigraphic section;

[0014] S102: Collect information on the plan view, section view, and longitudinal section view of the mine, extract geometric parameters such as the location, length, width, height, and slope of the roadway, and record the connection relationships between roadways, including intersections and branches;

[0015] S103: Collect the model, specifications, and performance parameters of mining equipment, and obtain information data on the location, working status, and maintenance records of the equipment;

[0016] S104: Conduct data cleaning, remove redundant data by deleting duplicate and insignificant records, and fill in missing data through interpolation for incomplete data;

[0017] S105: Convert the collected geological exploration data, roadway layout drawings, and equipment parameter information into a unified file format, and store the data in a database;

[0018] S106: Convert the coordinate information in the collected data into coordinates in the local mine coordinate system using the local mine coordinate system;

[0019] S107: Integrate the data after cleaning, format conversion, and unified coordinate system processing into a unified dataset.

[0020] Preferably, in step S2, static entities in the coal mine are modeled. According to the two-dimensional roadway layout plan, a three-dimensional roadway model with complex connection relationships is generated using three-dimensional modeling software, and the inflection points, slope change points, intersection points, and various cross-sectional shapes of the roadway are processed. A static entity model of the mine shaft and chambers is constructed, and different rocks are stratified according to their properties, and the same rock layer is connected to construct a layered model of the rock layer. The specific steps for constructing the three-dimensional roadway model are as follows:

[0021] S201: Import the two-dimensional roadway layout plan into the three-dimensional modeling software;

[0022] S202: Identify and extract the centerline of the roadway in the two-dimensional drawing, including straight sections and curved sections;

[0023] S203: Construct a skeleton model of the roadway in three-dimensional space according to the extracted centerline of the roadway;

[0024] S204: At the inflection points in the three-dimensional roadway skeleton, smooth transition processing is carried out by setting a certain length of smooth transition section on both sides of the inflection point, so that the roadway can smoothly change direction at the inflection point;

[0025] S204: At the inflection point, each point on the wire is converted into the center point of the roadway, and the centerline of the roadway is determined to ensure that the orientation and shape of the roadway conform to the actual situation;

[0026] S205: At the inflection point, adjust the cross-sectional shape of the roadway by reloading the roadway cross-section at the inflection point to ensure that the model is consistent with the actual roadway;

[0027] S206: At the slope change points in the three-dimensional roadway skeleton, simulate the slope change at the slope change points by setting different slope values at the slope change points to reflect the slope change in the actual roadway;

[0028] S207: Interpolation processing is carried out at the slope change points so that the model can smoothly transition at the slope change;

[0029] S208: At the intersection points between roadways in the three-dimensional roadway skeleton, adjust the intersection angle and intersection point position so that the model correctly represents the spatial relationship at the intersection;

[0030] S209: Generate corresponding cross-section models on the three-dimensional roadway skeleton according to the different cross-sectional shapes of the roadway, and align the cross-section models with the roadway skeleton;

[0031] S210: Output the three-dimensional roadway model.

[0032] Preferably, in step S2, static entities in the coal mine underground are modeled. According to the two-dimensional roadway layout plan, a three-dimensional roadway model with complex connection relationships is generated using three-dimensional modeling software, and roadway inflection points, grade change points, intersection points, and various cross-sectional shapes are processed to construct static entity models of mine shafts and chambers. Different rocks are stratified according to their properties, and the same rock layers are connected to construct a layered model of rock layers. The specific steps for constructing static entity models of mine shafts and chambers are as follows:

[0033] S211: Extract relevant information of mine shafts and chambers from the dataset processed in step S1, including location, size, and shape;

[0034] S212: Use three-dimensional modeling software to construct a three-dimensional model of the mine shaft according to the extracted information and construct a three-dimensional model of the chamber according to the extracted information.

[0035] Preferably, in step S2, static entities in the coal mine underground are modeled. According to the two-dimensional roadway layout plan, a three-dimensional roadway model with complex connection relationships is generated using three-dimensional modeling software, and roadway inflection points, grade change points, intersection points, and various cross-sectional shapes are processed to construct static entity models of mine shafts and chambers. Different rocks are stratified according to their properties, and the same rock layers are connected to construct a layered model of rock layers. The specific steps for constructing a layered model of rock layers in the mine shaft are as follows:

[0036] S213: Extract the types, properties, and stratification conditions of rocks from geological exploration data;

[0037] S214: Determine the boundaries and thicknesses of different rock layers according to geological exploration data and stratigraphic profiles;

[0038] S215: Use three-dimensional modeling software to construct a three-dimensional model of rock layers according to stratification boundaries and rock properties. For each layer of rock, set corresponding attributes according to its properties, including color, transparency, and texture;

[0039] S216: Connect the various parts of the same rock layer to form a complete rock layer model, and at the same time merge adjacent rock layers to reduce the model complexity;

[0040] S217: Integrate the layered model of rock layers with the three-dimensional roadway model;

[0041] S218: Integrate the constructed three-dimensional roadway model, mine shaft, chamber model, and layered model of rock layers into a unified three-dimensional model.

[0042] Preferably, in step S3, a three-dimensional model of the dynamic entities in the coal mine is constructed, and their motion attributes including speed and trajectory are set. At the same time, the underground workers are modeled, and dynamic interaction and simulation are carried out between the worker model and the mining equipment to simulate the actual production scenario in the coal mine. The specific steps for constructing the three-dimensional model of the dynamic entities in the coal mine and modeling the underground workers are as follows:

[0043] S301: Extract data related to the dynamic entities from the dataset processed in step S1, including the model, specifications, and performance parameters of the mining equipment. At the same time, obtain the real-time information of the equipment's location, working status, and maintenance records.

[0044] S302: Use 3D modeling software to construct a three-dimensional model of the dynamic entities of the mining equipment according to the extracted data.

[0045] S303: Set the motion attributes for the dynamic entity model, including speed and trajectory, and set the motion parameters according to the actual operation of the equipment.

[0046] S304: Collect information on the number, location, and work tasks of the underground workers, and obtain the movement speed and work habit parameters of the workers.

[0047] S305: Use 3D modeling software to construct a three-dimensional model of the underground workers, and set different clothing, equipment, and actions for the workers according to the actual situation.

[0048] S306: Set the behavior rules for the worker model, including the movement path and the execution order of work tasks.

[0049] S307: Use Unity3D to construct a three-dimensional representation of the worker model by importing the three-dimensional model of the workers.

[0050] S308: Use the Dijkstra algorithm to set a script for controlling the autonomous movement of the worker model according to the set movement path and behavior rules, and use Physic in Unity3D to simulate the real physical movement effect.

[0051] S309: Set a script for controlling the worker model to execute tasks according to the set execution order of work tasks, so that the worker model can complete tasks in the correct order and manner.

[0052] Preferably, in step S3, a three-dimensional model of the dynamic entities in the coal mine is constructed, and their motion attributes including speed and trajectory are set. At the same time, the underground workers are modeled, and dynamic interaction and simulation are carried out between the worker model and the mining equipment to simulate the actual production scenario in the coal mine. The specific steps for dynamic interaction and simulation are as follows:

[0053] S310: Set the interaction rules between the operators and the mining equipment according to the actual production scenario, including the interaction rules on how the operators operate the equipment and how the equipment responds to the operators' operations.

[0054] S311: Set the collision detection rules between the operators and the mining equipment in the three-dimensional space. When a collision occurs, respond according to the set rules, including stopping movement, avoiding, and alarming.

[0055] S312: Integrate the constructed dynamic entity model, operator model, and the set interaction rules into a unified simulation environment. Through the dynamic simulation of the entire underground coal mine environment by the simulation software, during the simulation process, real-time update the positions, states, and movement trajectories of the dynamic entities, as well as the behaviors and work progress of the operators.

[0056] S313: After the simulation ends, output the simulation results, including the movement trajectories of the dynamic entities, the behavior records of the operators, and the working states of the equipment.

[0057] Preferably, in the step S4, use the three-dimensional dynamic model for spatial analysis, including the shortest path analysis, disaster risk analysis, and flooding analysis, and evaluate the impacts of different mining plans on the underground environment through simulation analysis to optimize the mining plan. The specific steps are as follows:

[0058] S401: Extract the spatial coordinate information of the roadways, intersections, and equipment position nodes from the three-dimensional dynamic model.

[0059] S402: Take the extracted nodes as the vertices of the graph, and the connection relationships between the nodes as the edges of the graph to construct a weighted undirected graph, where the weights are determined according to the length, slope, and passing difficulty of the roadways.

[0060] S403: Use the A* algorithm to find the shortest path from the starting point to the ending point in the graph.

[0061] S404: Optimize and adjust the initially calculated shortest path according to the obstacles and equipment layout in the actual production.

[0062] S405: Output the shortest path and its related information, including the path length, the nodes and edges passed through.

[0063] S406: Construct a corresponding disaster diffusion model according to the disaster type and geological exploration data to describe the occurrence, development process, and influence range of the disaster.

[0064] S407: Set the parameters of the position, intensity, and propagation speed of the disaster source of the model.

[0065] S408: Run the disaster diffusion model in the three-dimensional dynamic model to simulate the occurrence and development process of the disaster, and record the simulation results, including the disaster impact scope and impact degree;

[0066] S409: Evaluate the impact degree of the disaster on the underground environment, equipment and personnel according to the simulation results, and determine the high-risk areas and potential hazard points;

[0067] S410: Construct a water flow simulation model based on the water permeability, pressure gradient and flow velocity to describe the water flow process and its influence scope underground;

[0068] S411: Set the boundary conditions of the water flow model, including the water source location, water level height and water flow velocity;

[0069] S412: Run the water flow simulation model in the three-dimensional dynamic model to simulate the water flow process underground, and record the simulation results, including the water flow path and inundation scope;

[0070] S413: Predict the inundation scope at different water levels and its impact on the underground environment, equipment and personnel according to the simulation results;

[0071] S414: Initially formulate multiple possible mining plans, including the mining sequence, mining method and equipment configuration;

[0072] S415: Run each mining plan separately in the three-dimensional dynamic model for simulation analysis, and record the simulation results, including production efficiency, energy consumption and equipment utilization rate indicators;

[0073] S416: Compare the simulation results of different mining plans, and select the optimal plan or optimize and adjust the plan according to the analysis results;

[0074] Among them, in step S403, the A* algorithm is adopted to find the shortest path from the starting point to the ending point in the graph; specifically including:

[0075] S4031: Create an open list to store the nodes to be evaluated;

[0076] S4032: Create a closed list to store the evaluated nodes;

[0077] S4033: Add the starting point to the open list and set its cost to 0;

[0078] S4034: Select the node with the lowest cost from the open list as the current node;

[0079] S4035: Remove the current node from the open list and add it to the closed list;

[0080] S4036: Traverse all adjacent nodes of the current node, and calculate the total cost from the starting point to the adjacent node; if the adjacent node is in the closed list, ignore it; if the adjacent node is in the open list and the newly calculated total cost is lower, update its cost and predecessor node; if the adjacent node is not in the open list, add it to the open list and set the cost and predecessor node.

[0081] S4037: When the end node is added to the closed list, the algorithm terminates.

[0082] S4038: Trace back from the end point to the starting point through the predecessor nodes to obtain the shortest path.

[0083] Preferably, in step S5, based on the three-dimensional dynamic model, combined with geological exploration data and real-time monitoring information, early warning of geological disasters in the coal mine is carried out. By simulating and analyzing the occurrence process and influence range of geological disasters, prevention and control measures and emergency plans are formulated. The specific steps are as follows:

[0084] S501: Extract geological structure, rock stratum distribution, roadway layout information from the three-dimensional dynamic model, integrate geological exploration data, including the latest geological structure changes and rock stratum movement monitoring data, and real-time monitor underground environment parameters, including seismic waves, ground stress, water level changes, and associate these data with the three-dimensional dynamic model.

[0085] S502: Construct a risk assessment model corresponding to the geological disaster type according to the geological disaster type to evaluate the possibility of the occurrence of geological disasters.

[0086] S503: Set early warning thresholds for different geological disaster types according to historical data and the results of the risk assessment model; among them, the early warning thresholds include but are not limited to the critical values of seismic wave intensity, ground stress change rate, water level rise speed index.

[0087] S504: Use underground sensors to real-time monitor the changes of underground environment parameters, and compare and analyze the monitoring data with the early warning thresholds.

[0088] S505: When the monitoring data reaches or exceeds the early warning threshold, immediately trigger the geological disaster early warning mechanism, and send geological disaster early warning information to underground workers and management personnel through underground broadcasting and mobile communication network methods.

[0089] S506: In the three-dimensional dynamic model, according to the type and scale of the geological disaster, simulate the occurrence process and influence range of the disaster; analyze the potential impact of the disaster on the underground environment, equipment, and personnel, and determine high-risk areas and potential dangerous points.

[0090] S507: Based on the simulation analysis results, formulate targeted prevention and control measures, including strengthening the rock formation, dredging the drainage system, and adjusting the operation area; at the same time, formulate an emergency plan to clarify the emergency response process, evacuation routes for personnel, and allocation of rescue supplies in case of disasters.

[0091] Preferably, in step S6, the operating status of the mining equipment is monitored and analyzed in real time to detect equipment failures in a timely manner. At the same time, by simulating and analyzing the operating efficiency and energy consumption of the equipment, the operating parameters of the equipment are optimized to improve production efficiency and reduce energy consumption; specifically including:

[0092] S601: Collect the working status data, operating parameters, and energy consumption information of the equipment in real time, including but not limited to data such as vibration, temperature, pressure, current, voltage, power, and working time of the equipment;

[0093] S602: Construct an equipment failure warning model. Through training on historical failure data, identify the abnormal characteristics before equipment failures and set corresponding warning thresholds;

[0094] S603: Compare and analyze the real-time monitored equipment data with the failure warning model. When the data exceeds the warning threshold, trigger a failure warning and send a failure warning message to the maintenance personnel through the underground communication system, including the equipment number and failure type;

[0095] S604: In the three-dimensional dynamic model, simulate the operation process of the equipment. According to the real-time monitored equipment parameters, dynamically adjust the operation status of the model to reflect the actual operation of the equipment;

[0096] S605: Based on the simulated operation data, calculate the operating efficiency and energy consumption indicators of the equipment, including energy consumption per unit output, equipment utilization rate, and failure rate. By comparing and analyzing the operating efficiency and energy consumption of different equipment or the same equipment under different parameters, find the space for optimizing the operating parameters of the equipment;

[0097] S606: According to the simulation analysis results, formulate an optimization plan for the operating parameters of the equipment, including adjusting the working speed, load, and operating time of the equipment;

[0098] S607: Apply the optimization plan to the actual equipment.

[0099] Advantages of the present invention:

[0100] 1. Compared with traditional two-dimensional drawings that cannot accurately reflect the three-dimensional spatial structure and complex connection relationships of roadways, resulting in inaccurate spatial positioning and analysis, the present invention can accurately reflect the static structure and complex connection relationships of the underground coal mine environment through three-dimensional dynamic modeling, providing accurate basic data for spatial analysis, helping to accurately calculate the shortest path, evaluate the disaster impact range, and optimize the mining plan, improving production efficiency and safety, thereby enhancing the accuracy of spatial analysis;

[0101] 2. Compared with existing static models that cannot reflect the dynamic changes in the underground environment, the present invention introduces dynamic entities and simulation analysis methods, which can real-time simulate the dynamic changes in the underground environment, including equipment movement, personnel flow, and the occurrence process of geological disasters, helping to timely detect potential safety hazards, improve the ability to respond to emergencies, and reduce disaster losses, thereby enhancing the dynamic simulation and early warning capabilities;

[0102] 3. Compared with traditional methods that are difficult to comprehensively analyze and optimize mining plans, equipment operating states, and geological disaster risks, the present invention uses three-dimensional dynamic models and simulation analysis results to evaluate the impact of different mining plans on the underground environment, optimize the mining sequence and methods. At the same time, through real-time monitoring and analysis of equipment operating states, it can identify the space for optimizing equipment operating parameters, improve production efficiency, and reduce energy consumption, contributing to the sustainable development and green production of coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Figure 1 It shows a detailed step flow schematic diagram of the three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment of the present invention;

[0104] Figure 2 It shows a simple step flow schematic diagram of the three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0105] The present invention will be further described below with reference to the drawings and embodiments.

[0106] Please refer to Figure 1-2 , the present invention provides an embodiment: a three-dimensional dynamic modeling and simulation analysis method for the underground coal mine environment, including the following steps:

[0107] S1: Collect geological exploration data, roadway layout drawings, and underground operation equipment parameter information of the underground coal mine, and perform data cleaning, format conversion, and unified coordinate system processing on the collected data;

[0108] S2: Model the static entities in the underground coal mine, construct static entity models of mine shafts and chambers, and stratify different rocks according to their properties, connect the same rock strata, and construct a layered model of rock strata;

[0109] S3: Build a 3D model of the dynamic entities in the coal mine underground, and set their motion attributes, including speed and trajectory. At the same time, model the underground workers, and perform dynamic interaction and simulation between the worker model and the mining equipment to simulate the actual production scenario in the coal mine underground;

[0110] S4: Use the 3D dynamic model for spatial analysis, including shortest path analysis, disaster risk analysis, and waterlogging analysis, and evaluate the impact of different mining plans on the underground environment through simulation analysis to optimize the mining plan;

[0111] S5: Based on the 3D dynamic model, combine geological exploration data and real-time monitoring information to give early warnings of geological disasters in the coal mine underground. By simulating and analyzing the occurrence process and influence range of geological disasters, formulate prevention and control measures and emergency plans;

[0112] S6: Conduct real-time monitoring and analysis of the operating status of mining equipment to detect equipment failures in a timely manner. At the same time, optimize the operating parameters of the equipment by simulating and analyzing the operating efficiency and energy consumption of the equipment, improve production efficiency and reduce energy consumption.

[0113] Preferably, in the step S1, collect the geological exploration data, roadway layout drawings, and underground operation equipment parameter information in the coal mine underground, and perform data cleaning, format conversion, and unified coordinate system processing on the collected data. The specific steps are as follows:

[0114] S101: Extract the coal seam distribution, rock type, and geological structure information from the geological exploration report, collect the geological exploration borehole data, including borehole location, depth, and lithology description, and obtain the formation structure and lithology layering of the stratigraphic section;

[0115] S102: Collect the plan view, sectional view, and longitudinal sectional view information of the mine, extract the geometric parameters of the roadway, such as location, length, width, height, and slope, and record the connection relationship between roadways, including intersections and branches;

[0116] S103: Collect the model, specifications, and performance parameters of mining equipment, and obtain the location, working status, and maintenance record information data of the equipment;

[0117] S104: Conduct data cleaning, remove redundant data by deleting duplicate and irrelevant records, and fill in missing data through interpolation for incomplete data;

[0118] S105: Convert the collected geological exploration data, roadway layout drawings, and equipment parameter information into a unified file format, and store the data through a database;

[0119] S106: Convert the coordinate information in the collected data into the coordinates in the local mine coordinate system using the local mine coordinate system.

[0120] S107: Integrate the data after cleaning, format conversion, and unified coordinate system processing into a unified dataset.

[0121] Preferably, in step S2, model the static entities in the coal mine underground. According to the two-dimensional roadway layout plan, use 3D modeling software to generate a 3D roadway model with complex connection relationships, and process the inflection points, slope change points, intersection points, and various cross-section shapes of the roadway, construct the static entity models of mine shafts and chambers, and stratify different rocks according to their properties, connect the same rock layer, and construct a layered model of rock layers. The specific steps for constructing the 3D roadway model are as follows:

[0122] S201: Import the two-dimensional roadway layout plan into 3D modeling software.

[0123] S202: Identify and extract the centerline of the roadway in the two-dimensional drawing, including straight segments and curved segments.

[0124] S203: Construct the skeleton model of the roadway in 3D space according to the extracted centerline of the roadway.

[0125] S204: At the inflection points in the 3D roadway skeleton, perform smooth transition processing by setting a certain length of smooth transition segments on both sides of the inflection point so that the roadway can smoothly change direction at the inflection point.

[0126] S204: At the inflection points, convert each point on the wire into the center point of the roadway, and determine the centerline of the roadway to ensure that the trend and shape of the roadway conform to the actual situation.

[0127] S205: At the inflection points, adjust the cross-section shape of the roadway by reloading the roadway cross-section at the inflection point to ensure that the model is consistent with the actual roadway.

[0128] S206: At the slope change points in the 3D roadway skeleton, simulate the slope change at the slope change point by setting different slope values at the slope change point to reflect the slope change in the actual roadway.

[0129] S207: Perform interpolation processing at the slope change points so that the model can smoothly transition at the slope change.

[0130] S208: At the intersection points between roadways in the 3D roadway skeleton, adjust the intersection angle and intersection point position so that the model correctly represents the spatial relationship at the intersection.

[0131] S209: Generate the corresponding cross-section model on the 3D roadway skeleton according to the different cross-section shapes of the roadway, and align the cross-section model with the roadway skeleton.

[0132] S210: Output a 3D roadway model.

[0133] Preferably, in step S2, static entities in the coal mine are modeled. According to the 2D roadway layout plan, a 3D roadway model with complex connection relationships is generated using 3D modeling software, and inflection points, variable slope points, intersection points, and various cross-sectional shapes of the roadway are processed. A static entity model of the mine shaft and chambers is constructed, and different rocks are stratified according to their properties, and the same rock layers are connected to construct a layered model of rock layers. The specific steps for constructing the static entity model of the mine shaft and chambers are as follows:

[0134] S211: Extract relevant information about the mine shaft and chambers from the dataset processed in step S1, including location, size, and shape.

[0135] S212: Use 3D modeling software to construct a 3D model of the mine shaft according to the extracted information and construct a 3D model of the chambers according to the extracted information.

[0136] Preferably, in step S2, static entities in the coal mine are modeled. According to the 2D roadway layout plan, a 3D roadway model with complex connection relationships is generated using 3D modeling software, and inflection points, variable slope points, intersection points, and various cross-sectional shapes of the roadway are processed. A static entity model of the mine shaft and chambers is constructed, and different rocks are stratified according to their properties, and the same rock layers are connected to construct a layered model of rock layers. The specific steps for constructing the layered model of rock layers in the mine shaft are as follows:

[0137] S213: Extract the types, properties, and stratification of rocks from the geological exploration data.

[0138] S214: Determine the boundaries and thicknesses of different rock layers according to the geological exploration data and the stratigraphic section diagram.

[0139] S215: Use 3D modeling software to construct a 3D model of rock layers according to the stratification boundaries and rock properties. For each layer of rock, set corresponding attributes according to its properties, including color, transparency, and texture.

[0140] S216: Connect the various parts of the same rock layer to form a complete rock layer model, and at the same time merge adjacent rock layers to reduce the model complexity.

[0141] S217: Integrate the layered model of rock layers with the 3D roadway model.

[0142] S218: Integrate the constructed 3D roadway model, mine shaft, chamber model, and layered model of rock layers into a unified 3D model.

[0143] Preferably, in step S3, a three-dimensional model of the dynamic entities in the coal mine is constructed, and their motion attributes including speed and trajectory are set. At the same time, the underground workers are modeled, and dynamic interaction and simulation are carried out between the worker model and the mining equipment to simulate the actual production scenario in the coal mine. The specific steps for constructing the three-dimensional model of the dynamic entities in the coal mine and modeling the underground workers are as follows:

[0144] S301: Extract the data related to the dynamic entities from the dataset processed in step S1, including the model, specifications, and performance parameters of the mining equipment. At the same time, obtain the real-time information of the equipment's location, working status, and maintenance records.

[0145] S302: Use 3D modeling software to construct a three-dimensional model of the dynamic entities of the mining equipment according to the extracted data.

[0146] S303: Set the motion attributes of the dynamic entity model, including speed and trajectory, and set the motion parameters according to the actual operation of the equipment.

[0147] S304: Collect the information on the number, location, and work tasks of the underground workers, and obtain the moving speed and work habit parameters of the workers.

[0148] S305: Use 3D modeling software to construct a three-dimensional model of the underground workers, and set different clothing, equipment, and actions for the workers according to the actual situation.

[0149] S306: Set the behavior rules for the worker model, including the moving path and the execution order of work tasks.

[0150] S307: Use Unity3D to construct a three-dimensional representation of the worker model by importing the three-dimensional model of the workers.

[0151] S308: Use the Dijkstra algorithm to set a script for controlling the autonomous movement of the worker model according to the set moving path and behavior rules, and use Physic in Unity3D to simulate the real physical movement effect.

[0152] S309: Set a script for controlling the worker model to execute tasks according to the set execution order of work tasks, so that the worker model can complete tasks in the correct order and manner.

[0153] Preferably, in step S3, a three-dimensional model of the dynamic entities in the coal mine is constructed, and their motion attributes including speed and trajectory are set. At the same time, the underground workers are modeled, and dynamic interaction and simulation are carried out between the worker model and the mining equipment to simulate the actual production scenario in the coal mine. The specific steps for dynamic interaction and simulation are as follows:

[0154] S310: Set the interaction rules between the operator and the mining equipment according to the actual production scenario, including the interaction rules on how the operator operates the equipment and the interaction rules on how the equipment responds to the operator's operation;

[0155] S311: Set the collision detection rules between the operator and the mining equipment in the three-dimensional space. When a collision occurs, respond according to the set rules, including stopping movement, avoiding, and alarming;

[0156] S312: Integrate the constructed dynamic entity model, operator model, and the set interaction rules into a unified simulation environment. Through the dynamic simulation of the entire underground coal mine environment by the simulation software, during the simulation process, the positions, states, and movement trajectories of the dynamic entities, as well as the behaviors and work progress of the operators, are updated in real time;

[0157] S313: After the simulation ends, output the simulation results, including the movement trajectories of the dynamic entities, the behavior records of the operators, and the working states of the equipment.

[0158] Preferably, in step S4, use the three-dimensional dynamic model for spatial analysis, including the shortest path analysis, disaster risk analysis, and waterlogging analysis, and evaluate the impact of different mining plans on the underground environment through simulation analysis to optimize the mining plan; the specific steps are as follows:

[0159] S401: Extract the spatial coordinate information of the roadway, intersection, and equipment position nodes from the three-dimensional dynamic model;

[0160] S402: Take the extracted nodes as the vertices of the graph, and the connection relationships between the nodes as the edges to construct a weighted undirected graph, where the weights are determined according to the length, slope, and passing difficulty of the roadway;

[0161] S403: Use the A* algorithm to find the shortest path from the starting point to the ending point in the graph;

[0162] S404: Optimize and adjust the initially calculated shortest path according to the obstacles and equipment layout in the actual production;

[0163] S405: Output the shortest path and its related information, including the path length, the nodes and edges passed;

[0164] S406: Construct the corresponding disaster diffusion model according to the disaster type and geological exploration data to describe the occurrence, development process, and influence range of the disaster;

[0165] S407: Set the parameters of the position, intensity, and propagation speed of the disaster source of the model;

[0166] S408: Run the disaster diffusion model in the three-dimensional dynamic model to simulate the occurrence and development process of the disaster, and record the simulation results, including the disaster impact range and impact degree;

[0167] S409: Evaluate the impact degree of the disaster on the underground environment, equipment and personnel according to the simulation results, and determine the high-risk areas and potential hazard points;

[0168] S410: Construct a water flow simulation model based on the water permeability, pressure gradient and flow velocity to describe the water flow process and its influence range underground;

[0169] S411: Set the boundary conditions of the water flow model, including the water source location, water level height and water flow velocity;

[0170] S412: Run the water flow simulation model in the three-dimensional dynamic model to simulate the water flow process underground, and record the simulation results, including the water flow path and inundation range;

[0171] S413: Predict the inundation range at different water levels and its impact on the underground environment, equipment and personnel according to the simulation results;

[0172] S414: Initially formulate multiple possible mining plans, including the mining sequence, mining method and equipment configuration;

[0173] S415: Run each mining plan separately in the three-dimensional dynamic model for simulation analysis, and record the simulation results, including production efficiency, energy consumption and equipment utilization rate indicators;

[0174] S416: Compare the simulation results of different mining plans, and select the optimal plan or optimize and adjust the plan according to the analysis results;

[0175] Among them, in step S403, the A* algorithm is used to find the shortest path from the starting point to the ending point in the graph; specifically including:

[0176] S4031: Create an open list to store the nodes to be evaluated;

[0177] S4032: Create a closed list to store the evaluated nodes;

[0178] S4033: Add the starting point to the open list and set its cost to 0;

[0179] S4034: Select the node with the lowest cost from the open list as the current node;

[0180] S4035: Remove the current node from the open list and add it to the closed list;

[0181] S4036: Traverse all adjacent nodes of the current node, and calculate the total cost from the starting point to the adjacent node; if the adjacent node is in the closed list, ignore it; if the adjacent node is in the open list and the newly calculated total cost is lower, update its cost and predecessor node; if the adjacent node is not in the open list, add it to the open list and set the cost and predecessor node;

[0182] S4037: When the end node is added to the closed list, the algorithm terminates;

[0183] S4038: Trace back from the end point to the starting point through the predecessor node to obtain the shortest path.

[0184] Preferably, in step S5, based on the three-dimensional dynamic model, combined with geological exploration data and real-time monitoring information, early warning of geological disasters in the coal mine is carried out. By simulating and analyzing the occurrence process and influence range of geological disasters, prevention and control measures and emergency plans are formulated. The specific steps are as follows:

[0185] S501: Extract geological structure, rock layer distribution, and roadway layout information from the three-dimensional dynamic model, integrate geological exploration data, including the latest geological structure changes and rock layer movement monitoring data, and real-time monitor underground environment parameters, including seismic waves, ground stress, and water level changes, and associate these data with the three-dimensional dynamic model;

[0186] S502: Construct a risk assessment model corresponding to the geological disaster type according to the geological disaster type to evaluate the possibility of the occurrence of geological disasters;

[0187] S503: Set warning thresholds for different geological disaster types according to historical data and the results of the risk assessment model; among them, the warning thresholds include but are not limited to the critical values of seismic wave intensity, ground stress change rate, and water level rise speed indicators;

[0188] S504: Use underground sensors to real-time monitor the changes in underground environment parameters, and compare and analyze the monitoring data with the warning thresholds;

[0189] S505: When the monitoring data reaches or exceeds the warning threshold, immediately trigger the geological disaster early warning mechanism, and send geological disaster early warning information to underground workers and management personnel through underground broadcasting and mobile communication networks;

[0190] S506: In the three-dimensional dynamic model, according to the type and scale of the geological disaster, simulate the occurrence process and influence range of the disaster; analyze the potential impact of the disaster on the underground environment, equipment, and personnel, and determine high-risk areas and potential dangerous points;

[0191] S507: Based on the results of the simulation analysis, formulate targeted prevention and control measures, including strengthening the rock formation, dredging the drainage system, and adjusting the operation area; at the same time, formulate an emergency plan to clarify the emergency response process, evacuation routes for personnel, and allocation of rescue materials in case of disasters.

[0192] Preferably, in step S6, the operating status of the mining equipment is monitored and analyzed in real time to detect equipment failures in a timely manner. At the same time, the operating efficiency and energy consumption of the equipment are analyzed through simulation to optimize the operating parameters of the equipment, improve production efficiency, and reduce energy consumption. Specifically, it includes:

[0193] S601: Collect the working status data, operating parameters, and energy consumption information of the equipment in real time, including but not limited to data such as vibration, temperature, pressure, current, voltage, power, and working time of the equipment;

[0194] S602: Construct an equipment failure early warning model. Through training on historical failure data, identify the abnormal characteristics before equipment failures and set corresponding early warning thresholds;

[0195] S603: Compare and analyze the real-time monitored equipment data with the failure early warning model. When the data exceeds the early warning threshold, trigger a failure early warning and send a failure early warning message to the maintenance personnel through the underground communication system, including the equipment number and failure type;

[0196] S604: In the three-dimensional dynamic model, simulate the operation process of the equipment. According to the real-time monitored equipment parameters, dynamically adjust the operation status of the model to reflect the actual operation of the equipment;

[0197] S605: Based on the simulated operation data, calculate the operation efficiency and energy consumption indicators of the equipment, including energy consumption per unit output, equipment utilization rate, and failure rate. By comparing and analyzing the operation efficiency and energy consumption of different equipment or the same equipment under different parameters, find the space for optimizing the operation parameters of the equipment;

[0198] S606: According to the results of the simulation analysis, formulate an optimization plan for the operation parameters of the equipment, including adjusting the working speed, load, and operation time of the equipment;

[0199] S607: Apply the optimization plan to the actual equipment.

[0200] Embodiment

[0201] Optionally, when performing three-dimensional dynamic modeling and simulation analysis on the underground environment of a certain coal mine, the specific data collection and processing steps are as follows:

[0202] A101: Extract data from the geological exploration report, such as coal seam distribution (average thickness 5 meters, dip angle 20 degrees), rock types (sandstone, mudstone, etc.), and geological structure information (fault location, fold situation);

[0203] A102: Collect mine floor plans and extract roadway information (main roadway length is 1000 meters, width is 3 meters, height is 2.5 meters; branch roadway length is 500 meters, width is 2 meters, height is 2 meters; slopes are all 3%);

[0204] A103: Collect data of mining equipment, such as coal shearers (model XYZ - 123, power 500kW), transport vehicles (load capacity 20 tons);

[0205] A104: Data cleaning, removing 20 duplicate records and filling 50 missing data;

[0206] A105: Convert the data format to a unified CAV format and store it in the MyAQL database;

[0207] A106: Adopt the local mine coordinate system and convert all coordinates to relative coordinates;

[0208] A107: Integrate the data sets to form a unified data source;

[0209] When performing static entity modeling, the specific steps are as follows:

[0210] A201: Use 3D modeling software to construct a 3D roadway model based on the roadway layout plan, dealing with inflection points (a total of 10, smooth transition section length is 5 meters), grade change points (3, maximum grade change is 5%), intersection points (4, intersection angles are all 90 degrees), and cross - section shapes (rectangular, arched);

[0211] A202: Construct 3D models of mine shafts (diameter 5 meters, height 300 meters) and chambers (length 10 meters, width 8 meters, height 5 meters);

[0212] A203: Construct a layered rock model according to geological exploration data, with clear layering boundaries, a total of 5 layers are divided, each layer has a different thickness, and the thickest layer is sandstone, with a thickness of 20 meters;

[0213] When performing dynamic entity modeling and interaction simulation, the specific steps are as follows:

[0214] A301: Construct 3D models for equipment such as coal shearers and transport vehicles, set motion attributes (coal shearer speed is 5m / s, transport vehicle speed is 3m / s), and simulate the interaction between operating personnel (a total of 50 people, moving speed is 1.5m / s) and the equipment. For example, when operating the coal shearer, two people are required to cooperate, one to control and one to monitor;

[0215] A302: Set interaction rules, such as operating personnel need to maintain a safe distance from the equipment (at least 1 meter), use the Dijkstra algorithm to optimize the movement path to avoid collisions; the simulation results show that the interaction between operating personnel and equipment is smooth and no safety accidents occur;

[0216] When conducting spatial analysis and optimizing the mining plan, the specific steps are as follows:

[0217] A401: Use the A* algorithm to calculate the shortest path from the wellhead to the farthest roadway. The path length is 1200 meters and it passes through 8 intersections.

[0218] A402: Simulate the gas explosion disaster. Set the explosion source in the middle section of the main roadway. The simulation results show that the affected range radius is 50 meters and the high-risk area is clear.

[0219] A403: Simulate the waterlogging situation. Set the water source at the crack on the top of the roadway and the water flow velocity is 1m / s. The simulation results show that the maximum inundation range reaches 2 meters below the bottom of the roadway.

[0220] A404: Compare two mining plans (Plan A: sequential mining; Plan B: skip mining). The simulation results show that the production efficiency of Plan B is increased by 10% and the energy consumption is reduced by 5%. Plan B is selected as the optimal plan.

[0221] When conducting geological disaster early warning and prevention, the specific steps are as follows:

[0222] A501: Real-time monitor seismic waves (the early warning threshold is set at 0.5g), ground stress (the change rate of the early warning threshold is 5% / hour), and water level (the rising speed of the early warning threshold is 0.1m / h). During a certain monitoring, the seismic wave reached 0.6g and the early warning was immediately triggered.

[0223] A502: Simulate the impact of the earthquake, determine the high-risk area, and formulate prevention and control measures such as strengthening the rock formation and evacuating personnel.

[0224] When conducting equipment detection optimization, the specific steps are as follows:

[0225] A601: Real-time monitor the vibration of the shearer (the early warning threshold is 5mm / s) and temperature (the early warning threshold is 80°C). During a certain monitoring, the vibration reached 6mm / s and the early warning was triggered.

[0226] A602: Simulate the operation of the shearer, adjust the working speed to 4.5m / s, and reduce the load to 80%. The simulation results show that the energy consumption per unit output is reduced by 15% and the failure rate is decreased by 20%.

[0227] Therefore, it can be concluded that the method provided by the present invention can significantly improve the production efficiency in the coal mine underground, reduce energy consumption and equipment failure rate, and at the same time enhance the early warning ability of geological disasters, providing strong support for the safe and efficient production of the coal mine.

[0228] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those skilled in the art.

Claims

1. A three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment; characterized by: The following steps are involved: S1: Collect geological exploration data, tunnel layout diagrams and underground operation equipment parameter information in coal mines, and perform data cleaning, format conversion and unified coordinate system processing on the collected data; S2: Model the static entities in the coal mine, construct the static entity models of the mine shaft and chamber, and stratify different rocks according to their properties, connect the same rock layer, and construct a layered model of rock layers; S3: Construct a 3D model of the dynamic entity in the coal mine and set its motion properties, including speed and trajectory. At the same time, model the underground workers and dynamically interact and simulate the worker model and mining equipment to simulate the actual production scene in the coal mine. S4: Use three-dimensional dynamic models to conduct spatial analysis, including shortest path analysis, disaster risk analysis, and flooding analysis, and evaluate the impact of different mining plans on the underground environment through simulation analysis to optimize the mining plan; S5: Based on the three-dimensional dynamic model, combined with geological survey data and real-time monitoring information, early warning of geological disasters in coal mines is carried out, and prevention and control measures and emergency plans are formulated by simulating and analyzing the occurrence process and impact range of geological disasters; S6: Monitor and analyze the operating status of mining equipment in real time to detect equipment failures in a timely manner. Simultaneously, through simulation and analysis of the operating efficiency and energy consumption of the equipment, optimize the equipment operating parameters, improve production efficiency and reduce energy consumption.

2. The three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment according to claim 1 is characterized by: In step S1, geological exploration data, tunnel layout diagram and underground operation equipment parameter information of the coal mine are collected, and the collected data are cleaned, format converted and unified coordinate system processed. The specific steps are as follows: S101: Extract coal seam distribution, rock type, and geological structure information from geological exploration reports, collect geological exploration drilling data, including drilling location, depth, and lithology description, and obtain the stratigraphic structure and lithology stratification of the stratigraphic profile; S102: Collecting the plan view, cross-section view, and longitudinal section view information of the mine, extracting the geometric parameters of the location, length, width, height, and slope of the tunnels, and recording the connection relationship between the tunnels, including intersections and branches; S103: Collect the model, specification, and performance parameters of the mining equipment, and obtain the location, working status, and maintenance record information data of the equipment; S104: Perform data cleaning by deleting duplicate and insignificant records to remove redundant data, and fill in missing data through interpolation for incomplete data; S105: converting the collected geological exploration data, tunnel layout diagram and equipment parameter information into a unified file format, and storing the data in a database; S106: using the mine local coordinate system to convert the coordinate information in the collected data into the coordinates of the mine local coordinate system; S107: Integrate the data after cleaning, format conversion and unified coordinate system processing into a unified data set.

3. The three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment according to claim 1 is characterized in that: In step S2, a static entity in the coal mine is modeled. According to the two-dimensional tunnel layout diagram, a three-dimensional tunnel model with a complex connection relationship is generated using three-dimensional modeling software, and the tunnel turning points, slope change points, intersections and various cross-sectional shapes are processed to construct a static entity model of the mine shaft and chamber, and different rocks are layered according to their properties, and the same rock layer is connected to construct a layered model of rock layers; the specific steps of constructing the three-dimensional tunnel model are as follows: S201: importing the two-dimensional lane layout drawing into the three-dimensional modeling software; S202: Identify and extract the center line of the lane in the two-dimensional image, including straight line segments and curve segments; S203: constructing a skeleton model of the lane in three-dimensional space according to the extracted lane center line; S204: at the turning point in the three-dimensional tunnel skeleton, smooth transition processing is performed by setting a smooth transition section of a certain length on both sides of the turning point, so that the tunnel can smoothly change direction at the turning point; S204: at the turning point, convert each point on the wire into the center point of the lane, determine the center line of the lane to ensure that the direction and shape of the lane are in accordance with reality; S205: at the inflection point, adjusting the cross-sectional shape of the laneway by reloading the laneway cross section at the inflection point to ensure that the model is consistent with the actual laneway; S206: At the slope change point in the three-dimensional tunnel skeleton, a slope change simulation is performed on the slope change point by setting different slope values ​​at the slope change point to reflect the slope change in the actual tunnel; S207: performing interpolation processing at the slope change point so that the model can smoothly transition at the slope change point; S208: At the intersections between lanes in the three-dimensional lane skeleton, adjusting the intersection angle and the intersection position so that the model correctly represents the spatial relationship at the intersection; S209: generating a corresponding cross-sectional model on the three-dimensional roadway skeleton according to different cross-sectional shapes of the roadway, and aligning the cross-sectional model with the roadway skeleton; S210: Output the three-dimensional tunnel model.

4. The three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment according to claim 1 is characterized by: In the step S2, a static entity in the coal mine is modeled. According to the two-dimensional tunnel layout diagram, a three-dimensional tunnel model with a complex connection relationship is generated using three-dimensional modeling software, and the tunnel inflection points, slope change points, intersections and various cross-sectional shapes are processed to construct a static entity model of the mine shaft and chamber. Different rocks are layered according to their properties, and the same rock layer is connected to construct a layered model of rock layers. The specific steps for constructing the static entity model of the mine shaft and chamber are as follows: S211: extracting relevant information of the mine shaft and chamber from the data set processed in step S1, including location, size, and shape; S212: Using 3D modeling software, construct a 3D model of the mine shaft based on the extracted information, and construct a 3D model of the chamber based on the extracted information.

5. The three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment according to claim 1 is characterized by: In the step S2, a static entity in the coal mine is modeled, and a three-dimensional tunnel model with a complex connection relationship is generated using a three-dimensional modeling software according to a two-dimensional tunnel layout diagram, and the tunnel turning points, slope change points, intersections and various cross-sectional shapes are processed to construct a static entity model of the mine shaft and chamber, and different rocks are layered according to their properties, and the same rock layer is connected to construct a rock layered layered model; the specific steps for constructing the mine rock layered layered model are as follows: S213: Extract rock types, properties and stratification from geological exploration data; S214: Determine the boundaries and thickness of different rock layers based on geological exploration data and stratigraphic profiles; S215: Use 3D modeling software to construct a 3D model of rock layers according to the layer boundaries and rock properties. For each layer of rock, set corresponding attributes according to its properties, including color, transparency, and texture; S216: Connecting parts of the same rock formation to form a complete rock formation model, while merging adjacent rock formations to reduce model complexity; S217: Integrate the rock layering model with the three-dimensional tunnel model; S218: Integrate the constructed 3D tunnel model, mine shaft, chamber model and rock layer model into a unified 3D model.

6. The three-dimensional dynamic modeling and simulation analysis method for underground coal mine environment according to claim 1 is characterized by: In step S3, a three-dimensional model of a dynamic entity in an underground coal mine is constructed, and its motion attributes, including speed and trajectory, are set. At the same time, an underground operator is modeled, and dynamic interaction and simulation are performed between the operator model and the mining equipment to simulate the actual production scene in the coal mine. The specific steps of constructing a three-dimensional model of a dynamic entity in an underground coal mine and modeling an underground operator are as follows: S301: extracting data related to dynamic entities from the data set processed in step S1, including the model, specification, and performance parameters of the mining equipment, and obtaining real-time information on the location, working status, and maintenance records of the equipment; S302: Using 3D modeling software, construct a dynamic solid 3D model of the mining equipment according to the extracted data; S303: Setting motion properties for the dynamic entity model, including speed and trajectory, and setting motion parameters according to the actual operation of the device; S304: Collect the number, location, and work task information of underground workers, and obtain the movement speed and work habit parameters of the workers; S305: constructing a three-dimensional model of the underground operator using three-dimensional modeling software, and setting different clothing, equipment and actions for the operator according to actual conditions; S306: Setting behavior rules for the operator model, including movement paths and work task execution order; S307: using Unity3D to construct a three-dimensional representation of the operator model by importing the three-dimensional model of the operator; S308: Using the Dijkstra algorithm, according to the set movement path and behavior rules, a script for controlling the autonomous movement of the operator model is set, and Physic in Unity3D is used to simulate the real physical movement effect; S309: According to the set work task execution sequence, set a script for controlling the operator model to execute tasks, so that the operator model can complete the tasks in the correct order and manner.

7. The method for three-dimensional dynamic modeling and simulation analysis of underground coal mine environment according to claim 1, characterized in that: In step S3, a three-dimensional model of a dynamic entity in the coal mine is constructed, and its motion attributes, including speed and trajectory, are set. At the same time, the underground workers are modeled, and dynamic interaction and simulation are performed between the worker model and the mining equipment to simulate the actual production scene in the coal mine. The specific steps of dynamic interaction and simulation are as follows: S310: according to the actual production scenario, setting the interaction rules between the operator and the mining equipment, including the interaction rules of how the operator operates the equipment and how the equipment responds to the operator's operation; S311: In the three-dimensional space, collision detection rules between the operator and the mining equipment are set. When a collision occurs, a response is made according to the set rules, including stopping movement, avoiding, and alarming; S312: Integrate the constructed dynamic entity model, operator model and set interaction rules into a unified simulation environment, dynamically simulate the entire coal mine underground environment through simulation software, and update the position, state and motion trajectory of the dynamic entity, as well as the behavior and work progress of the operator in real time during the simulation process; S313: After the simulation is completed, the simulation results are output, including the motion trajectory of the dynamic entity, the behavior record of the operator, and the working status of the equipment.

8. The method for three-dimensional dynamic modeling and simulation analysis of underground coal mine environment according to claim 1, characterized in that: In step S4, a three-dimensional dynamic model is used to perform spatial analysis, including shortest path analysis, disaster risk analysis and flooding analysis, and the impact of different mining schemes on the underground environment is evaluated through simulation analysis to optimize the mining scheme; the specific steps are as follows: S401: extracting spatial coordinate information of lanes, intersections, and equipment location nodes from the three-dimensional dynamic model; S402: Taking the extracted nodes as the vertices of the graph and the connection relationships between the nodes as the edges of the graph, a weighted undirected graph is constructed, wherein the weight is determined according to the length, slope, and traffic difficulty of the lane; S403: Using the A* algorithm, find the shortest path from the starting point to the end point in the graph; S404: Optimize and adjust the shortest path preliminarily calculated according to obstacles and equipment layout in actual production; S405: Output the shortest path and related information, including the path length, the nodes and edges passed through; S406: Based on the disaster type and geological exploration data, a corresponding disaster diffusion model is constructed to describe the occurrence and development process of the disaster and its impact range; S407: Setting the location, intensity, and propagation speed parameters of the disaster source of the model; S408: Run the disaster diffusion model in the three-dimensional dynamic model to simulate the occurrence and development process of the disaster, and record the simulation results, including the scope and degree of impact of the disaster; S409: Evaluate the impact of the disaster on the underground environment, equipment and personnel based on the simulation results, and determine high-risk areas and potential danger points; S410: constructing a water flow simulation model according to the permeability, pressure gradient and flow velocity of the water flow, so as to describe the flow process of water in the well and its influence range; S411: setting the boundary conditions of the water flow model, including the water source location, water level height, and water flow velocity; S412: running a water flow simulation model in the three-dimensional dynamic model to simulate the flow process of water in the well, and recording simulation results, including water flow path and flooding range; S413: Predict the flooding range at different water levels and its impact on the underground environment, equipment, and personnel based on the simulation results; S414: Preliminary formulation of multiple possible mining plans, including mining sequence, mining methods, and equipment configuration; S415: Run each mining plan in the three-dimensional dynamic model for simulation analysis, and record the simulation results, including production efficiency, energy consumption, and equipment utilization indicators; S416: Compare simulation results of different mining plans, and select the best plan or optimize and adjust the plan according to the analysis results; Wherein, in step S403, the A* algorithm is used to find the shortest path from the starting point to the end point in the graph; specifically, the following steps are performed: S4031: Create an open list to store nodes to be evaluated; S4032: Create a closed list to store the evaluated nodes; S4033: Add the starting point to the open list and set its cost to 0; S4034: Select the node with the lowest cost from the open list as the current node; S4035: remove the current node from the open list and add it to the closed list; S4036: traverse all adjacent nodes of the current node and calculate the total cost from the starting point to the adjacent node; if the adjacent node is in the closed list, ignore it; if the adjacent node is in the open list and the newly calculated total cost is lower, update its cost and predecessor node; if the adjacent node is not in the open list, add it to the open list and set the cost and predecessor node; S4037: When the end node is added to the closed list, the algorithm terminates; S4038: Tracing back from the end point to the starting point through the predecessor node to obtain the shortest path.

9. The method for three-dimensional dynamic modeling and simulation analysis of underground coal mine environment according to claim 1, characterized in that: In step S5, based on the three-dimensional dynamic model, combined with geological survey data and real-time monitoring information, early warning of geological disasters in coal mines is carried out, and prevention and control measures and emergency plans are formulated by simulating and analyzing the occurrence process and impact range of geological disasters; the specific steps are as follows: S501: Extract geological structure, rock layer distribution, and tunnel layout information from the 3D dynamic model, integrate geological exploration data, including the latest geological structure changes and rock layer movement monitoring data, and monitor underground environmental parameters in real time, including seismic waves, ground stress, and water level changes, and associate these data with the 3D dynamic model; S502: constructing a risk assessment model corresponding to the geological disaster type according to the geological disaster type, so as to assess the possibility of the occurrence of the geological disaster; S503: According to the historical data and the results of the risk assessment model, the early warning thresholds of different types of geological disasters are set; wherein the early warning thresholds include but are not limited to the critical values ​​of the seismic wave intensity, the ground stress change rate, and the water level rise speed index; S504: Using downhole sensors to monitor changes in downhole environmental parameters in real time, and comparing and analyzing the monitoring data with the warning thresholds; S505: When the monitoring data reaches or exceeds the warning threshold, the geological disaster warning mechanism is immediately triggered, and geological disaster warning information is issued to underground workers and managers through underground broadcasting and mobile communication networks; S506: In the three-dimensional dynamic model, according to the type and scale of geological disasters, simulate the occurrence process and impact range of disasters; analyze the potential impact of disasters on the underground environment, equipment, and personnel, and determine high-risk areas and potential danger points; S507: Based on the simulation analysis results, formulate targeted prevention and control measures, including strengthening the rock layer, unblocking the drainage system, and adjusting the operation area; at the same time, formulate an emergency plan to clarify the emergency response process, personnel evacuation routes, and rescue material allocation when a disaster occurs.

10. The method for three-dimensional dynamic modeling and simulation analysis of underground coal mine environment according to claim 1, characterized in that: In step S6, the operating status of the mining equipment is monitored and analyzed in real time to timely discover equipment failures, and the operating efficiency and energy consumption of the equipment are simulated and analyzed to optimize the equipment operating parameters, improve production efficiency and reduce energy consumption; specifically, the following steps are included: S601: Collecting the working status data, operating parameters and energy consumption information of the equipment in real time, including but not limited to the vibration, temperature, pressure, current, voltage, power and working time of the equipment; S602: Build an equipment failure warning model, identify abnormal features before equipment failure through training on historical failure data, and set corresponding warning thresholds; S603: Compare and analyze the real-time monitored equipment data with the fault warning model. When the data exceeds the warning threshold, a fault warning is triggered, and the fault warning information including the equipment number and the fault type is sent to the maintenance personnel through the underground communication system. S604: In the three-dimensional dynamic model, the operation process of the equipment is simulated, and the operation state of the model is dynamically adjusted according to the equipment parameters monitored in real time to reflect the actual operation status of the equipment; S605: Based on the simulated operation data, the operation efficiency and energy consumption indicators of the equipment are calculated, including the energy consumption per unit output, the equipment utilization rate, and the failure rate. By comparing and analyzing the operation efficiency and energy consumption of different equipment or the same equipment under different parameters, the space for optimizing the equipment operation parameters is found. S606: Formulate an optimization plan for equipment operating parameters based on the simulation analysis results, including adjusting the equipment's operating speed, load, and operating time; S607: Apply the optimization solution to the actual device.

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