Underground passage experiment system, method and device and electronic equipment

Abstract

The invention provides an experiment system, method and device for an underground passage and electronic equipment, and the system comprises a housing model of the underground passage, a first air bag, a second air bag, first inflation equipment, and a first monitoring module. Wherein the first air bag is tightly attached to the inner wall of the shell model, and the second air bag is located between the first air bag and the inner wall of the shell model; the first inflating equipment is used for inflating the second air bag, so that the second air bag extrudes the first air bag; the first monitoring module is used for monitoring real deformation information of the first air bag at N moments. Therefore, by inflating the second air bag, the first air bag deforms to simulate the deformation of the underground passage, the deformation can be actively triggered, and the dynamic and real deformation information of the first air bag within a period of time can be monitored, so that the dynamic deformation of the underground passage is simulated, and the richness of the simulated deformation information of the underground passage is improved.

Description

Technical Field

[0001] The present application relates to the technical fields of underground civil engineering and coal mining technology, and particularly relates to an experimental system, method, device, electronic device and storage medium for an underground passage. Background Art

[0002] Channel deformation refers to the inward displacement phenomenon that occurs on the inner wall of the underground channel structure under the action of force or changes in the external environment. The scale and location of channel deformation vary, and it may undergo small displacements in a small area or significant deformations over a large area, seriously affecting the structural safety. In order to ensure the structural safety of the underground channel, experiments on channel deformation can be carried out. However, in the related art, only static deformation of the underground channel can be simulated, and the deformation information of the simulated underground channel is relatively single. Summary of the Invention

[0003] The present application aims to solve at least one of the technical problems in the related art to some extent.

[0004] To this end, the first object of the present application is to propose an experimental system for an underground passage.

[0005] The second object of the present application is to propose an experimental method for an underground passage.

[0006] The third object of the present application is to propose an experimental device for an underground passage.

[0007] The fourth object of the present application is to propose an electronic device.

[0008] The fifth object of the present application is to propose a computer-readable storage medium.

[0009] The sixth object of the present application is to propose a computer program product.

[0010] To achieve the above object, an embodiment of the first aspect of the present application proposes an experimental system for an underground passage, including: a housing model of the underground passage, a first airbag, a second airbag, a first inflation device, and a first monitoring module; wherein, the first airbag is closely attached to the inner wall of the housing model, and the second airbag is located between the first airbag and the inner wall of the housing model; the first inflation device is used to inflate the second airbag so that the second airbag squeezes the first airbag; the first monitoring module is used to monitor the true deformation information of the first airbag at N moments, where N is an integer greater than 1.

[0011] To achieve the above object, an embodiment of the second aspect of the present application provides an experimental method for an underground passage, which is applicable to the experimental system of the underground passage described in the embodiment of the first aspect. The method includes: inflating the second airbag to cause the second airbag to squeeze the first airbag; during the process of inflating the second airbag, monitoring the true deformation information of the first airbag at N moments, where N is an integer greater than 1; based on the true deformation information of the first airbag at the i-th moment, obtaining the simulated deformation information of the underground passage at the i-th moment, where i is a positive integer not greater than N.

[0012] To achieve the above object, an embodiment of the third aspect of the present application provides an experimental device for an underground passage, which is applicable to the experimental system of the underground passage described in the embodiment of the first aspect. The device includes: an inflation module for inflating the second airbag to cause the second airbag to squeeze the first airbag; a first acquisition module for monitoring the true deformation information of the first airbag at N moments during the process of inflating the second airbag, where N is an integer greater than 1; a second acquisition module for obtaining the simulated deformation information of the underground passage at the i-th moment based on the true deformation information of the first airbag at the i-th moment, where i is a positive integer not greater than N.

[0013] To achieve the above object, an embodiment of the fourth aspect of the present application provides an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described in the embodiment of the second aspect as above.

[0014] To achieve the above object, an embodiment of the fifth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the embodiment of the second aspect as above.

[0015] To achieve the above object, an embodiment of the sixth aspect of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the method described in the embodiment of the second aspect as above.

[0016] The experimental system, method, device, electronic equipment and storage medium for an underground passage provided by this application. Among them, the experimental system for the underground passage includes a shell model of the underground passage, a first airbag, a second airbag, a first inflation device and a first monitoring module. By inflating the second airbag, the first airbag deforms to simulate the deformation of the underground passage, which can actively trigger the deformation and monitor the dynamic and real deformation information of the first airbag within a period of time to simulate the dynamic deformation of the underground passage. Compared with the related technology that can only simulate the static deformation of the underground passage, the richness of the deformation information of the simulated underground passage is improved.

[0017] Additional aspects and advantages of this application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of this application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0019] Figure 1 is a schematic structural diagram of an experimental system for an underground passage provided by an embodiment of this application;

[0020] Figure 2 is a schematic structural diagram of multiple experimental systems for an underground passage provided by an embodiment of this application;

[0021] Figure 3 is a schematic flowchart of an experimental method for an underground passage provided by an embodiment of this application;

[0022] Figure 4 is a schematic flowchart of another experimental method for an underground passage provided by an embodiment of this application;

[0023] Figure 5 is a schematic flowchart of another experimental method for an underground passage provided by an embodiment of this application;

[0024] Figure 6 is a schematic structural diagram of an experimental device for an underground passage provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The embodiments of this application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are intended to explain this application and should not be construed as a limitation of this application.

[0026] For ease of understanding, the terms related to this application are introduced first.

[0027] 1. Underground passage

[0028] The underground passages mentioned in this application refer to various underground passages and tunnels, etc. structures widely used in the mining and transportation industries. Due to their location underground, these structures usually have poor lighting conditions, complex humidity and environment, which pose challenges to computer vision-based monitoring technologies. Common underground passage structures include mine roadways, subway tunnels, highway tunnels, and other underground projects, which need to maintain structural stability for a long time to cope with various external forces such as geological changes and construction disturbances.

[0029] 2. Passage deformation

[0030] Passage deformation refers to the inward displacement phenomenon that occurs on the inner wall of the underground passage structure under the action of force or external environmental changes. The specific manifestations are displacements in different parts, such as roof subsidence, floor heave (the bottom bulges upward), and rib heave (the sidewall bulges inward). The scales and locations of these deformations vary. Micro-displacements may occur in a small area, or significant deformations may occur over a large area, seriously affecting structural safety. Therefore, effective monitoring and early warning of these deformations are of great significance for structural maintenance and disaster prevention.

[0031] In recent years, with the rise of advanced technologies such as computer vision, laser scanning, and multi-modal fusion computing, the monitoring methods for underground passage structures have become more efficient and accurate. These technologies can capture the subtle deformations of the inner wall of the passage in real time, provide accurate data and visual analysis, greatly improving the efficiency and effect of monitoring. However, such methods usually rely on a large amount of high-quality training data, especially in practical applications, which need to be analyzed through machine learning or deep learning models. However, in reality, the deformation phenomena of underground passages are relatively rare and difficult to reproduce in large quantities, resulting in challenges in data acquisition. Existing three-dimensional model test systems for tunnels and underground structures usually are equipped with a three-dimensional pressurization system, which can load the underground structure in all directions, simulating the stress distribution and structural response under real working conditions. Such systems are mainly used for studying the mechanical properties, bearing capacity, and optimization design of underground structures. However, their functions are limited to mechanical experiments and cannot be used to simulate and study the small deformations of underground structures, especially cannot be combined with advanced deformation monitoring methods (such as computer vision and laser scanning) for experiments. Therefore, constructing an experimental device and method for simulating the deformation of the inner wall of underground passages has become an important research direction, which helps to fill this data gap and promote the development of monitoring technologies.

[0032] In summary, the existing experimental devices for studying underground passage structures generally have the following problems:

[0033] 1. Mainly static simulation, lacking dynamic deformation: Most experimental devices can only simulate static structures and cannot reflect the dynamic deformation process of structures under external forces, limiting in-depth research on the deformation process.

[0034] 2. Lack of active deformation device: Existing equipment usually cannot actively initiate and control deformation, making it difficult to simulate deformation characteristics under various complex working conditions, and affecting the development and verification of deformation monitoring technologies.

[0035] 3. Difficult to obtain data: The experimental equipment for the deformation of underground channels is relatively limited, especially the experimental data for actual deformation is difficult to reproduce in large quantities, resulting in limited applications in data-driven technologies such as machine learning.

[0036] 4. Unable to effectively combine advanced monitoring technologies: Existing experimental methods such as three-dimensional pressurization systems cannot be combined with precision monitoring technologies such as computer vision and laser scanning, making it difficult to conduct comprehensive deformation monitoring experiments.

[0037] 5. High experimental cost: Some equipment is complex and expensive, with high usage costs and long experimental cycles, and is not suitable for large-scale deformation monitoring research and equipment optimization.

[0038] In view of the above problems, the embodiments of the present application provide an experimental system for an underground channel, including a shell model of the underground channel, a first airbag, a second airbag, a first inflation device, and a first monitoring module. By inflating the second airbag, the first airbag is deformed to simulate the deformation of the underground channel, which can actively initiate deformation and monitor the dynamic and real deformation information of the first airbag over a period of time to simulate the dynamic deformation of the underground channel. Compared with the related technologies that can only simulate the static deformation of the underground channel, the richness of the simulated deformation information of the underground channel is improved.

[0039] Furthermore, the embodiments of the present application also provide an experimental method for an underground channel. Inflate the second airbag so that the second airbag squeezes the first airbag. During the process of inflating the second airbag, monitor the real deformation information of the first airbag at N moments. Based on the real deformation information of the first airbag at the i-th moment, obtain the simulated deformation information of the underground channel at the i-th moment. Thus, by inflating the second airbag to deform the first airbag to simulate the deformation of the underground channel, deformation can be actively initiated, and the dynamic and real deformation information of the first airbag over a period of time can be monitored to simulate the dynamic deformation of the underground channel. Compared with the related technologies that can only simulate the static deformation of the underground channel, the richness of the simulated deformation information of the underground channel is improved.

[0040] Next, the experimental system, method, device, electronic device, and storage medium of the underground channel according to the embodiments of the present application will be described with reference to the accompanying drawings.

[0041] Figure 1 Schematic diagram of an experimental system for an underground passage provided by an embodiment of the present application.

[0042] As Figure 1 shown, the experimental system 100 of the underground passage includes a housing model 1 of the underground passage, a first airbag 2, a second airbag 3, a first inflation device 4, and a first monitoring module 5.

[0043] The first airbag 2 is in close contact with the inner wall of the housing model 1, and the second airbag 3 is located between the first airbag 1 and the inner wall of the housing model 1. It can be understood that a part of the outer surface of the first airbag 2 is in close contact with the inner wall of the housing model 1, and the second airbag 3 is located between the other part of the outer surface of the first airbag 1 and the inner wall of the housing model 1.

[0044] The first inflation device 4 is used to inflate the second airbag 3 so that the second airbag 3 squeezes the first airbag 2. The first monitoring module 5 is used to monitor the true deformation information of the first airbag 2 at N moments, where N is an integer greater than 1.

[0045] It should be noted that the housing model 1 is used to simulate the external structure of the underground passage (also called the outer wall of the underground passage), the first airbag 2 is used to simulate the internal structure of the underground passage (including the inner wall and air of the underground passage), the first airbag 2 is also called the inner airbag, and the true deformation information of the first airbag 2 is used to obtain the simulated deformation information of the underground passage. For related content, refer to the following embodiments and will not be elaborated here.

[0046] During the inflation process of the second airbag 3, the second airbag 3 can squeeze the first airbag 2, causing the first airbag 2 to deform. As time goes by, the squeezing degree of the second airbag 3 on the first airbag 2 becomes greater, and thus the deformation degree of the first airbag 2 also becomes greater. The true deformation information of the first airbag 2 at different moments may be different, that is, the true deformation information of the first airbag 2 at N moments is the dynamic and true deformation information of the first airbag 2 within a period of time.

[0047] There is no excessive limitation on the deformation information, such as including deformation type, deformation amount (such as displacement, strain, inclination angle), shape before deformation, shape after deformation, deformation part, etc. Among them, the deformation type includes bias deformation, roof subsidence, roof cracking, floor heave, side wall cracking, rib spalling, etc.

[0048] In this application, by inflating the second airbag to cause the first airbag to deform, the deformation of the underground passage is simulated. The deformation can be actively induced, and the dynamic and real deformation information of the first airbag within a period of time can be monitored. Furthermore, the dynamic and simulated deformation information of the underground passage within a period of time can be obtained, which can reflect the dynamic deformation process of the underground passage under the action of external forces. That is, the dynamic deformation of the underground passage can be simulated. Compared with the related technology that can only simulate the static deformation of the underground passage, the richness of the simulated deformation information of the underground passage is improved, which helps to realize in-depth research on the deformation process of the underground passage. In addition, batch and large-scale collection of real deformation information can also be achieved.

[0049] The simulated deformation information of the underground passage refers to the deformation information of the underground passage obtained based on the real deformation information of the first airbag in the experimental environment.

[0050] When at least one of the information such as the shape of the first airbag before and after deformation, the arrangement position of the second airbag, and its shape after inflation changes, the deformation type, deformation scale, and deformation part of the simulated underground passage may all change. For example, Figure 2 Fig. shows the experimental systems of 4 underground passages. In the experimental systems of the 4 underground passages, at least one of the information of the arrangement position of the second airbag 3 and its shape after inflation is different. It should be noted that the first inflation device 4 and the first monitoring module 5 are not shown in Figure 2 the figure.

[0051] In this application, the first airbag with an adjustable shape and the second airbag with an adjustable shape and arrangement position are used to achieve precise control of the deformation type, deformation scale, and deformation part of the simulated underground passage, that is, the deformation controllability is strong. Different from the three-dimensional pressurization system in the prior art that can only conduct mechanical property research, the experimental system of this application can actively induce and control deformation. For example, it can simulate the deformation of different types, different scales, and different parts (such as the roof, bottom, and side) of the underground passage, and can more flexibly simulate various complex deformation scenarios under actual working conditions.

[0052] Optionally, as Figure 1 shown, the experimental system 100 of the underground passage further includes a second monitoring module 6. The second monitoring module 6 is used to monitor the original deformation information of the first airbag 2 at N moments. The second monitoring module 6 is a deformation monitoring module of the underground passage.

[0053] It should be noted that the first monitoring module 5 and the second monitoring module 6 are different monitoring modules, and the monitoring accuracy of the first monitoring module 5 is higher than that of the second monitoring module 6. The second monitoring module 6 refers to the deformation monitoring module of the underground passage in the real environment, which is used to monitor the real deformation information of the underground passage. That is to say, the real deformation information of the underground passage refers to the deformation information of the underground passage monitored by the second monitoring module 6 in the real environment. The real deformation information of the first airbag 2 at the same moment may be the same as or different from the original deformation information.

[0054] The real deformation information of the first airbag 2 at N moments and the original deformation information of the first airbag 2 at N moments are used to optimize the second monitoring module 6. For relevant content, refer to the following embodiments and will not be elaborated here.

[0055] There are no excessive restrictions on the first monitoring module 5 and the second monitoring module 6. For example, the first monitoring module 5 includes a convergence meter, a total station, a strain gauge, an inclinometer, etc. The second monitoring module 6 includes a camera, a laser scanner, a radar, a deformation monitoring model, etc. The deformation monitoring model includes a mechanism model, a data-driven model, etc. Among them, the data-driven model includes a time series model, a machine learning model (such as a deep learning model, a reinforcement learning model), a statistical regression model, etc.

[0056] Optionally, the second monitoring module 6 includes at least one deformation monitoring model among a computer vision model, a laser scanning model, and a multi-modal fusion model. Thus, in this embodiment, in addition to monitoring the real deformation information of the first airbag, precise monitoring technologies such as computer vision, laser scanning, and multi-modal fusion can also be used to monitor the original deformation information of the first airbag, and a comprehensive deformation monitoring experiment can be carried out.

[0057] In this embodiment, the dynamic and original deformation information of the first airbag can be monitored within a period of time, improving the richness of the obtained deformation information. In addition, batch and large-scale acquisition of the original deformation information can be realized. For example, the real deformation information, the original deformation information, and the experimental environment information (such as loading conditions, environmental change information) can be combined to generate a deformation data set. This data set fills the gap in the actual project due to rare and difficult-to-replicate deformations, resulting in insufficient data, and provides a solid foundation for future algorithm development and verification. For example, this data set plays an important role in algorithm research and software and hardware optimization such as computer vision, laser scanning, and multi-modal fusion. By providing accurate training data, the performance of the algorithm in underground passage deformation monitoring can be significantly improved, accelerating the research and improvement of the monitoring system, and promoting the progress of intelligent deformation monitoring technology.

[0058] Optionally, as Figure 1As shown, the experimental system 100 of the underground passage further includes a second inflation device 7 for inflating the first airbag 2 to adjust the shape of the first airbag 2 to its shape before deformation and make the first airbag 2 closely fit the inner wall of the housing model 1.

[0059] It should be noted that the shape of the first airbag 2 before deformation is also the shape of the first airbag 2 after inflation. The first inflation device 6 and the second inflation device 7 may be the same or different, and no excessive limitation is made here. For example, the inflation accuracy of the first inflation device 6 is higher than that of the second inflation device 7. No excessive limitation is made on the first inflation device 6 and the second inflation device 7.

[0060] Optionally, the first inflation device 6 includes a mass flowmeter, a volume flowmeter (such as a vortex flowmeter), a pressure sensor, a controller, an air pump, a compressor, etc. The mass flowmeter is used to monitor the mass of air entering the second airbag 3, the volume flowmeter is used to monitor the volume of air entering the second airbag 3, the pressure sensor is used to monitor the air pressure of the second airbag 3, and the controller is used to adjust the operating parameters of at least one of the air pump and the compressor based on the target inflation information of the second airbag 3 and the monitoring results of at least one of the mass flowmeter, the volume flowmeter, and the pressure sensor to achieve precise control of the inflation process of the second airbag 3 and ensure that the inflation volume accuracy reaches the milliliter level.

[0061] Optionally, the second inflation device 7 includes a pressure sensor, a controller, an air pump, etc. The pressure sensor is used to monitor the air pressure of the first airbag 2, and the controller is used to adjust the operating parameters of the air pump based on the air pressure of the first airbag 2 to achieve precise control of the inflation process of the first airbag 2 and automatically replenish air to the first airbag 2.

[0062] Optionally, at least one of the first airbag 2 and the second airbag 3 is made of a flexible material. It should be noted that no excessive limitation is made on the flexible material. For example, at least one of the first airbag 2 and the second airbag 3 is made of a flexible material with good airtightness and certain ductility. For example, the flexible material includes ETFE film (ethylene-tetrafluoroethylene copolymer film), PTFE film (polytetrafluoroethylene film), PVC film (polyvinyl chloride film), TPU (thermoplastic polyurethane), etc.

[0063] Optionally, the first airbag 2 and the second airbag 3 are made of the same material.

[0064] Optionally, the housing model 1 is a detachable structure to facilitate the flexible arrangement of the second airbag 3. For example, a partial housing of the housing model 1 can be detached from the outside of the housing model 1, and the second airbag 3 can be placed between the first airbag 2 and the inner wall of the housing model 1 from the partial detachment point, and then the detached partial housing is installed on the housing model 1. It can be understood that if the arrangement position of the second airbag 3 changes, the detachment part of the housing model 1 needs to be changed.

[0065] Optionally, the experimental system 100 of the underground passage further includes a skeleton (also called keel) model of the underground passage, and the housing model is arranged inside the skeleton model.

[0066] For example, the skeleton model of the underground passage is built with materials such as U-shaped steel, channel steel or steel pipes at certain intervals to ensure that the skeleton model is strong and has excellent anti-deformation performance. The U-shaped steel is a kind of steel with a cross-section like the English letter "U". The housing model is fixed inside the skeleton model, and the material of the housing model is required to be strong and not easily deformed. For the convenience of partial disassembly in subsequent experiments, it is best to use the bolt method for fixing and use relatively light plates.

[0067] In summary, the experimental system of the underground passage in the embodiment of the present application includes a housing model of the underground passage, a first airbag, a second airbag, a first inflation device and a first monitoring module. By inflating the second airbag to cause the first airbag to deform to simulate the deformation of the underground passage, the deformation can be actively induced, and the dynamic and real deformation information of the first airbag within a period of time can be monitored to simulate the dynamic deformation of the underground passage. Compared with the related art that can only simulate the static deformation of the underground passage, the richness of the deformation information of the simulated underground passage is improved.

[0068] The embodiment of the present application provides an experimental method for an underground passage. It is applicable to the experimental system of the underground passage provided in the foregoing embodiment.

[0069] As Figure 3 shown, the method may include the following steps:

[0070] S301, inflate the second airbag so that the second airbag squeezes the first airbag.

[0071] S302, during the process of inflating the second airbag, monitor the real deformation information of the first airbag at N moments, where N is an integer greater than 1.

[0072] For the relevant content of steps S301-S303, reference can be made to the above embodiment and will not be elaborated here.

[0073] S303, based on the real deformation information of the first airbag at the i-th moment, obtain the simulated deformation information of the underground passage at the i-th moment, where i is a positive integer not greater than N.

[0074] For example, taking N = 5 as an example, during the inflation process of the second airbag, the true deformation information of the first airbag is monitored at 10 moments. Based on the true deformation information of the first airbag at the 1st moment, the simulated deformation information of the underground passage at the 1st moment is obtained. Based on the true deformation information of the first airbag at the 2nd moment, the simulated deformation information of the underground passage at the 2nd moment is obtained. Based on the true deformation information of the first airbag at the 3rd moment, the simulated deformation information of the underground passage at the 3rd moment is obtained. Based on the true deformation information of the first airbag at the 4th moment, the simulated deformation information of the underground passage at the 4th moment is obtained. Based on the true deformation information of the first airbag at the 5th moment, the simulated deformation information of the underground passage at the 5th moment is obtained.

[0075] Optionally, obtaining the simulated deformation information of the underground passage at the i-th moment based on the true deformation information of the first airbag at the i-th moment includes using the true deformation information of the first airbag at the i-th moment as the simulated deformation information of the underground passage at the i-th moment.

[0076] It can be understood that the shell model of the underground passage and the first airbag are respectively used to simulate the external structure and internal structure of the underground passage. If the shell model, the first airbag and the underground passage are highly similar in terms of material, geometric shape (including size) and force-bearing conditions, at this time, the true deformation information of the first airbag can be regarded as the simulated deformation information of the underground passage, and then the true deformation information of the first airbag is directly used as the simulated deformation information of the underground passage.

[0077] On the contrary, if there are significant differences in at least one of the information of the shell model, the first airbag and the underground passage in terms of material, geometric shape and force-bearing conditions, at this time, the true deformation information of the first airbag cannot be regarded as the simulated deformation information of the underground passage, and then the true deformation information of the first airbag needs to be converted to obtain the simulated deformation information of the underground passage.

[0078] Optionally, obtaining the simulated deformation information of the underground passage at the i-th moment based on the true deformation information of the first airbag at the i-th moment includes obtaining the simulated deformation information of the underground passage at the i-th moment based on the correlation relationship between the true deformation information and the simulated deformation information, and the true deformation information of the first airbag at the i-th moment. Thus, the correlation relationship between the true deformation information and the simulated deformation information, and the true deformation information of the first airbag at a certain moment can be considered to obtain the simulated deformation information of the underground passage at that moment.

[0079] It should be noted that the relevant relationship is not overly restricted. For example, it may include a linear relationship, a non-linear relationship, a polynomial curve, a functional relationship expressed by a function expression, a corresponding relationship between value ranges, etc.

[0080] In summary, according to the experimental method of the underground passage in the embodiments of the present application, the second airbag is inflated so that the second airbag squeezes the first airbag. During the inflation of the second airbag, the true deformation information of the first airbag at N moments is monitored. Based on the true deformation information of the first airbag at the i-th moment, the simulated deformation information of the underground passage at the i-th moment is obtained. Thus, by inflating the second airbag to cause the first airbag to deform to simulate the deformation of the underground passage, the deformation can be actively induced, and the dynamic and true deformation information of the first airbag within a period of time can be monitored to simulate the dynamic deformation of the underground passage. Compared with the related art that can only simulate the static deformation of the underground passage, the richness of the simulated deformation information of the underground passage is improved.

[0081] In addition, batch and large-scale acquisition of true deformation information can also be achieved.

[0082] In the above embodiments, regarding the steps before inflating the second airbag in step S301, it can be further understood in combination with Figure 4 for further understanding. Figure 4 FIG. is a schematic flowchart of another experimental method for an underground passage provided by an embodiment of the present application. As Figure 4 shown, the method may include the following steps:

[0083] S401, arrange the second airbag between the first airbag and the inner wall of the housing model of the underground passage.

[0084] For example, if the arrangement position of the second airbag is between the first airbag and the left inner wall of the housing model, the left housing of the housing model 1 can be disassembled from the outside of the housing model 1, and the second airbag can be placed between the first airbag and the left inner wall of the housing model from the local disassembly location, and then the disassembled left housing can be installed on the housing model.

[0085] For example, if the arrangement position of the second airbag is between the first airbag and the lower inner wall of the housing model, the lower housing of the housing model 1 can be disassembled from the outside of the housing model 1, and the second airbag can be placed between the first airbag and the lower inner wall of the housing model from the local disassembly location, and then the disassembled lower housing can be installed on the housing model.

[0086] S402, inflate the first airbag so that the first airbag fits tightly against the inner wall of the housing model.

[0087] S403, inflate the second airbag so that the second airbag squeezes the first airbag.

[0088] S404. During the process of inflating the second airbag, monitor the true deformation information of the first airbag at N moments, where N is an integer greater than 1.

[0089] S405. Based on the true deformation information of the first airbag at the i-th moment, obtain the simulated deformation information of the underground passage at the i-th moment, where i is a positive integer not greater than N.

[0090] For the relevant content of steps S402 - S405, reference can be made to the above embodiments and will not be elaborated here.

[0091] In summary, according to the experimental method of the underground passage in the embodiments of the present application, before inflating the second airbag, it further includes arranging the second airbag between the first airbag and the inner wall of the housing model, and inflating the first airbag to make the first airbag closely fit the inner wall of the housing model.

[0092] Based on any of the above embodiments, the method further includes determining experimental information based on the set deformation information of the underground passage, where the experimental information includes at least one of the information of the shape of the first airbag before deformation, the shape of the first airbag after deformation, the shape of the second airbag after inflation, and the arrangement position of the second airbag. Thus, considering the set deformation information of the underground passage, at least one of the information of the shape of the first airbag before deformation, the shape of the first airbag after deformation, the shape of the second airbag after inflation, and the arrangement position of the second airbag can be determined to simulate the set deformation information of the underground passage.

[0093] It should be noted that the set deformation information is not overly limited. For example, it may include deformation type, deformation scale, deformation part, etc. In the present application, by adjusting at least one of the information of the shape of the first airbag before and after deformation, the arrangement position of the second airbag, and its shape after inflation, the deformation type, deformation scale, and deformation part of the simulated underground passage can be precisely controlled, that is, the deformation controllability is strong. For example, simulating the deformations of different types, different scales, and different parts (such as the roof, bottom, and side) of the underground passage can more flexibly simulate various complex deformation scenarios under actual working conditions.

[0094] In this embodiment, determining the experimental information based on the set deformation information of the underground passage includes the following possible implementation manners:

[0095] Way 1. Based on the set deformation information, determine the shape of the first airbag before deformation and the shape of the first airbag after deformation, and based on the shape of the first airbag before deformation and the shape of the first airbag after deformation, determine the shape of the second airbag after inflation and the arrangement position.

[0096] Optionally, based on the set deformation information, determine the shape of the first airbag before deformation and the shape of the first airbag after deformation, including determining the shape of the underground passage before deformation and the shape of the underground passage after deformation based on the set deformation information, obtaining the shape of the first airbag before deformation based on the shape of the underground passage before deformation, and obtaining the shape of the first airbag after deformation based on the shape of the underground passage after deformation.

[0097] In some examples, obtaining the shape of the first airbag before deformation based on the shape of the underground passage before deformation includes using the shape of the underground passage before deformation as the shape of the first airbag before deformation.

[0098] It can be understood that if the first airbag and the internal structure of the underground passage are highly similar in geometric shape, the shape of the underground passage before deformation can be directly used as the shape of the first airbag before deformation.

[0099] Conversely, if there are significant differences in the geometric shape between the first airbag and the internal structure of the underground passage, for example, the first airbag is a scaled model of the internal structure of the underground passage, the shape of the underground passage before deformation needs to be converted to obtain the shape of the first airbag before deformation.

[0100] In some examples, obtaining the shape of the first airbag before deformation based on the shape of the underground passage before deformation includes obtaining the shape of the first airbag before deformation based on the correlation between the shape of the underground passage and the shape of the first airbag, as well as the shape of the underground passage before deformation. For example, if there is a scaling relationship between the shape of the underground passage and the shape of the first airbag, the shape of the underground passage before deformation can be scaled to obtain the shape of the first airbag before deformation.

[0101] It should be noted that the relevant content of obtaining the shape of the first airbag after deformation based on the shape of the underground passage after deformation can refer to the relevant content of obtaining the shape of the first airbag before deformation based on the shape of the underground passage before deformation in the above embodiments, and will not be elaborated here.

[0102] Optionally, based on the shape of the first airbag before deformation and the shape of the first airbag after deformation, determine the shape of the second airbag after inflation, including splitting the shape of the first airbag before deformation into the shape of the first airbag after deformation and the target shape, and using the target shape as the shape of the second airbag after inflation. It can be understood that in this embodiment, the shape of the first airbag before deformation can be regarded as composed of the shape of the first airbag after deformation and the shape of the second airbag after inflation.

[0103] Optionally, based on the shape of the first airbag before deformation and the shape of the first airbag after deformation, determine the shape of the second airbag after inflation, including obtaining the deformation amount of the first airbag based on the shape of the first airbag before deformation and the shape of the first airbag after deformation, and determining the shape of the second airbag after inflation based on the deformation amount of the first airbag.

[0104] In some examples, determining the shape of the second airbag after inflation based on the deformation amount of the first airbag includes obtaining the shape of the second airbag after inflation based on the correlation between the deformation amount of the first airbag and the shape of the second airbag after inflation, and the deformation amount of the first airbag.

[0105] Optionally, determining the arrangement position based on the shape of the first airbag before deformation and the shape of the first airbag after deformation includes obtaining the deformation position of the first airbag based on the shape of the first airbag before deformation and the shape of the first airbag after deformation, and using the position between the deformation position of the first airbag and the inner wall of the housing model as the arrangement position.

[0106] Method 2: Obtaining experimental information based on the correlation between the set deformation information and the experimental information, and the set deformation information.

[0107] Figure 5 It is a schematic flowchart of another experimental method for an underground passage provided by an embodiment of the present application. As Figure 5 shown, the method may include the following steps:

[0108] S501, Inflate the second airbag so that the second airbag squeezes the first airbag.

[0109] S502, During the inflation of the second airbag, monitor the true deformation information of the first airbag at N moments, where N is an integer greater than 1.

[0110] S503, During the inflation of the second airbag, monitor the original deformation information of the first airbag at N moments through the second monitoring module.

[0111] For the relevant content of steps S501 - S503, reference can be made to the above embodiments and will not be elaborated here.

[0112] In this embodiment, the dynamic and original deformation information of the first airbag can be monitored within a period of time, improving the richness of the obtained deformation information. In addition, batch and large-scale acquisition of the original deformation information can also be realized.

[0113] S504, Optimize the second monitoring module based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments.

[0114] Optionally, the second monitoring module includes at least one deformation monitoring model among a computer vision model, a laser scanning model, and a multi-modal fusion model.

[0115] Based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments, the second monitoring module is optimized, including correlating the true deformation information of the first airbag at the i-th moment with the original deformation information of the first airbag at the i-th moment to obtain training samples, and training the deformation monitoring model based on the training samples. Thus, the true deformation information and the original deformation information of the first airbag at the same moment can be correlated to obtain training samples for training the deformation monitoring model, improving the monitoring accuracy of the deformation monitoring model.

[0116] It should be noted that training the deformation monitoring model based on the training samples can be achieved by using any model training method in related technologies, and no excessive limitations are imposed here. For example, based on multiple training samples, the loss function of the deformation monitoring model can be obtained, and the deformation monitoring model can be trained based on the loss function. It should be noted that no excessive limitations are imposed on the loss function. For example, it can include CE (Cross Entropy), MSE (Mean-Square Error), KL (Kullback-Leibler) divergence, contrast loss function, etc.

[0117] Optionally, the second monitoring module includes at least one deformation monitoring device such as a camera, a laser scanner, or a radar. Based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments, the second monitoring module is optimized, including constructing a calibration model for the deformation monitoring device based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments, and adjusting the parameters of the deformation monitoring device based on the calibration model.

[0118] Optionally, based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments, the second monitoring module is optimized, including optimizing the second monitoring module based on the true deformation information of the first airbag at N moments, the original deformation information of the first airbag at N moments, and the experimental environment information. Thus, the dynamic and true deformation information, the dynamic and original deformation information, and the experimental environment information of the first airbag over a period of time can be comprehensively considered to optimize the second monitoring module, taking into account the influence of the experimental environment information on the monitoring results of the second monitoring module and further improving the monitoring accuracy of the second monitoring module.

[0119] In summary, according to the experimental method of the underground passage according to the embodiments of the present application, during the process of inflating the second airbag, the original deformation information of the first airbag at N moments is monitored by the second monitoring module. Based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments, the second monitoring module is optimized. Thus, the dynamic and true deformation information of the first airbag within a period of time, as well as the dynamic and original deformation information, can be comprehensively considered to optimize the second monitoring module, which helps to improve the monitoring accuracy of the second monitoring module and is applicable to the optimization scenarios of computer vision, laser scanning, and multimodal fusion technology.

[0120] For the sake of easy understanding, taking the underground passage as an example of a mine roadway, an exemplary embodiment is provided:

[0121] In the first step, analyze the type and scale of the roadway deformation to be simulated, determine the shape of the first airbag before deformation and the required amount of deformation, and then design the shape and layout position of the second airbag according to the shapes of the first airbag before and after deformation.

[0122] In the second step, remove the hard outer shell of the roadway at the corresponding position from the outside of the simulated roadway, place the designed second airbag in the designed layout orientation, and then install the hard outer shell back.

[0123] In the third step, next, inflate the first airbag to make the first airbag reach the shape before the experiment, and then quantitatively inflate the second airbag through the precise inflation system to make the first inner airbag undergo the required amount of deformation in the experiment. Before and after the second inflation, measure the change amount as the true value of the deformation through precise measurement equipment, and at the same time, use advanced technologies such as computer vision, laser scanning, and multimodal fusion calculation for dense measurement underground to obtain the original data for algorithm optimization calculation.

[0124] To implement the above embodiments, the present application also proposes an experimental device for an underground passage. It is applicable to the experimental system of the underground passage provided in the foregoing embodiments.

[0125] Figure 6 It is a schematic structural diagram of an experimental device for an underground passage provided by an embodiment of the present application.

[0126] As Figure 6 shown, the experimental device 200 for the underground passage includes: an inflation module 210, a first acquisition module 220, and a second acquisition module 230.

[0127] The inflation module 210 is used to inflate the second airbag so that the second airbag squeezes the first airbag;

[0128] The first acquisition module 220 is used to monitor the true deformation information of the first airbag at N moments during the process of inflating the second airbag, where N is an integer greater than 1;

[0129] A second acquisition module 230, configured to obtain the simulated deformation information of the underground passage at the i-th moment based on the true deformation information of the first airbag at the i-th moment, where i is a positive integer not greater than N.

[0130] Further, in a possible implementation manner of the embodiment of the present application, before inflating the second airbag, the inflation module 210 is further configured to: arrange the second airbag between the first airbag and the inner wall of the housing model of the underground passage; inflate the first airbag to make the first airbag fit tightly against the inner wall of the housing model.

[0131] Further, in a possible implementation manner of the embodiment of the present application, the device 200 further includes: a determination module, configured to: determine experimental information based on the set deformation information of the underground passage, where the experimental information includes at least one of the shape of the first airbag before deformation, the shape of the first airbag after deformation, the shape of the second airbag after inflation, and the arrangement position of the second airbag.

[0132] Further, in a possible implementation manner of the embodiment of the present application, the determination module is further configured to: determine the shape of the first airbag before deformation and the shape of the first airbag after deformation based on the set deformation information; determine the shape of the second airbag after inflation and the arrangement position based on the shape of the first airbag before deformation and the shape of the first airbag after deformation.

[0133] Further, in a possible implementation manner of the embodiment of the present application, the second acquisition module 230 is further configured to: use the true deformation information of the first airbag at the i-th moment as the simulated deformation information of the underground passage at the i-th moment; or obtain the simulated deformation information of the underground passage at the i-th moment based on the correlation between the true deformation information and the simulated deformation information, and the true deformation information of the first airbag at the i-th moment.

[0134] Further, in a possible implementation manner of the embodiment of the present application, the device 200 further includes: an optimization module, configured to: during the inflation of the second airbag, monitor the original deformation information of the first airbag at N moments through the second monitoring module; optimize the second monitoring module based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments.

[0135] Further, in a possible implementation manner of the embodiment of the present application, the second monitoring module includes at least one deformation monitoring model among a computer vision model, a laser scanning model, and a multi-modal fusion model; the optimization module is further configured to: associate the true deformation information of the first airbag at the i-th moment with the original deformation information of the first airbag at the i-th moment to obtain a training sample; and train the deformation monitoring model based on the training sample.

[0136] It should be noted that the foregoing explanation of the experimental method embodiment of the underground passage is also applicable to the experimental device of the underground passage in this embodiment, and will not be repeated here.

[0137] In summary, for the experimental device of the underground passage in the embodiment of the present application, the second airbag is inflated so that the second airbag squeezes the first airbag. During the inflation of the second airbag, the true deformation information of the first airbag at N moments is monitored, and based on the true deformation information of the first airbag at the i-th moment, the simulated deformation information of the underground passage at the i-th moment is obtained. Thus, by inflating the second airbag to cause the first airbag to deform to simulate the deformation of the underground passage, the deformation can be actively induced, and the dynamic and true deformation information of the first airbag within a period of time can be monitored to simulate the dynamic deformation of the underground passage. Compared with the related art that can only simulate the static deformation of the underground passage, the richness of the simulated deformation information of the underground passage is improved.

[0138] To implement the above embodiment, the present application also provides an electronic device, including: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the experimental method of the underground passage provided in the foregoing embodiment.

[0139] To implement the above embodiment, the present application also provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the experimental method of the underground passage provided in the foregoing embodiment when executed by a processor.

[0140] To implement the above embodiment, the present application also provides a computer program product including a computer program, which implements the experimental method of the underground passage provided in the foregoing embodiment when executed by a processor.

[0141] The collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved in the present application and other processing are all in compliance with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0142] It should be noted that personal information from users should be collected for legal and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after obtaining the informed consent of the user, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization including authorizing relevant user information before the user uses the function. In addition, any necessary steps should be taken to defend and safeguard access to such personal information data and ensure that others with access to the personal information data comply with their privacy policies and procedures.

[0143] This application is expected to provide an implementation for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by restricting data collection and deleting the data. In addition, when applicable, personal identifiers are removed from such personal information to protect the privacy of the user.

[0144] In the description of the foregoing embodiments, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0145] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as controlling or implying relative importance or implicitly indicating the quantity of the technical features controlled. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0146] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred implementation of the present application includes additional implementations, where the functions can be executed in a manner that is not in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved or in a reverse order, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0147] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered a definitional sequence list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection part having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which a program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0148] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0149] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and when executed, includes one or a combination of the steps of the method embodiments.

[0150] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0151] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An experimental system for an underground passage, characterized in that, Comprising: A shell model of an underground passage, a first airbag, a second airbag, a first inflation device, and a first monitoring module; wherein, The first airbag is closely attached to the inner wall of the shell model, and the second airbag is located between the first airbag and the inner wall of the shell model; The first inflation device is used to inflate the second airbag so that the second airbag squeezes the first airbag; The first monitoring module is used to monitor the true deformation information of the first airbag at N moments, where N is an integer greater than 1.

2. The system according to claim 1, characterized in that Further comprising: A second monitoring module, which is used to monitor the original deformation information of the first airbag at N moments, and the second monitoring module is a deformation monitoring module of the underground passage.

3. The system according to claim 2, wherein The second monitoring module includes at least one deformation monitoring model among a computer vision model, a laser scanning model, and a multimodal fusion model.

4. The system according to claim 1, wherein Further comprising: A second inflation device, which is used to inflate the first airbag to adjust the shape of the first airbag to the shape before the deformation of the first airbag and make the first airbag closely attached to the inner wall of the shell model.

5. The system according to claim 1, characterized in that, At least one of the first airbag and the second airbag is made of a flexible material.

6. The system according to claim 5, wherein The first airbag and the second airbag are made of the same material.

7. The system according to claim 1, wherein The shell model is a detachable structure.

8. The system according to claim 1, wherein Further comprising: A skeleton model of the underground passage, and the shell model is arranged inside the skeleton model.

9. An experimental method for an underground passage, characterized in that, An experimental system applicable to the underground passage according to any one of claims 1-8, the method comprising: Inflating the second airbag so that the second airbag squeezes the first airbag; During the inflation of the second airbag, monitoring the true deformation information of the first airbag at N moments, where N is an integer greater than 1; Based on the true deformation information of the first airbag at the i-th moment, obtaining the simulated deformation information of the underground passage at the i-th moment, where i is a positive integer not greater than N.

10. The method according to claim 9, characterized in that, Before inflating the second airbag, further comprising: Arranging the second airbag between the first airbag and the inner wall of the shell model of the underground passage; Inflating the first airbag so that the first airbag is closely attached to the inner wall of the shell model.

11. The method according to claim 9 or 10, characterized in that, The method further comprises: Based on the set deformation information of the underground passage, determining experimental information, where the experimental information includes at least one of the shape of the first airbag before deformation, the shape of the first airbag after deformation, the shape of the second airbag after inflation, and the arrangement position of the second airbag.

12. The method according to claim 11, wherein The determining the experimental information based on the set deformation information of the underground passage includes: Based on the set deformation information, determining the shape of the first airbag before deformation and the shape of the first airbag after deformation; Based on the shape of the first airbag before deformation and the shape of the first airbag after deformation, determining the shape of the second airbag after inflation and the arrangement position.

13. The method according to claim 9, wherein The obtaining the simulated deformation information of the underground passage at the i-th moment based on the true deformation information of the first airbag at the i-th moment includes: Use the true deformation information of the first airbag at the i-th moment as the simulated deformation information of the underground passage at the i-th moment; or, Based on the correlation between the true deformation information and the simulated deformation information, and the true deformation information of the first airbag at the i-th moment, obtain the simulated deformation information of the underground passage at the i-th moment.

14. The method according to claim 9, characterized in that, Further includes: During the inflation process of the second airbag, monitor the original deformation information of the first airbag at N moments through the second monitoring module; Optimize the second monitoring module based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments.

15. The method according to claim 14, wherein The second monitoring module includes at least one deformation monitoring model among a computer vision model, a laser scanning model, and a multi-modal fusion model; The optimizing the second monitoring module based on the true deformation information of the first airbag at N moments and the original deformation information of the first airbag at N moments includes: Correlate the true deformation information of the first airbag at the i-th moment with the original deformation information of the first airbag at the i-th moment to obtain a training sample; Train the deformation monitoring model based on the training sample.

16. An experimental device for an underground passage, characterized in that, An experimental system applicable to the underground passage according to any one of claims 1-8, the device includes: An inflation module for inflating the second airbag so that the second airbag squeezes the first airbag; A first acquisition module for monitoring the true deformation information of the first airbag at N moments during the inflation process of the second airbag, where N is an integer greater than 1; A second acquisition module for obtaining the simulated deformation information of the underground passage at the i-th moment based on the true deformation information of the first airbag at the i-th moment, where i is a positive integer not greater than N.

17. An electronic device, characterized in that, Includes: A processor and a memory communicatively connected to the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 9-15.

18. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by a processor, they are used to implement the method according to any one of claims 9-15.

19. A computer program product, characterized in that, Includes a computer program, and when the computer program is executed by a processor, it implements the method according to any one of claims 9-15.

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