VR-based coal mine accident drilling method, device, equipment, medium and product

Abstract

The invention relates to the technical field of VR-based coal mine accident drilling, in particular to a VR-based coal mine accident drilling method, device, equipment, medium and product, and the method comprises the steps: carrying out the scene analysis of a collected coal mine accident case, and obtaining a scene script containing a scene evolution path and a plurality of flexible modules; the scene evolution path of the scene script and the flexible module are combined according to the drilling instruction, and a VR drilling scene including time nodes is generated; determining a feedback model corresponding to the drilling time node selected by the user from a feedback model library, and receiving accident emergency measure information selected by the user; and interaction is carried out based on the accident emergency measure information and the feedback model, and interaction operation of the accident emergency measure information implementation behavior of the VR drilling scene under the influence of the current accident emergency measure information is realized. According to the scheme, emergency drilling can be carried out in a targeted manner, and a technical means and a scientific approach are provided for improving the emergency rescue capacity and level.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine accident drills based on VR, and particularly to a method, device, equipment, medium and product for coal mine accident drills based on VR. Background Art

[0002] Traditional coal mine accident emergency rescue drills mainly adopt methods such as sand table deduction, video demonstration, and on-site simulation drills. Although these methods have to some extent improved the staff's understanding of safety knowledge, they have obvious deficiencies in simulating real and complex accident scenarios and practicing emergency response measures. There are problems such as the lack of a strong sense of reality in the drill scenario, or it is difficult to simulate real disaster situations, the relevant drill means are difficult to comprehensively cover various potential accident scenarios, and the lack of interactivity and immersion, resulting in poor drill effects and being unable to effectively improve the actual emergency response ability of the staff. In addition, due to the particularity and danger of the mine environment, the simulation drill in the real environment is not only costly but also has safety risks. Therefore, it is urgent to develop scientific technical means for accident emergency rescue drills. On the premise of ensuring safety and reducing costs, carrying out comprehensive, systematic and real comprehensive collaborative drills is of great significance for effectively improving the emergency rescue ability. Summary of the Invention

[0003] In view of the above problems of the prior art, the present invention provides a method, device, equipment, medium and product for coal mine accident drills based on VR, which can effectively solve the problems faced by current accident emergency drills, and provides a scientific way for targeted emergency drills and improving the emergency rescue ability and level.

[0004] In a first aspect, the present invention provides a method for coal mine accident drills based on VR, including: performing scenario analysis on the collected coal mine accident cases to obtain scenario scripts for each coal mine accident case, where the scenario script includes a scenario evolution path and a plurality of flexible modules, and the flexible modules are used to be combined into the scenario evolution path according to drill instructions to generate a VR drill scenario; obtaining the drill instructions of the user, and combining the scenario evolution path and flexible modules of the scenario script according to the drill instructions to generate a VR drill scenario, where the VR drill scenario includes a plurality of time nodes; obtaining the drill time nodes selected by the user from different time nodes; determining the feedback model corresponding to the drill time node from the feedback model library, where the feedback model library includes: disaster state information for each time node, accident emergency measure information for the disaster state information, and accident emergency measure information implementation behaviors corresponding to the accident emergency measure information; presenting a plurality of alternative accident emergency measure information to the current user, and receiving the accident emergency measure information selected by the current user; interacting based on the accident emergency measure information selected by the current user and the feedback model to implement an interactive operation of the accident emergency measure information implementation behavior in the VR drill scenario under the influence of the current accident emergency measure information.

[0005] In some embodiments, the drill instructions include: location selection instructions, rescue type selection instructions, personnel type selection instructions, and disaster type selection instructions; the steps of generating a VR drill scenario by combining the scenario evolution path and flexible modules of the scenario script according to the drill instructions include: combining the scenario scripts of each coal mine accident case according to the location selection instructions, rescue type selection instructions, personnel type selection instructions, and / or disaster type selection instructions to obtain a determined scenario evolution path and flexible module corresponding to the drill instructions; combining the scenario evolution path and flexible module to obtain scene pheromones; obtaining rendering elements corresponding to the scene pheromones, and rendering each scene pheromone according to the rendering elements to obtain a VR drill scenario.

[0006] In some embodiments, rendering each scene pheromone according to the rendering elements to obtain a VR drill scenario includes: constructing an index table according to the rendering elements; integrating each scene pheromone according to the index table to obtain an initial three-dimensional grid map; assigning values to the initial three-dimensional grid map according to each rendering element to obtain a VR drill scenario.

[0007] In some embodiments, integrating each scene pheromone according to the index table to obtain an initial three-dimensional grid map includes: at the initial operation, establishing a first initial three-dimensional grid map; converting the coordinate M of the scene pheromone corresponding to the index table through a real conversion matrix F1 to obtain the real coordinate M1 of the scene pheromone; M1 = M × F1; performing coordinate conversion on the real coordinate M1 through a display conversion matrix F2 to obtain a display coordinate M2; M2 = M1 × F2; performing coordinate conversion on the display coordinate M2 through a mapping conversion matrix F3 to obtain a mapping coordinate M3; M3 = F3 × M2; matching the mapping coordinate with each virtual coordinate in the first initial three-dimensional grid map to obtain an initial three-dimensional grid map.

[0008] In some embodiments, matching the mapped coordinates with the respective virtual coordinates in the first initial three-dimensional grid map to obtain the initial three-dimensional grid map includes: calculating and obtaining the association relationship between the respective mapped coordinates; initializing the iteration parameters, where the iteration parameters include: the first matching coordinates of the respective mapped coordinates, the number of mapped coordinates, the initial matching positions of the respective mapped coordinates, and the matching step size; traversing the respective mapped coordinates, calculating and obtaining the first association relationship between the respective mapped coordinates under the current first matching coordinates; determining whether the first association relationship is a preset multiple of the association relationship; if the first association relationship is a preset multiple of the association relationship, outputting the first matching coordinates as the final target matching coordinates, and mapping the scenario pheromones corresponding to the respective mapped coordinates to the target matching coordinates according to the target matching coordinates to obtain the initial three-dimensional grid map; if the first association relationship is not a preset multiple of the association relationship, updating the matching step size according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size; taking the new matching step size as the matching step size and returning to the above operations until the first association relationship is a preset multiple of the association relationship, and outputting the initial three-dimensional grid map.

[0009] In some embodiments, updating the matching step size according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size includes: calculating and obtaining the gradient value of the current matching degree according to a preset gradient loss function; calculating and obtaining a new matching step size according to the gradient value; Bnew = B - λ×▽f(x); where λ is the learning rate; B is the matching step size; Bnew is the new matching step size; and ▽f(x) is the gradient value.

[0010] In a second aspect, the present invention provides a VR-based coal mine accident drill device, the device including: a decomposition module for performing scenario analysis on the collected coal mine accident cases to obtain the scenario scripts of the respective coal mine accident cases, where the scenario script includes a scenario evolution path and a flexible module; a combination module for obtaining the user's drill instruction, and combining the scenario evolution path and the flexible module of the scenario script according to the drill instruction to generate a VR drill scenario, where the VR drill scenario includes multiple time nodes; a selection module for obtaining the drill time node selected by the user from different time nodes; determining the feedback model corresponding to the drill time node from the feedback model library, where the feedback model library includes: the disaster state information of each time node, the accident emergency measure information for the disaster state information, and the accident emergency measure implementation behavior corresponding to the accident emergency measure information; a display module for displaying multiple alternative accident emergency measure information to the current user, receiving the accident emergency measure information selected by the current user; and interacting based on the accident emergency measure information selected by the current user and the feedback model to implement the interactive operation of the accident emergency measure implementation behavior in the VR drill scenario under the influence of the current accident emergency measure information.

[0011] In a third aspect, the present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the steps of the VR-based coal mine accident drill method according to any one of the above aspects.

[0012] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the VR-based coal mine accident drill method according to any one of the above aspects are implemented.

[0013] In a fifth aspect, the present invention provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the VR-based coal mine accident drill method according to any one of the above aspects are implemented.

[0014] The present invention provides a VR-based coal mine accident drill method, device, equipment, medium, and product. The method includes: performing scenario analysis on the collected coal mine accident cases to obtain scenario scripts for each coal mine accident case, where the scenario script includes a scenario evolution path and flexible modules; obtaining a drill instruction from a user, and combining the scenario evolution path and flexible modules of the scenario script according to the drill instruction to generate a VR drill scenario, where the VR drill scenario includes multiple time nodes; obtaining a drill time node selected by the user from different time nodes; determining a feedback model corresponding to the drill time node from a feedback model library, where the feedback model library includes: disaster state information for each time node, accident emergency measure information for the disaster state information, and accident emergency measure information implementation behaviors corresponding to the accident emergency measure information; presenting multiple alternative accident emergency measure information to the current user, and receiving the accident emergency measure information selected by the current user; interacting based on the accident emergency measure information selected by the current user and the feedback model to implement an interactive operation of the accident emergency measure information implementation behavior in the VR drill scenario under the influence of the current accident emergency measure information; and being able to efficiently and economically conduct mine accident safety training.

[0015] The technical solution of the present invention generates a VR drill scenario according to the user's drill instructions, simulating a real and complex accident scenario; and in subsequent operations, based on the user wearing a VR device, the accident emergency measure information implementation behavior of the user for the disaster state information in the selected VR drill scenario is simulated according to the disaster state information and accident emergency measure information in the VR drill scenario. Through the combination of "macro perspective full-process deduction" and "on-site practical operation deduction", the dynamic scenario display technology is used to synergistically integrate contents such as models, animations, audios, interactions, and Q&As, realizing immersive training for multi-role internal emergency and external rescue, completing the virtual demonstration production of the scenario script for the whole process of accidents such as gas explosions, thereby improving the emergency response ability of staff for coal mine accidents, and through the immersive drill of VR, improving the interactivity and the authenticity of the drill, greatly improving the learning effect, and ensuring the safety of staff accident drills. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be described in more detail below based on embodiments and with reference to the drawings: Figure 1 It is a schematic diagram of the scenario combination selection process provided by the present invention; Figure 2 It is a schematic diagram of the overall process of coal mine accident emergency treatment provided by the present invention; Figure 3 It is a schematic diagram of the coal mine accident emergency scenario combination provided by the present invention; Figure 4 It is a schematic diagram of the overall process of a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 5 It is a schematic diagram of the overall operation process of a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 6 It is a schematic diagram of the VR drill process in a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 7 It is a schematic diagram of listing typical scenarios of gas accidents in a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 8 It is a schematic diagram of listing typical scenarios of fire accidents in a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 9 It is a schematic diagram of listing typical scenarios of roof accidents in a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 10 It is a schematic diagram of the combination list of hazard sources and accident locations in a coal mine accident emergency drill method based on virtual reality application provided by the present invention; Figure 11 Schematic diagram of the operation steps for rendering the VR drill scenario in a coal mine accident emergency drill method provided by the present invention; Figure 12 Schematic simulation diagram of the operation process for matching the initial three-dimensional mesh map in a coal mine accident emergency drill method provided by the present invention.

[0017] In the accompanying drawings, the same components are denoted by the same reference numerals, and the drawings are not drawn to actual scale. Detailed implementation manners

[0018] In order to enable those skilled in the art of the present technology to better understand the solutions of the present invention, and to fully understand how the present invention uses technical means to solve technical problems and the implementation process of achieving corresponding technical effects and to implement accordingly, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The embodiments of the present invention and each feature in the embodiments can be combined with each other without conflict, and the formed technical solutions are all within the protection scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0020] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0021] In the field of mine safety training, related technologies mainly rely on traditional teaching by teachers, video learning, on-site simulation drills, etc. Although these methods have improved the staff's awareness of safety knowledge to a certain extent, they have obvious deficiencies in simulating real complex accident scenarios and practicing emergency response measures (in the daily rescue drills of mine rescue teams, there are difficulties such as the lack of a strong sense of reality in the drill scenarios or the difficulty in simulating real disaster situations). The related training means are difficult to comprehensively cover various potential accident scenarios, and lack interactivity and immersion, resulting in poor learning effects and an inability to effectively improve the actual emergency response capabilities of the staff. In addition, due to the particularity and danger of the mine environment, the related training methods also face challenges in terms of safety and economy. Simulated training in a real environment is not only costly but also poses safety risks. There is a technical problem in this field of how to conduct mine accident safety training efficiently and economically.

[0022] To solve the above technical problem of how to conduct mine accident safety training efficiently and economically, the present invention proposes a VR-based coal mine accident drill method, device, equipment, medium, and product. The following details the implementation of the present invention. The following content is only for facilitating understanding of the implementation details and is not necessary for implementing this solution.

[0023] Example 1 In the technical solution of this embodiment, a VR-based coal mine accident drill method is provided, including: performing scenario analysis on the collected coal mine accident cases to obtain scenario scripts for each coal mine accident case, where the scenario script includes a scenario evolution path and multiple flexible modules, and the flexible modules are used to be combined into the scenario evolution path according to drill instructions to generate a VR drill scenario; obtaining the drill instructions of the user, and combining the scenario evolution path and flexible modules of the scenario script according to the drill instructions to generate a VR drill scenario, where the VR drill scenario includes multiple time nodes; obtaining the drill time node selected by the user from different time nodes; determining the feedback model corresponding to the drill time node from the feedback model library, where the feedback model library includes: disaster state information for each time node, accident emergency measure information for the disaster state information, and the implementation behaviors of the accident emergency measure information corresponding to the accident emergency measure information; presenting multiple alternative accident emergency measure information to the current user, and receiving the accident emergency measure information selected by the current user; interacting based on the accident emergency measure information selected by the current user and the feedback model to implement the interactive operation of the implementation behavior of the accident emergency measure information in the VR drill scenario under the influence of the current accident emergency measure information.

[0024] Specifically, the generation of the above scenario script is achieved through the combination of modular design and neural network models. In the script generation model, based on the input modular script elements, the corresponding emergency drill script is generated, and the generated emergency drill script is automatically evaluated, which can quickly detect and correct problems such as grammar and logic errors in the emergency drill script, guiding the efficient conduct of accident emergency drills. Through modular design, the generated emergency drill script is more scientific and reasonable, and can comprehensively cover possible accident scenarios. Specifically: Taking the scenario library and measure library as trusted data sources, in accordance with the theoretical idea of "enterprise independent emergency and social joint rescue", and according to the emergency rescue procedures of different accident entities, the mine emergency rescue drill script is split into modules: longitudinally, based on the time process of the accident occurrence, the script is divided into four major modules: accident gestation stage A, in-mine disposal B, out-of-mine rescue C, and emergency end D. And each first-level module has its own second-level modules, including two major categories: flexible replacement modules and fixed modules; horizontally, based on the multi-level scenario structure of "dimension - element - attribute", the accident script is structured layer by layer, and then an emergency drill script library is constructed; Using the task decomposition method, the target accident scenario of the pre-drill is divided into multiple target task modules, and the target script elements of each of the target task modules are determined. The target script elements include accident cause elements (risks, etc.), accident location elements (including equipment, personnel, distress situations, etc.), accident stage elements (determining the scale of the accident, emergency objects, etc.), and accident consequence elements (poisoning and burns caused by high temperature, asphyxia caused by damage to ventilation facilities, personnel trapped caused by support impact damage, etc.); The multiple target task modules and their corresponding multiple target script elements are input into the trained script generation model with reference to the script content corresponding to the scenario modules in the emergency drill script library to obtain the initial emergency drill script output by the script generation model. The content includes emergency element statements such as rescue personnel, rescue tools, rescue supplies, and rescue methods, and also includes descriptive statements such as language and actions; the initial emergency drill script is evaluated; and if the evaluation result indicates that the initial emergency drill script has a preset error, the initial emergency drill script is corrected to obtain the corrected emergency drill script, and the corrected emergency drill script is used as the target emergency drill script for the drill. The preset error includes at least one of grammar error, logic error, information omission, and format error, guiding the efficient conduct of accident emergency drills; Among them, new accident cases are reconstructed by fitting the accident cases of the accident scenario, and new scripts are generated for the new accident cases. The new accident cases and new scripts are used as training data to train the script generation model, so as to conduct more targeted training on the script generation model in the case of limited accident cases and scenarios; On the other hand, when this application renders each scene pheromone according to rendering elements to obtain a VR drill scene, the first step is to construct an index table based on the rendering elements. This index table is used to represent the vectors of endpoint elements, the vectors of vertical vector elements, the vectors of texture mapping elements, and the vectors of visible surface elements. Vectorize various types of rendering elements and construct the corresponding index table according to their coordinates. Then, integrate each scene pheromone according to this index table. For example, for the pheromone of the mine tunnel scene, sort and integrate it according to the corresponding coordinate information in the index table to obtain an initial three-dimensional grid map. Then, assign values to the initial three-dimensional grid map according to each rendering element. For example, use the RGB values or brightness values of the pixels of the wall 2D image in the visible surface element and assign them to the corresponding position of the current mine tunnel wall image on the initial three-dimensional grid map. After such operations, a VR drill scene is finally obtained. For example, when simulating a drill scene of a fire occurring in a certain section of a coal mine roadway, through such a detailed rendering process, the scene can be presented more realistically.

[0025] The technical solution of this embodiment generates a VR drill scene by using operations such as constructing an index table, integrating scene pheromones, and assigning values based on rendering elements, making the simulated drill scene more realistic and rich in details. In actual mine accident emergency drills, a realistic scene can make the participants feel as if they are on the spot and more truly feel the situation when the accident occurs. For example, when simulating a rescue scene after a gas explosion, the smoke effect, roadway damage situation, etc. in the scene can be accurately presented through rendering. Rescue personnel can accordingly take more accurate emergency measures such as reconnaissance, fire extinguishing, and rescuing trapped personnel, improving their operation skills. Moreover, such a high-quality simulated scene can attract more people to participate in the drill and practice repeatedly, thereby improving the collaboration and response capabilities of the entire mine emergency response team, effectively reducing the harm caused by accidents, and ensuring the safe and orderly progress of mine production.

[0026] Specifically, the flexible module includes a first-level module and a second-level module; more specifically, the first-level module is a location selection module. The location selection module is the top-level module in the entire hierarchical structure and is used to determine the geographical location and environmental background of the drill scene. For example, in a coal mine accident, the following options can be set: underground mining area, surface mine entrance, equipment distribution area, etc. According to the location selected by the user, the module returns the corresponding scene environment information, such as mine tunnel structure, wall texture, ceiling ore layer structure, and lighting conditions. This information will provide basic data for the subsequent rendering stage.

[0027] The second-level module is a nested sub-module, including a rescue type selection module, a personnel type selection module, and a disaster type selection module; Specifically, after the location selection module is determined, the system automatically activates nested sub-modules, which can further refine the scenario requirements based on the first-layer selection, mainly including: The rescue type selection module responds to user instructions, determines the applicable rescue mode according to the selected location, such as self-rescue in the mine, internal rescue, or external collaborative rescue, and returns information such as the corresponding rescue process, emergency equipment model, and emergency instruction text.

[0028] The personnel type selection module limits the personnel roles that can participate in the rescue according to the location characteristics and accident environment, such as miners, rescue workers, command and dispatchers, etc., and returns the posture models, interaction action instructions, and behavior feedback information corresponding to each personnel role.

[0029] The disaster type selection module determines the disaster type according to the actual coal mine accident risk, such as gas explosion, fire, roof collapse, etc., outputs information such as disaster emergency measures, dangerous area signs, and accident development and evolution logic, and provides corresponding animation and audio instructions in combination with the emergency measure information.

[0030] Each module in the above flexible modules is independently designed, including its own complete scenario elements and data, and can be reused in different scenarios.

[0031] All modules directly respond to the drill instructions issued by the user. The user first establishes the basic environment of the scenario through the location selection module, and then the system automatically calls the sub-modules to further refine the rescue mode, personnel configuration, and accident type information suitable for this environment.

[0032] During the specific execution process, the system receives the drill instructions input by the user (such as the selection of location, rescue, personnel, and disaster type), and then the location selection module responds and extracts the basic flexible module that matches the selected location from the scenario script library. Further, after the basic module is determined, the system calls the corresponding rescue type, personnel type, and disaster type modules, and these modules are nested and combined according to the predetermined tree structure to generate a final scenario script that comprehensively describes the accident scenario and emergency measure information.

[0033] Then, perform VR rendering operations according to the final scenario script; Suppose the instructions selected by a certain user are: Location: Underground mining area Rescue type: Internal rescue Personnel type: Miners and rescue teams Disaster type: Gas explosion After the system receives and parses the instructions selected by the user, it first determines the environmental data of the underground mining area through the location selection module and outputs basic information such as mine cave walls and passage structures; The system then calls the rescue type selection module to load the emergency procedures and equipment models related to underground internal rescue; At the same time, it calls the personnel type selection module to obtain the 3D models and interaction actions of miners and rescue workers; The disaster type selection module provides the evolution dynamics of gas explosion accidents, alarm animations, and emergency measure documents.

[0034] The scenario elements generated by the above modules are hierarchically nested to form a complete scenario script. Then, according to the rendering steps described in the document, the conversion matrix is used to map each data to the initial three-dimensional grid map, and finally a VR drill scenario that truly restores the underground gas explosion accident scene is generated.

[0035] In the specific implementation process, first, the flexible module hierarchy is divided and refined; Specifically, it includes the first-level module - the location selection module Among them, the location selection module, as the basis and starting point for constructing the entire scenario script, is used to determine the geographical location and environmental background of the drill scenario.

[0036] Example: In coal mine accidents, options can be set: underground mining area, surface mine entrance, equipment distribution area, etc.

[0037] Output content: According to the user's selection, the location selection module outputs the environmental element data related to the scenario, such as mine tunnel structure, wall texture, ceiling structure, lighting conditions, etc., providing basic environmental information for subsequent modules.

[0038] The second-level module - the nested sub-module After the location is determined, the system automatically activates the following sub-modules, which further refine the accident emergency scenario: The rescue type selection module In response to the user's instruction, it determines the applicable rescue mode according to the selected location, such as self-rescue in the mine, internal rescue, or external collaborative rescue.

[0039] Output content: Returns information such as the emergency procedures, equipment models, and instruction texts corresponding to the rescue mode.

[0040] The personnel type selection module According to the location characteristics and the accident scene situation, it limits the personnel roles participating in the rescue, such as miners, rescue workers, command and dispatchers, etc.

[0041] Output content: Outputs the 3D models, action interaction data, and behavior feedback information of each role.

[0042] The disaster type selection module For accident risks, determine the types of disasters, such as gas explosion, fire, roof collapse, etc.

[0043] Output content: Emergency measures, dangerous area signs, accident evolution logic, emergency animations and audio instructions, etc. under corresponding disaster states.

[0044] Furthermore, the implementation process also includes the realization of hierarchical nesting and temporal evolution First, construct a tree-like hierarchical structure Parent-child node organization: The location selection module serves as the root node of the tree structure, and all subordinate modules (rescue type, personnel type, disaster type) are its child nodes.

[0045] Data transfer: After the root node (location selection module) determines the basic scenario, its output data is jointly used by subordinate modules. Each subordinate module provides more detailed scenario information based on this basic data, thus forming a hierarchical and combined scenario script.

[0046] Furthermore, the realization of hierarchical nesting and temporal evolution also includes the implementation of temporal evolution and Bayesian / Markov models: Conduct dynamic transition modeling: During the evolution process of the accident scenario, Bayesian networks or Markov chain models can be used to describe the transition probabilities between different module states. For example, the gas explosion state output by the disaster type selection module can be combined with the internal rescue state output by the rescue type module to form the temporal probability of accident evolution, enabling the system to not only generate hierarchical static scenario information but also dynamically adjust the scenario script according to the time sequence and the probability of accident evolution, making the VR drill more in line with the development law of real accidents.

[0047] After completing the realization of hierarchical nesting and temporal evolution, perform VR scene rendering and data mapping: First, merge the output data of each module obtained from hierarchical nesting to form the final scenario script.

[0048] Example process: The user selects "Location: Underground Mining Area", "Rescue Type: Internal Rescue", "Personnel Type: Miners and Rescue Teams", "Disaster Type: Gas Explosion"; The location selection module returns the structure and environmental data of the underground mining area; The rescue type module returns the internal rescue process and equipment; The personnel type module provides 3D models and interactive actions of relevant roles; The disaster type module outputs accident evolution animations, alarms, and emergency measure documents.

[0049] These data are spliced in a tree-like nested manner to form a complete scenario script. Among them, the transition probabilities calculated based on Bayesian / Markov chains are embedded between each module, making the accident drill have a hierarchical structure statically and reflect the evolution trend dynamically.

[0050] Then, execute the rendering generation stage, combining the scene pheromones in the scenario script with the rendering elements: Map the output data of each module into the initial three-dimensional grid map through transformation matrices (reality transformation matrix F1, display transformation matrix F2, mapping transformation matrix F3).

[0051] Establish an index table to organize each rendering element (such as endpoint element, vertical vector element, texture mapping element, visible surface element), and use these data for scene assignment, finally forming a VR drill scene that truly restores the accident scene (such as underground gas explosion).

[0052] The technical problem to be solved in this embodiment is how to conduct mine accident safety training efficiently and economically. In the technical solution of this embodiment, first, conduct a scenario analysis on the collected coal mine accident cases. The scenario analysis in this embodiment is to sort out the scenario scripts of each coal mine accident case, and the scenario scripts cover the scenario evolution paths and flexible modules. Then obtain the user's drill instructions, which include location selection instructions, rescue type selection instructions, personnel type selection instructions, disaster type selection instructions, etc. According to these instructions, reasonably combine the scenario evolution paths and flexible modules in the scenario script to generate a VR drill scene with multiple time nodes. After that, obtain the drill time node selected by the user from different time nodes, and then determine the feedback model corresponding to the drill time node from the feedback model library containing the disaster state information of each time node, the accident emergency measure information for the disaster state information, and the implementation behavior of the accident emergency measure information corresponding to the accident emergency measure information. Subsequently, display multiple alternative accident emergency measure information to the current user and receive the user's selection. Finally, interact based on the accident emergency measure information selected by the user and the feedback model to realize the interactive operation of the implementation behavior of the corresponding accident emergency measure information in the VR drill scene. For example, when simulating a coal mine gas explosion accident, through such a process, a scene that meets the actual training needs can be combined according to different instructions, making training no longer rely on real environment drills that are costly and risky.

[0053] The technical solution of this embodiment can simulate diverse disaster scenarios through the above series of operations, solving the problems in previous mine safety training, such as weak realism, difficulty in simulating real disaster scenarios, high costs, and safety risks. With the help of VR technology, rescue team members can practice repeatedly in a risk-free environment. For example, they can simulate rescue operations at different stages after a gas explosion multiple times, familiarize themselves with the measures to be taken in various situations, strengthen decision-making and operation skills, and reduce the risks of injuries and accidents in real training. At the same time, for mine workers, the realistic simulation environment and specific operation training significantly improve their emergency response and self-rescue abilities in case of an emergency disaster. Moreover, it can enhance the cooperation and response capabilities of the entire mine emergency response team, thereby effectively reducing the threat of accidents to the lives and safety of workers, narrowing the scope of the disaster, reducing the degree of harm, improving the overall safety management level of the mine, and making mine accident safety training efficient and economical.

[0054] Example 2 On the basis of the above embodiment, the drill instructions include: location selection instruction, rescue type selection instruction, personnel type selection instruction, and disaster type selection instruction; the steps of generating a VR drill scenario by combining the scenario evolution path and flexible modules of the scenario script according to the drill instructions include: combining the scenario scripts of each coal mine accident case according to the location selection instruction, rescue type selection instruction, personnel type selection instruction, and / or disaster type selection instruction to obtain a determined scenario evolution path and flexible module corresponding to the drill instructions; combining the scenario evolution path and flexible module to obtain scene pheromones; obtaining the rendering elements corresponding to the scene pheromones and rendering each scene pheromone according to the rendering elements to obtain a VR drill scenario.

[0055] The technical problem to be solved in this embodiment is how to combine the scenario evolution path and flexible modules of the scenario script according to the drill instruction to generate a VR drill scenario. In the technical solution of this embodiment, the drill instruction includes a location selection instruction, a rescue type selection instruction, a personnel type selection instruction, and a disaster type selection instruction. When combining the scenario evolution path and flexible modules of the scenario script according to the drill instruction to generate a VR drill scenario, first, according to the location selection instruction, rescue type selection instruction, personnel type selection instruction, and / or disaster type selection instruction, the scenario scripts of each coal mine accident case are combined specifically, and then the determined scenario evolution path and flexible modules corresponding to the drill instruction are obtained. For example, during training, if you want to simulate a fire accident occurring at a specific location, you can select the corresponding location through the location selection instruction, select the fire through the disaster type selection instruction, and then perform relevant combinations. Then, the determined scenario evolution path and flexible modules are combined to obtain scene information elements, which include content such as the scene environment information in the current drill location, like the information about the mine cave wall, mine cave floor, etc. Then, the rendering elements corresponding to the scene information elements are obtained. These rendering elements include endpoint elements, vertical vector elements, texture mapping elements, and visible surface elements, etc. Each scene information element is rendered, and finally, a VR drill scenario is obtained.

[0056] In the technical solution of this embodiment, by combining the scenario script according to different drill instructions and going through a series of processes to generate a VR drill scenario, it enables users to flexibly customize the drill scenario according to actual training needs. For example, if a mining enterprise wants to focus on training employees' ability to handle roof accidents in a specific area underground, it can accurately select corresponding instructions such as location and disaster type to generate the corresponding scenario. This makes the drill scenario no longer single and rigid, but can be generated as needed, greatly improving the pertinence and effectiveness of the drill. At the same time, because it is a virtual scenario generated based on VR technology, it avoids the high cost and safety risks of simulation training in the real environment, allowing rescue workers and miners to participate in simulation training more frequently, continuously familiarize themselves with the response measures in various accident scenarios, enhance their emergency and rescue capabilities, strengthen the cooperation level of the entire mine emergency response team, and ensure the safety of mine production.

[0057] Example 3 Based on the above embodiment, each scene information element is rendered according to the rendering elements to obtain a VR drill scenario, including: constructing an index table according to the rendering elements; integrating each scene information element according to the index table to obtain an initial three-dimensional mesh diagram; and assigning values to the initial three-dimensional mesh diagram according to each rendering element to obtain a VR drill scenario.

[0058] The technical problem to be solved in this embodiment is how to render each of the scene pheromones according to the rendering elements to obtain a VR drill scene. In the technical solution of this embodiment, when rendering each scene pheromone according to the rendering elements to obtain a VR drill scene, the first step is to construct an index table according to the rendering elements. This index table is used to represent the vectors of endpoint elements, the vectors of vertical vector elements, the vectors of texture mapping elements, and the vectors of visible surface elements. Vectorize various rendering elements and construct the corresponding index table based on their coordinates. Then, integrate each scene pheromone according to this index table. For example, for the pheromone of the mine tunnel scene, sort and integrate it according to the corresponding coordinate information in the index table to obtain an initial three-dimensional mesh diagram. Then, assign values to the initial three-dimensional mesh diagram according to each rendering element. For example, use the RGB values or brightness values of the pixels of the 2D image of the wall surface in the visible surface element and assign them to the corresponding positions of the current mine tunnel wall image on the initial three-dimensional mesh diagram. After such operations, a VR drill scene is finally obtained. For example, when simulating a drill scene of a fire occurring in a certain section of a coal mine roadway, through such a detailed rendering process, the scene can be presented more realistically.

[0059] The technical solution of this embodiment generates a VR drill scene by constructing an index table, integrating scene pheromones, and assigning values using rendering elements, making the simulated drill scene more realistic and rich in details. In actual mine accident emergency drills, a realistic scene can make the participants feel as if they are on the spot and more truly experience the situation at the time of the accident. For example, when simulating a rescue scene after a gas explosion, the smoke effect, roadway damage situation, etc. in the scene can be accurately presented through rendering. Rescue personnel can accordingly take more accurate emergency measures such as reconnaissance, fire extinguishing, and rescuing trapped personnel, improving their operation skills. Moreover, such a high-quality simulated scene can attract more people to participate in the drill and practice repeatedly, thereby improving the cooperation and response ability of the entire mine emergency response team, effectively reducing the harm caused by accidents, and ensuring the safe and orderly progress of mine production.

[0060] Example 4 On the basis of the above embodiments, each scene pheromone is integrated according to the index table to obtain an initial three-dimensional grid map, including: during the initial operation, a first initial three-dimensional grid map is established; the real coordinates M1 of the scene pheromone are obtained by converting the coordinates M of the scene pheromone corresponding to the index table through the real conversion matrix F1; M1 = M × F1; based on the real coordinates M1, coordinate conversion is performed through the display conversion matrix F2 to obtain the display coordinates M2; M2 = M1 × F2; based on the display coordinates M2, coordinate conversion is performed through the mapping conversion matrix F3 to obtain the mapping coordinates M3; M3 = F3 × M2; the mapping coordinates are matched with each virtual coordinate in the first initial three-dimensional grid map to obtain the initial three-dimensional grid map.

[0061] The technical problem to be solved in this embodiment is how to integrate each of the scene pheromones according to the index table to obtain an initial three-dimensional grid map. In the technical solution of this embodiment, during the initial operation, a first initial three-dimensional grid map is established. This grid Figure 1 is initially empty and only contains the grid structure, and the content is gradually filled in later. Then, the coordinates M of the scene pheromone corresponding to the index table are converted through the real conversion matrix F1 to obtain the real coordinates M1 of the scene pheromone, and the calculation method is M1 = M × F1, that is, the two-dimensional image coordinates of the scene pheromone such as the mine cave wall are converted into three-dimensional world coordinates. Then, based on the real coordinates M1, coordinate conversion is performed through the display conversion matrix F2 to obtain the display coordinates M2, calculated as M2 = M1 × F2, and the real coordinates are converted into the three-dimensional coordinates in the initial three-dimensional scene, that is, the VR drill scene. Then, based on the display coordinates M2, coordinate conversion is performed through the mapping conversion matrix F3 to obtain the mapping coordinates M3, that is, M3 = F3 × M2, and the three-dimensional coordinates are mapped to the mapping coordinates displayed on the VR glasses. Finally, the mapping coordinates are matched with each virtual coordinate in the first initial three-dimensional grid map. For example, the mapping coordinates corresponding to the scene pheromones at different positions in the mine cave are compared and matched with the virtual coordinates in the grid map, so as to obtain the initial three-dimensional grid map.

[0062] The technical solution of this embodiment integrates scene pheromones through a series of coordinate conversion and matching operations to obtain an initial three-dimensional grid map, laying the foundation for the subsequent generation of high-quality VR drill scenes. For example, when simulating a complex roof accident scene in a coal mine, through precise coordinate conversion and matching, elements such as the roof and support equipment in the scene can be accurately presented in the three-dimensional grid map, and the accident scene can be realistically restored in the final VR drill scene. As a result, when faced with simulated roof collapse and trapped personnel, participants in the drill can more accurately respond to measures such as emergency avoidance and rescue organization, thereby strengthening their emergency operation skills. At the same time, high-quality scene simulation helps the entire mine emergency response team to conduct multiple drills and improve their collaboration and response capabilities, reduce losses when real accidents occur, and ensure the safety of miners and the normal operation of mine production.

[0063] Example 5 Based on the above embodiment, the mapping coordinates are matched with each virtual coordinate in the first initial three-dimensional grid map to obtain the initial three-dimensional grid map, including: calculating and obtaining the association relationship between each mapping coordinate; initializing iteration parameters, which include: the first matching coordinate of each mapping coordinate, the number of mapping coordinates, the initial matching position of each mapping coordinate, and the matching step size; traversing each mapping coordinate to calculate and obtain the first association relationship between each mapping coordinate under the current first matching coordinate; determining whether the first association relationship is a preset multiple of the association relationship; if the first association relationship is a preset multiple of the association relationship, outputting the first matching coordinate as the final target matching coordinate, mapping the scene pheromone corresponding to each mapping coordinate to the target matching coordinate according to the target matching coordinate, to obtain the initial three-dimensional grid map; if the first association relationship is not a preset multiple of the association relationship, updating the matching step size according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size; using the new matching step size as the matching step size and returning to the above operation until the first association relationship is a preset multiple of the association relationship, and outputting the initial three-dimensional grid map.

[0064] The technical problem to be solved in this embodiment is how to match the mapped coordinates with each virtual coordinate in the first initial three-dimensional grid map to obtain the initial three-dimensional grid map. In the technical solution of this embodiment, first, the correlation relationship between each mapped coordinate is calculated and obtained. The correlation relationship in this embodiment can be determined by means such as Euclidean distance or Manhattan distance, which is used as the reference basis for subsequent matching operations. Then, the iterative parameters are initialized. These iterative parameters include the first matching coordinates of each mapped coordinate, the number of mapped coordinates, the initial matching positions of each mapped coordinate, and the matching step size, etc. Then, each mapped coordinate is traversed, and the first correlation relationship between each mapped coordinate under the current first matching coordinate is calculated and obtained, and it is determined whether the first correlation relationship is a preset multiple of the correlation relationship. For example, in the process of coordinate matching for simulating a coal mine fire accident scenario, if the first correlation relationship is a preset multiple, then the first matching coordinate is output as the final target matching coordinate, and the scene pheromones corresponding to each mapped coordinate are mapped to the target matching coordinate according to the target matching coordinate, so as to obtain the initial three-dimensional grid map. If the first correlation relationship is not a preset multiple of the correlation relationship, then the matching step size is updated according to the matching degree between the first correlation relationship and the correlation relationship (which can be calculated using the mean square error) to obtain a new matching step size, and the new matching step size is used as the matching step size to repeat the above operations until the first correlation relationship is a preset multiple of the correlation relationship, and the initial three-dimensional grid map is output.

[0065] The technical solution of this embodiment, through such a rigorous and continuously iteratively optimized matching method, can more accurately match the mapped coordinates with the virtual coordinates to obtain the initial three-dimensional grid map, thereby ensuring that the generated VR drill scenario is more in line with the actual situation. For example, when simulating a complex scenario with multiple disasters occurring simultaneously in a coal mine, accurate coordinate matching can correctly present each scene element in the three-dimensional grid map, making the disaster scenarios, equipment layouts, personnel positions, etc. in the final VR drill scenario real and reasonable. The personnel participating in the drill can better exercise their abilities to handle complex situations and improve the accuracy of emergency operations in such a precise scenario. Moreover, for the entire mine emergency response team, high-quality simulation scenarios are helpful for repeated drills, improving collaboration and response capabilities, and can carry out rescue and other work more quickly and effectively when a real accident occurs, reducing the losses caused by the accident and ensuring the safety production and personnel safety of the mine.

[0066] Example 6 Based on the above embodiments, update the matching step size according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size, including: calculating and obtaining the gradient value of the current matching degree according to a preset gradient loss function; calculating and obtaining the new matching step size according to the gradient value; Bnew = B - λ × ▽f(x); where λ is the learning rate; B is the matching step size; Bnew is the new matching step size; ▽f(x) is the gradient value.

[0067] The technical problem to be solved in this embodiment is how to update the matching step size according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size. In the technical solution of this embodiment, first, according to a preset gradient loss function, calculate and obtain the gradient value ▽f(x) of the current matching degree, and this gradient value reflects the trend of the change of the matching degree. Then, calculate and obtain the new matching step size based on this gradient value, and its calculation formula is Bnew = B - λ × ▽f(x), where λ is the learning rate, B is the matching step size, and Bnew is the new matching step size. For example, in the coordinate matching process of simulating a coal mine gas leakage accident scenario, calculate the gradient value of the current matching degree through the gradient loss function, and then reasonably adjust the matching step size in combination with set parameters such as the learning rate. If the change trend of the matching degree is large, appropriately increase the matching step size to speed up the search for the matching coordinates; if the change of the matching degree is relatively gentle, correspondingly reduce the matching step size to make the search more accurate.

[0068] The technical solution of this embodiment can more efficiently and accurately search for the target matching coordinates corresponding to the mapped coordinates by dynamically updating the matching step size based on the gradient value of the matching degree. When constructing a VR drill scenario, for example, when simulating a complex coal mine underground accident scenario involving a large amount of coordinate matching work, this method can avoid the problems caused by a fixed matching step size, without causing data delay when the data volume is extremely large, and without causing inaccurate search and slow speed due to too large a step size when the data volume is extremely small. Precise coordinate matching makes the generated VR drill scenario more realistic, and the personnel participating in the drill can train in a nearly real scenario, better master emergency measures, and improve emergency response capabilities. For the entire mine emergency response team, a high-quality simulation scenario can assist in multiple drills, strengthen collaboration and response capabilities, so that when facing a real mine accident, they can take actions more quickly and effectively, reduce the accident hazards, and ensure the safe production of the mine and the lives of workers.

[0069] Example 7 In the technical solution of this embodiment, a coal mine accident drill device based on VR is provided. The device includes: a decomposition module, configured to perform scenario analysis on the collected coal mine accident cases to obtain scenario scripts for each coal mine accident case. The scenario script includes a scenario evolution path and multiple flexible modules, where the flexible modules are used to be combined into the scenario evolution path according to drill instructions to generate a VR drill scenario; a combination module, configured to obtain the drill instructions of the user, and combine the scenario evolution path and flexible modules of the scenario script according to the drill instructions to generate a VR drill scenario, where the VR drill scenario includes multiple time nodes; a selection module, configured to obtain the drill time node selected by the user from different time nodes; determine the feedback model corresponding to the drill time node from the feedback model library, where the feedback model library includes: disaster status information for each time node, accident emergency measure information for the disaster status information, and accident emergency measure implementation behaviors corresponding to the accident emergency measure information; a display module, configured to display multiple alternative accident emergency measure information to the current user, receive the accident emergency measure information selected by the current user; and interact with the feedback model based on the accident emergency measure information selected by the current user to implement an interactive operation of the accident emergency measure implementation behavior in the VR drill scenario under the influence of the current accident emergency measure information.

[0070] The technical problem to be solved in this embodiment is how to conduct mine accident safety training efficiently and economically. In the technical solution of this embodiment, first, scenario analysis is performed on the collected coal mine accident cases. The scenario analysis in this embodiment is to sort out the scenario scripts of each coal mine accident case, and the scenario script covers the scenario evolution path and flexible modules. Then, the drill instructions of the user are obtained. The drill instructions include location selection instructions, rescue type selection instructions, personnel type selection instructions, disaster type selection instructions, etc. According to these instructions, the scenario evolution path and flexible modules in the scenario script are reasonably combined to generate a VR drill scenario with multiple time nodes. Then, the drill time node selected by the user from different time nodes is obtained, and then the feedback model corresponding to the drill time node is determined from the feedback model library including disaster status information for each time node, accident emergency measure information for the disaster status information, and accident emergency measure implementation behaviors corresponding to the accident emergency measure information. Subsequently, multiple alternative accident emergency measure information is displayed to the current user, and the user's selection is received. Finally, an interactive operation of the corresponding accident emergency measure implementation behavior in the VR drill scenario is realized by interacting the accident emergency measure information selected by the user with the feedback model. For example, when simulating a coal mine gas explosion accident, through such a process, scenarios that meet the actual training needs can be combined according to different instructions, making training no longer rely on high-cost and risky real environment drills.

[0071] The technical solution of this embodiment can simulate diverse disaster scenarios through the above series of operations, solving the problems in previous mine safety training, such as weak realism, difficulty in simulating real disaster scenarios, high costs, and safety risks. With the help of VR technology, rescue team members can practice repeatedly in a risk-free environment. For example, they can simulate rescue operations at different stages after a gas explosion multiple times, become familiar with the measures to be taken in various situations, strengthen decision-making and operation skills, and reduce the risks of injuries and accidents in real training. At the same time, for mine workers, the realistic simulation environment and specific operation training significantly improve their emergency response and self-rescue abilities in case of an emergency disaster, and can also enhance the cooperation and response abilities of the entire mine emergency response team. Furthermore, it can effectively reduce the threat to the lives and safety of workers caused by accidents, narrow the scope of the disaster, reduce the degree of harm, improve the overall safety management level of the mine, and make mine accident safety training efficient and economical.

[0072] Example 8 In the technical solution of this embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory. The processor executes the computer program to implement the steps of any one of the above embodiments of the VR-based coal mine accident drill method.

[0073] In the technical solution of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of any one of the above embodiments of the VR-based coal mine accident drill method.

[0074] In the technical solution of this embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, it implements the steps of any one of the above embodiments of the VR-based coal mine accident drill method.

[0075] The processor may include, but is not limited to, for example, one or more processors or microprocessors, etc. Each processor may be implemented by an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and is used to execute the methods in the above embodiments. The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof. The computer-readable storage medium may include, but is not limited to, for example, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, computer storage media (such as hard disks, floppy disks, solid state drives, removable disks, CDROMs, DVDROMs, Blu-ray discs, etc.).

[0076] The computer-readable storage medium may also store at least one computer-executable program / instructions, which are, for example, computer-readable instructions. The computer-readable storage medium includes, but is not limited to, for example, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The computer-readable storage medium may include, for example, read-only memory (ROM), hard disks, flash memory, etc. For example, the non-transitory computer-readable storage medium may be connected to a computing device such as a computer. Then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0077] In addition, the computer device may also include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (such as a keyboard, a mouse, a speaker, etc.). The processor may communicate with external devices via the I / O bus through a wired or wireless network. In one embodiment, the at least one computer-executable instruction may also be compiled into or form a software product / computer program product, and when one or more computer-executable instructions are run by the processor, the steps of the various functions and / or methods described in the embodiments of the present technology are performed.

[0078] Example 9 Based on the above embodiments, this embodiment provides an application example.

[0079] This application example provides a method for emergency drill of coal mine accidents based on virtual reality applications. The present invention relates to the field of emergency rescue drills for coal mine accidents, and in particular to a method for emergency drill of coal mine accidents based on virtual reality applications and a storage medium.

[0080] Production safety is crucial in the field of coal mining. For the safety training of coal mining, it is a necessary measure to prevent large-scale accidents from occurring.

[0081] In the field of mine safety training, related technologies mainly rely on traditional teacher lectures, video learning, and on-site simulation drills. Although these methods have improved the staff's understanding of safety knowledge to a certain extent, they have obvious deficiencies in simulating real complex accident scenarios and practicing emergency response measures (in the daily rescue drills of mine rescue teams, there are difficulties such as the lack of realism in the drill scenarios or the difficulty in simulating real disaster situations). Related training methods are difficult to comprehensively cover various potential accident scenarios, and lack interactivity and immersion, resulting in poor learning effects and unable to effectively improve the actual emergency response capabilities of the staff.

[0082] In addition, due to the particularity and danger of the mine environment, related training methods also face challenges in terms of safety and economy. Simulating training in a real environment is not only costly but also poses safety risks. There is a technical problem in this field of how to conduct mine accident safety training efficiently and economically. Therefore, there is an urgent need in this field for a new training method that can efficiently and comprehensively simulate various mine accident scenarios while ensuring the safety of the training process.

[0083] The embodiment of this application proposes a method and system for constructing a typical coal mine accident scenario for "rapid and accurate construction of typical coal mine accident scenarios". Specifically, the technical solution in this application is implemented based on the "modular" concept. First, scenario elements are extracted based on coal mine gas explosion accident cases collected from annual coal mine accident reports, and the scenario evolution rules and scenario evolution paths of the scenario elements are determined. Combining with the scenario evolution path, in the chronological order of the accident occurrence, various flexible modules and fixed modules are added to the system to make the modules organically combined, and finally a scenario script is formed to guide the emergency drill and emergency decision-making.

[0084] Furthermore, scenario setting and classification are performed on the scenario script. According to the three categories of cause, location, and evolution of the scenario elements, granular content such as personnel and equipment is set for each type of scenario to form dynamic scenario nodes to constitute the scenario evolution path; through the general hierarchical model of scenario expression, based on the multi-level scenario structure of "dimension - element - attribute", the scenario units of the prominent accident script are analyzed layer by layer in a structured manner for module design.

[0085] Taking into comprehensive consideration the time continuity of each module, the integrity of actions, and the unity of trigger and end conditions, the initial actions and end actions of the scenarios for each module are set with a sudden gas explosion accident as an example.

[0086] Furthermore, as Figure 1 shown, taking into comprehensive consideration the above-mentioned module settings and combination situations, the cause factors are selected in sequence, the accident location factors (including equipment, personnel, and distress situations) are selected, the accident stage factors (determining the scale of the accident and the emergency response objects) are selected, the accident consequence factors are selected, fixed modules are added, and the overall scenario is formed for module combination; in subsequent operations, the granular elements in each module are combined and used to reduce the work tasks, achieve flexible combination of scenario elements, and achieve flexible module replacement.

[0087] In the specific operation process, select the cause factors: Different accidents have different causes, and the same accident may also have different causes. For gas explosion accidents, the cause factors are selected by pairwise combination from gas accumulation (poor ventilation, abnormal outburst) and ignition sources (human open fire, electric spark, blasting open fire, friction spark, coal spontaneous combustion).

[0088] Select the accident location factors (including equipment, personnel, and distress situations): Select the accident occurrence location from the preset 8 types of locations, and then determine all kinds of equipment, staff, and the distress situations of personnel after the accident that should be present at the accident location.

[0089] Select the accident stage factors (determining the scale of the accident and the emergency response objects): Determine the scale of the accident. For small-scale accidents, the internal forces of the mine are used for emergency response, while for large-scale accidents, external rescue forces are requested for emergency response.

[0090] Select the accident consequence factors: Select the accident consequences from poisoning and burns related to high temperature, asphyxia caused by damage to ventilation facilities, and personnel trapped caused by damage to supports. Different scales of accidents result in different degrees (injury and loss degrees) of accident consequences, and the emergency response methods are also different.

[0091] Add fixed modules: Add the fixed modules (alarm, start the emergency plan, receive the alarm, dispatch the police, enter the well for investigation, etc.) at each stage into the disposal process.

[0092] Form the overall scenario: The fixed modules and flexible modules for accident emergency disposal form the overall scenario.

[0093] Furthermore, when performing flexible module replacement, it is also possible to combine and use the granular elements in each module to reduce the work tasks. For example, by changing the state of the scene elements in the initial scenario, a potential hazard scenario can be obtained; and the potential hazard state in the potential hazard scenario can evolve into an accident state; in addition, the emergency rescue information prompt state element is added to the environment in the on-site disposal stage. When transitioning to the external rescue stage, the environmental state elements in the on-site disposal stage can be directly reused, and the accident state elements can be changed to form a new scenario; generally speaking, through operations such as state evolution, element addition, and element reuse, the reuse of each granular element in the scenario module can be achieved, greatly simplifying the workload of scenario construction.

[0094] Taking the coal mining face as an example, the process of forming a script by module combination is described as follows: 1) Select the causal factors Select the gas accumulation a21 caused by poor ventilation; Select the fire source a22 caused by coal spontaneous combustion: In the goaf, the coal exposed to the air, due to inadequate fire prevention measures, slowly oxidizes and heats up through slow oxidation, generating toxic and harmful gases such as carbon monoxide, smoking, until an open fire appears.

[0095] 2) Select the accident location factors Select the location a13: fully mechanized caving face; Select the equipment a12: coal mining equipment: shearer, scraper conveyor, hydraulic support; Select the personnel a11: shearer driver, scraper conveyor driver, shield support installer, shield support remover.

[0096] 3) Select the accident stage factors Local gas explosion B: The affected range is relatively small, and the internal forces of the mine are used for emergency disposal.

[0097] Scene: At the tail of the face conveyor, the burning object is the floating coal beside the tail. The CO concentration is 30 ppm, the temperature is 30 °C, and the oxygen concentration is 20.1% at 5 meters upwind of the fire source. The fire is not large; Emergency disposal: The rescue team members pick up the carried dry powder fire extinguisher, turn it upside down several times, pull out the safety pin, hold the spray pipe with one hand, aim at the root of the flame, hold the pressure handle with the other hand, and press the pressure handle hard. The dry powder sprays out from the spray pipe to extinguish the fire. The rescue team members extinguish the open fire with the fire extinguisher, and then connect the dust-proof pipeline and turn on the high-pressure water pump to spray high-pressure water to the upper part of the support; Large-scale gas explosion C: The fire gets out of control, and the external professional rescue team is the emergency force; Scene: The open fire has been extinguished, but the smoke is still very thick, the fire source cannot be completely eliminated, and the methane on the site is rising, with an explosion risk at any time; Emergency Response C4: Immediately organize forces to drill from the ground to the upper corner of the working face, and inject CO2 and gel into possible fire points through the drill holes to extinguish the fire; send two professional rescue teams to simultaneously close the ventilation and machine tunnels of the working face; before closing the ventilation and machine tunnels, send people to lay another nitrogen injection pipe from the machine tunnel of the working face (the pipe can be laid inside the fire door), and inject nitrogen into the working face from underground to speed up the inerting of the working face, prevent the fire from spreading outward, and accelerate the fire extinguishing.

[0098] 4) Select accident consequence factors The accident caused poisoning of people.

[0099] Scenario: The casualty is unconscious, with weak breathing and pulse.

[0100] The accident resulted in people being trapped.

[0101] Scenario: A gas explosion damages a tunnel, generating large amounts of toxic and harmful gases. The long route to travel and the limited time of the self-rescuer prevent safe evacuation from the disaster area.

[0102] 5) Add fixed modules On-site disaster avoidance B1, information reporting B2, plan activation module B3, first alarm reception B4, alarm dispatch B5, well reconnaissance B6, emergency response C4, alarm dispatch module C5, well reconnaissance C6 are fixed modules and are added to the accident emergency response process in sequence; for example: Alarm: Monitor XXX reports to the dispatcher: The methane sensor in the upper corner of the 2421 fully mechanized caving working face has triggered an alarm, and the methane concentration has risen from 0.5% to 1%. Emergency plan activated: The on-duty mine manager realized the urgency of the situation and instructed the dispatcher to: ① immediately report the situation to the mine manager; ② activate the emergency plan and notify the emergency command team members specified in the plan to gather at the dispatch center as soon as possible, especially the ventilation team leader and the part-time rescue team leader to arrive immediately; Receiving the alarm: Part-time team telephone operator XXX answers the call, records the accident details, and immediately sounds the accident alarm; Police dispatch: The part-time mine rescue team has assembled, wearing oxygen respirators and carrying the necessary rescue equipment to set off to the wellhead; Well reconnaissance: Set up a ground rescue base, with the team leader at the command center and others on standby at the base; The foreman of the fully mechanized mining team, XXX, reported to the dispatch room: an explosion may have occurred at the 2421 fully mechanized mining face, and the Yunshun conveyor belt was vibrating. The rescue commander-in-chief convenes members of the rescue command center to analyze the disaster situation and formulate a rescue plan; The rescue team enters the mine along the secondary inclined shaft → transport tunnel and meets with the underground base commander XXX. They set up an underground rescue base at the lower part of the track on the mountain. Then, they carry out reconnaissance of the disaster area according to the division of labor. The main task is to rescue people in distress and extinguish the fire immediately if found. Two team leaders respectively organize their own teams to conduct pre-war inspections (including self-inspections and mutual inspections). After three rescue teams arrive at the lower yard of the track uphill, they meet with the shift mine manager and select a suitable location as the rescue base.

[0103] 6) Form an overall scenario Flexible module: Initial scenario A1 (location a13, equipment a12, personnel a11), initial scenario A2 (gas accumulation a21, ignition source a22); internal mine disposal B (disaster area reconnaissance b64, emergency disposal B7); external mine rescue C (disaster area reconnaissance c34, emergency disposal C4).

[0104] Fixed module: Internal mine disposal B (on-site disaster avoidance B1, information reporting B2, pre-plan activation module B3, first alarm receiving B4, dispatch B5, underground reconnaissance B6); external mine rescue C (second alarm receiving C1, second dispatch C2, second underground reconnaissance C3); emergency end stage D (personnel ascending the shaft D1, rescue team return procedure D2); the flexible module and the fixed module are combined in the order of disposal to form a gas explosion emergency rescue scenario script; Such as Figure 2 As shown, during the emergency process of coal mine accidents, the overall process will include: accident gestation stage, internal mine disposal stage, external mine rescue stage, and emergency end stage; Specifically, the accident gestation stage includes two modules: initial scenario and hidden danger scenario. The initial scenario includes two fixed modules of on-site personnel and equipment, as well as a flexible module of location; the hidden danger scenario includes two flexible modules of gas and ignition source; at this time, the accident has occurred, and normal production and operation, life and property, and personal safety have been affected. It is urgent to take emergency measures, and this is the emergency critical point for danger (abbreviation "emergency point"); The internal mine disposal stage includes seven modules: on-site disaster avoidance, information reporting, pre-plan activation, alarm receiving, dispatch, underground investigation, and emergency disposal. At this time, the scale of the accident has exceeded the internal disposal capacity of the enterprise, and external rescue forces are needed for rescue. This is the accident rescue critical point (abbreviation "rescue point"); The external mine rescue stage includes four modules: alarm receiving, dispatch, underground investigation, and emergency disposal; The emergency end stage includes two modules: personnel ascending the shaft and the return journey of the rescue team; Among them, in the accident gestation stage: location, gas, and ignition source are three flexible modules. There are 7 types of locations, 2 types of gas hazard sources, and 5 types of ignition sources, and 20 pre-stage scenario combinations can be obtained, such as Figure 3 As shown.

[0105] Internal Mine Disposal: At the initial stage of the disaster, the mine conducts self-disposal. The disposal is carried out in the order of on-site disaster avoidance, information reporting, activation of the top case, receiving the alarm, dispatching the police, entering the well for investigation, and the emergency disposal module. Among them, the disaster area investigation and emergency disposal modules are flexible modules and need to be replaced according to the actual situation of the accident. If the disaster is eliminated through internal mine disposal, the emergency ends. External Mine Rescue: If the internal mine disposal fails to control the disaster situation and the disaster expands, external forces need to intervene in the rescue at this time. The rescue team needs to carry out the disposal in the order of receiving the alarm, dispatching the police, entering the well for investigation, and the emergency disposal module. Among them, the disaster area investigation and emergency disposal modules are flexible modules and need to be replaced according to the actual situation of the accident. When the disaster is eliminated, the emergency ends. Furthermore, as Figure 4 shown, a scenario script is generated based on the emergency points, and then a VR scenario is generated based on the scenario script.

[0106] Based on the above coal mine accident emergency process, this application proposes a coal mine accident emergency drill method based on virtual reality applications. Based on the above coal mine accident emergency process, module division and combination are carried out through coal mine accident cases to form a scenario script, and then a VR drill scenario is generated based on the scenario script. Coal mine accident emergency drills are carried out based on the VR drill scenario to improve the collaboration and response capabilities of the entire mine emergency response team.

[0107] As Figure 5 shown, the present invention proposes a coal mine accident emergency drill method based on virtual reality applications, including the following operating steps: Step S10: Collect and obtain multiple coal mine accident cases; analyze the coal mine accident cases to generate multiple scenario scripts.

[0108] The above scenario script itself is a text and image formed by collecting multiple coal mine accident cases; the scenario script includes the disaster state information and disaster state change information of the coal mine accident scene on the time axis; the scenario script is essentially some scene images in the coal mine accident scene of the collected cases, accident emergency measure images in the coal mine accident scene of the cases, and some text information of accident emergency measures, etc.

[0109] It should be noted that in the above embodiments of this application, text analysis and image extraction are performed on the coal mine accident case data by using the jieba word segmentation package based on Python, and the scenario script is extracted (that is, the corresponding images and texts are extracted). Therefore, the scenario script not only contains some disaster state information of the cases, but also includes some accident emergency measure information (a large amount of accident emergency measure information forms a measure database).

[0110] Specifically, the above-mentioned scenario scripts are obtained by adopting the "dimension-element-attribute" scenario expression hierarchical architecture, interactively integrating the accident evolution process with the emergency rescue process, and constructing a "full process, full scenario, full element" accident scenario; based on a large amount of historical accident data, using Chinese word segmentation technology, a basic accident (evolution) scenario library with quantifiable representation is constructed according to the accident mechanism, and a matching emergency rescue measures library is established; further, an emergency drill model based on dynamic scenarios is established, and the accident rescue process is standardized and decomposed according to the rescue process, and multi-scenario paths are constructed with the help of dynamic Bayesian network technology, and emergency decision-making is optimized through scenario path matching; finally, according to the established multi-scenario paths, typical accident drill scenarios are selected for combination, and combined with the emergency rescue measures library, personnel roles and action points are set, and then scenario scripts are compiled.

[0111] For example, some accident emergency response information in the scenario script; alarm emergency response information: the monitor reports to the dispatcher including the methane sensor alarm, and the methane concentration rises from 0.5% to 1%.

[0112] Emergency response plan information: Alarm response information: The duty officer answers the call, records the accident details, and immediately sounds the accident alarm; Police dispatch information: The part-time mine rescue team assembled, donned oxygen respirators, and carried the necessary rescue equipment to the mine entrance; Information on reconnaissance activities during the well entry: a ground rescue base will be set up, with the team leader at the command center and the others on standby at the base; Rescue team behavior information: Enter the mine along the auxiliary inclined shaft and the main transport tunnel to meet with the underground base commander, establish an underground rescue base in the parking lot at the foot of the mountain on the track, and then carry out disaster area reconnaissance work according to the division of labor. The main task is to rescue people in distress and extinguish the fire immediately when it is found.

[0113] In the specific rescue process, from the perspective of the rescue team members and according to the script content structure, alarming, receiving alarms, dispatching alarms, and establishing rescue bases above and below the well can all be presented in a fixed form.

[0114] For example, some disaster status information in the scenario script may be an image and text of a mine collapse accident status, etc., which will not be described in detail.

[0115] Step S20: obtaining the drill instruction of the current trainee (ie, the current user), and generating a VR drill scene according to the drill instruction and the scenario script.

[0116] The drill instructions include: location selection instructions, rescue type selection instructions, personnel type selection instructions, and disaster type selection instructions.

[0117] It should be noted that the above-mentioned collection of drill scenario data information obtained through the scenario script includes the drill location, drill rescue type, drill personnel type, drill disaster type, etc.; the deductive perspective adopts a combination of macro-perspective full-process deduction and on-site practical operation deduction. The main accident types targeted are gas accidents, fire accidents, roof accidents, etc.

[0118] In the above-mentioned embodiment of the present application, by obtaining the drill instruction of the current user, by selecting the drill location, rescue type, drill personnel type, and disaster type of the drill scenario, and combining with the scenario script, a VR drill scenario is generated through virtual reality technology, and the coal mine accident emergency rescue drill operation is carried out based on the VR drill scenario; the above-mentioned virtual reality technology for generating the VR drill scenario is a simulation environment simulated by computer technology, allowing users to immerse themselves in it and interact with it; virtual reality technology usually uses a head-mounted display or other VR devices to bring users into a completely computer-generated virtual world, making users feel as if they are in a real environment; in the embodiment of the present application, after generating the VR drill scenario, the drill personnel wear a head display device and a handle, and interact with the VR drill scenario through the head display device and the handle, so as to realize the drill operation.

[0119] The above-mentioned scenario script includes a fixed module and a flexible module.

[0120] The above-mentioned fixed module includes the in-mine disposal module B; the out-of-mine rescue module C; the emergency end stage module D.

[0121] The above-mentioned flexible module includes the first initial scenario A1, the second initial scenario A2; the in-mine disposal B; the out-of-mine rescue C.

[0122] The above-mentioned in-mine disposal module B includes on-site disaster avoidance B1, information reporting B2, plan activation B3, first alarm receiving B4, first dispatch B5, and in-mine reconnaissance B6.

[0123] The above-mentioned out-of-mine rescue module C includes second alarm receiving C1, second dispatch C2, and second in-mine reconnaissance C3; The above-mentioned emergency end stage module D includes personnel ascending the shaft D1, and the regulations of the rescue team D2; The above-mentioned first initial scenario module A1 includes location a13, equipment a12, and personnel a11; The above-mentioned second initial scenario module A2 includes gas accumulation a21 and fire source a22; The above-mentioned in-mine disposal module B includes disaster area reconnaissance b64 and emergency disposal B7; The above-mentioned out-of-mine rescue C includes disaster area reconnaissance c34 and emergency disposal C4.

[0124] The above-mentioned embodiment of the present application uses the Python-based jieba word segmentation package to perform text analysis on coal mine accident case data, extracts scenario elements, and constructs a scenario library and a measure library based on the scenario elements; uses a dynamic Bayesian network model and a hidden Markov model to construct scenario evolution laws and scenario evolution paths through the scenario library and the measure library; after constructing the scenario path, each scenario is decomposed and classified by hierarchical clustering to analyze the reusability and independence of each scenario element and module, and then obtains fixed modules and elements for each scenario. At the same time, combined with the scenario evolution path, the system adds various flexible and fixed modules in the chronological order of the accident, so that the modules are organically combined to finally form a scenario script to provide guidance for emergency drills and emergency decision-making.

[0125] Specific applications of the above-mentioned fixed modules, for example: Alarm: The monitor reports to the dispatcher: The methane sensor in the upper corner of the fully mechanized caving working face has given an alarm, and the methane concentration has increased from 0.5% to 1%; Plan Activation: The on-duty mine manager realized the urgency of the situation and instructed the dispatcher to: ① immediately report the situation to the mine manager; ② activate the emergency plan and notify the emergency command team members specified in the plan to gather at the dispatch center as soon as possible, especially the ventilation team leader and the part-time rescue team leader to arrive immediately; Receiving the alarm: The part-time team telephone operator answers the call, records the accident details, and immediately sounds the accident alarm; Police dispatch: The part-time mine rescue team has assembled, wearing oxygen respirators and carrying the necessary rescue equipment to set off to the wellhead; Well reconnaissance: Set up a ground rescue base, with the team leader at the command center and others on standby at the base; The foreman of the fully mechanized mining team reported to the dispatch room: there may have been an explosion in the fully mechanized mining face, and the Yunshun conveyor belt was vibrating. The rescue commander-in-chief convenes members of the rescue command center to analyze the disaster situation and formulate a rescue plan; The rescue team entered the mine and joined the underground base commander along the main transport tunnel of the secondary inclined shaft. They established an underground rescue base at the yard at the foot of the mountain on the track. Then they carried out reconnaissance of the disaster area according to the division of labor. Their main task was to rescue people in distress and immediately extinguish the fire source if they found it. The two squad leaders each organized their own squad to conduct pre-battle inspections (including self-inspections and mutual inspections); After the three rescue teams arrived at the yard at the foot of the mountain on the track, they met up with the mine manager on duty and selected a suitable location as a rescue base.

[0126] In the specific rescue process, in the subsequently constructed VR drill scenario, from the perspective of the rescue team members, according to the content structure of the script, the corresponding disaster area reconnaissance module and emergency response module are set, and other modules do not need to be changed, that is, alarm, receiving alarm, dispatching, and establishing rescue bases above and below the well can be fixed. The fixed modules do not require user interaction operations, and make transition animations to connect scenarios.

[0127] In the above embodiment of the present application, a scenario script is obtained by analyzing the collected coal mine accident cases, and then a VR drill scenario is generated according to the user's drill instructions to simulate a real and complex accident scenario; and in subsequent operations (such as the following steps S30-step S40), based on the user wearing a VR device, the accident emergency measure information implementation behavior of the user for the disaster state information of the current VR drill scenario is simulated according to the disaster state information and accident emergency measure information in the selected VR drill scenario, so as to improve the emergency response ability of the staff for coal mine accidents, and through the immersive drill of VR, improve the interactivity and the authenticity of the drill, greatly improve the learning effect, and ensure the safety of the staff in the accident drill.

[0128] The VR technology is used to produce a VR drill system for the mine rescue team, covering three major disasters in coal mine rescue: coal mine fire accident rescue, coal mine gas explosion rescue, and coal mine roof accident rescue. The VR simulates a real and complex accident scenario; and in subsequent operations, based on the user wearing a VR device, the accident emergency measure information implementation behavior of the user for the disaster state information of the current VR drill scenario is simulated according to the occurrence location, hazard sources, etc. in the selected VR drill scenario, so as to improve the emergency response ability of the staff for coal mine accidents, and through the immersive drill of VR, improve the interactivity and the authenticity of the drill, improve the learning effect, and ensure the safety of the staff in the accident drill.

[0129] After step S20, it also includes constructing a feedback model library in the form of a combination of text and images by using the simulated drill scenario of the VR drill scenario; analyzing the above solution, it can be seen that the VR drill scenario itself is a VR drill scenario simulated by a case scenario script and drill instructions, etc.; the VR drill scenario can also be continuously used to feedback to the current user for demonstration.

[0130] That is, the VR drill scenario (i.e., the feedback model library) is used as the feedback model library in the form of the combination of this text and images; then, different information prompting methods of accident emergency measures are presented to the current user at the drill time nodes of the VR drill scenario, facilitating the current user to select and view; after the current user selects one piece of current disaster status information and one piece of accident emergency measure information, click to generate the effect; then, the VR drill scenario will, according to this selection result, simulate and interactively implement the VR drill scenario after the behavior of the accident emergency measure information, and then display the VR drill scenario after the implementation behavior in the form of image interaction.

[0131] Step S30: A feedback model library is formed based on the data set of the VR drill scenarios at different time nodes.

[0132] The VR drill scenario at each time node is equivalent to the demonstration effect of a current time period.

[0133] It should be noted that, as Figure 8 shown, in the embodiment of the present application, a drill scenario and a story line are formed based on the data set of the VR drill system at different time nodes; the disaster status information at each time node, the accident emergency measure information for the disaster status information, and the implementation behavior of the accident emergency measure information corresponding to the accident emergency measure information are deduced in the VR system.

[0134] The above embodiment of the present application constructs and forms a feedback model library based on the data set composed of the disaster status information at different time nodes of the current VR drill scenario, the accident emergency measure information corresponding to the disaster status information, and the implementation behavior of the accident emergency measure information corresponding to the accident emergency measure information (the implementation behavior of the accident emergency measure is presented in the form of picture interaction); the above accident emergency measure implementation information and the implementation behavior of the accident emergency measure are the most efficient processing methods for the above disaster status information.

[0135] That is, the above feedback model library represents the disaster status information at each time node, the accident emergency measure information for the disaster status information, and the implementation behavior of the accident emergency measure information corresponding to the accident emergency measure information; the above feedback model library can provide emergency reference data when subsequent users perform accident emergency response processing.

[0136] After confirming the current disaster status information, obtain the accident emergency measure information corresponding to the current disaster status information input by the current user (the current user needs to intervene in the current disaster status information, so an accident emergency measure information is input); for example, if the disaster status information specifically refers to a fire, input the accident emergency measure information of the current disaster status information (that is, for example: the alarm emergency measure information), and then match the implementation behavior of the corresponding accident emergency measure information at this time node; interact the implementation behavior of the corresponding accident emergency measure information in the form of an image, and the specific content is shown in step S40.

[0137] Step S40: After the current user wears the VR device and enters the VR drill scene, the user determines the drill time node to enter from different time nodes; the drill time node determines the matching corresponding VR drill scene according to the feedback model library; the VR device sends multiple alternative accident emergency measure information (this alternative accident emergency measure information or alternative emergency instruction can be the measure of using a fire extinguisher, or the alarm emergency measure information or alarm measure) to the current user, and receives the accident emergency measure information (accident emergency measure information or emergency instruction) selected by the current user; interact based on the accident emergency measure information and the VR drill scene to realize the interactive operation of the implementation behavior of the accident emergency measure information in the VR drill scene under the influence of the current accident emergency measure information.

[0138] Specifically, the above emergency instruction refers to the emergency instruction issued by the current user in real time according to the real-time disaster status information in the current VR drill scene. For example, if the disaster status type in the current VR drill scene is a fire, the current user may issue an emergency instruction to use a fire extinguisher, and the current VR drill scene immediately responds to this emergency instruction and performs the emergency operation of using a fire extinguisher (the implementation behavior of the accident emergency measure information in this VR drill scene is usually displayed in the form of image interaction); Illustrative example: A mine rescue team member enters a virtual reality training system and wears a VR device. The system generates a VR drill scene containing a fire scene through the coal mine accident case data analyzed in step S10. This scene simulates an emergency rescue scene of a coal mine fire, and the VR system displays the following content: Disaster status information: A fire occurred in a certain working face of the coal mine. The fire source is near the roof above the working face. There is a large amount of coal dust and gas around, and the fire is spreading; Drill instruction information: At this time, the system prompts the user to select different types of rescue measures, such as "alarm", "extinguish fire" or "evacuate", etc.; After the user enters the system, the VR system presents the following two alternative accident emergency measure information according to the user's selection: Alarm emergency measures: The monitor reports the fire occurrence to the dispatcher and activates the fire emergency plan; Fire extinguishing emergency measures: Select appropriate fire extinguishing equipment (such as dry powder fire extinguishers) for fire extinguishing operations; Furthermore, based on the emergency measure information selected by the user, update the VR drill scenario.

[0139] When the user selects the "Fire extinguishing emergency measures" information, the system updates the VR drill scenario according to this selection. The specific steps are as follows: User selects a fire extinguisher: In the VR scenario, the user sees a simulated coal mine working face with a fire source burning. The user uses the handle or controller to select a fire extinguisher (such as a dry powder fire extinguisher); Display fire extinguishing operation tips: The VR system provides indication information on the screen to guide the user on how to correctly use the fire extinguisher, such as "Press the handle to spray dry powder" and "Aim the nozzle at the base of the fire source"; Fire extinguishing action starts: The user presses the controller button on the VR device to start the spraying of the fire extinguisher; At this time, the user sees the flame gradually covered by the dry powder sprayed from the fire extinguisher and the fire source is gradually extinguished; Visual feedback: As the fire extinguishing operation progresses, the VR scenario shows the gradual extinguishing of the flame, and the fire scene also changes. The smoke gradually dissipates and the on-site environment becomes clear; The user feels the "spraying" feedback of controlling the fire extinguisher through the handle, enhancing the immersion; Furthermore, interaction and result feedback.

[0140] Effect of fire extinguishing: As the operation of the fire extinguisher is completed, the fire source is extinguished, and the system shows the visual effect of successful fire extinguishing, such as the words "Fire source extinguished" and the prompt "Fire extinguishing successful"; Further operations: After the fire source is extinguished, the VR system updates a new scenario, prompting the user to continue with subsequent emergency rescue work; The system may prompt the user whether to perform "personnel evacuation" or "accident reporting" operations, and the user can choose to continue practicing other emergency measures; Finally, feedback and summary.

[0141] After completing the fire extinguishing operation, the VR system generates a drill feedback, recording each step and choice of the user in the virtual scenario; The system updates the feedback model library according to the actual operation results of the user (such as whether the fire extinguishing is successful, operation accuracy, etc.), providing more personalized reference data for future drills; The above entire process simulates the real coal mine fire emergency handling process through virtual reality devices. Through interactive operations, users not only learn emergency handling skills but also can feel the operation effects in real time, thus improving the emergency response ability; The disaster state accidents corresponding to the emergency instructions in the embodiments of the present application are as follows Figure 9 , Figure 10 , Figure 11 and Figure 12 shown. Each type of accident can be superimposed through the hazard source and the accident location and then enter the simulation exercise story line of the accident combination, and the complete deduction of the story line can be realized in VR: As Figure 9 shown, typical scenarios of gas accidents are listed. Coal mine gas disaster accidents refer to accidents such as explosions and fires caused by the accumulation or release of gas (mainly methane) during the coal mining process. There are 5 typical scenarios of gas accidents: 1) Poor ventilation + external fire - a total of 3 types; 2) Upper corner + coal spontaneous combustion - a total of 1 type; 3) Abnormal outburst + electric spark - a total of 1 type; As Figure 10 shown, typical scenarios of fire accidents are listed. There are 6 typical scenarios of fire: 1) Coal + coal spontaneous combustion - electric spark, a total of 2 types; 2) Explosive + firedamp (spontaneous combustion), a total of 1 type; 3) Electrical and mechanical equipment + open fire - frictional impact spark - electric spark, a total of 3 types; As Figure 11 shown, typical scenarios of roof accidents are listed.

[0142] 1) Periodic weighting + poor support parameter design, 1 type; 2) Mine tremor + poor support parameter design, 1 type; 3) Broken roof + poor support parameter design, 1 type; As Figure 12 shown, typical scenarios of roof accidents are listed.

[0143] Specifically, in step S20, a VR exercise scenario is generated according to the exercise instruction and the scenario script, including the following operation steps: Step S21: Obtain a set of exercise scenario data information based on the exercise instruction and the scenario script; the set of exercise scenario data information includes the exercise location, the type of exercise rescue, the type of exercise personnel, the type of exercise disaster, and the scenario script (the scenario script includes accident emergency measure information, the disaster state information and the disaster state change information of the coal mine accident scenario on the time axis, etc., which will not be elaborated here).

[0144] It should be noted that the drill location, drill rescue type, drill personnel type, and drill disaster type obtained through the location selection instruction, rescue type selection instruction, personnel type selection instruction, and disaster type selection instruction of the above embodiments of the present application (i.e., set through the above drill instructions), as well as the disaster state information and disaster state change information of the coal mine accident scene on the time axis obtained through the scenario script, can provide a data basis for the extraction of subsequent scene pheromones.

[0145] Step S22: Obtain scene pheromones according to the drill scenario data information set; the scene pheromones include scene environment information in the current drill location (such as mine cave walls, mine cave floors, mine cave facilities, affected instances in the mine cave disaster scene, etc.).

[0146] It should be noted that the above embodiments of the present application analyze the drill scenario information data set, extract and obtain scene pheromones containing the scene environment information of the current drill location, and provide a rendering basis for the subsequent rendering of the VR drill scenario.

[0147] Step S23: Obtain the rendering elements corresponding to the scene pheromones; render each of the scene pheromones according to the rendering elements to obtain a VR drill scenario.

[0148] The rendering elements include endpoint elements, vertical vector elements, texture mapping elements, and visible surface elements.

[0149] It should be noted that the above endpoint element is one of the basic components of the VR drill scenario, usually representing a point in space, which is a feature point of the scene environment information under the current drill location obtained by extracting extreme points or corner features through feature points, and can match the initial three-dimensional mesh map in the subsequent rendering process, so as to realize the establishment of the VR drill scenario.

[0150] For example: such as the mine cave wall in the scene environment information; when performing the step operation of obtaining the rendering elements corresponding to the scene pheromones (i.e., the mine cave wall), the collapse point (endpoint element) of the mine cave wall can be obtained; then render the current scene pheromones according to the rendering elements (collapse point), and combine other rendering elements to obtain the VR drill scenario; another example is that the visible surface element can be an image photo. For example: when performing the step operation of obtaining the rendering elements corresponding to the scene pheromones (i.e., the mine cave wall), the wall surface of the mine cave wall (i.e., the visible surface element, which can essentially be a 2D picture of the wall surface or a 2D texture map) can be obtained.

[0151] The above vertical vector elements are vectors tangent to the surface geometry of the VR drill scene (of the scene environment information obtained by shooting with a camera or a mobile robot), perpendicular to the surface of the scene environment information element. It is used to calculate the shadow effect during the lighting and rendering processes to ensure that light is correctly reflected and refracted, making the object look more realistic.

[0152] The above texture mapping element is the process of mapping a two-dimensional texture to the surface of the VR drill scene. In the texture mapping element, each texture has a corresponding mapping coordinate to determine its position in the texture image. Through the texture mapping element, textures can be accurately pasted on the model surface to achieve the visual effect.

[0153] The above visible surface element is the visible surface of the VR drill scene (which can also be called the surface image, the surface image of each scene environment information under the current drill scene location saved by shooting with a camera or a mobile robot); for example, a triangle or a quadrilateral can both be a face; the connection method of the faces and the arrangement order of the vertices affect the appearance and performance of the model.

[0154] Specifically, as Figure 6 shown, in step S25, rendering each of the scene information elements according to the rendering elements to obtain a VR drill scene, including the following operation steps: Step S251: Construct an index table according to the rendering elements; the index table represents the vectors of the endpoint elements, the vectors of the vertical vector elements, the vectors of the texture mapping elements, and the vectors of the visible surface elements; It should be noted that the above index table first vectorizes the rendering elements, and then constructs an index table of the rendering element coordinates, the rendering elements, and the rendering element vectors according to the coordinates of each rendering element; Step S252: Integrate each of the scene information elements according to the index table to obtain an initial three-dimensional mesh map; Step S253: Assign values to the initial three-dimensional mesh map according to each of the rendering elements to obtain a VR drill scene (read the values of the rendering elements and assign values to each point of the three-dimensional mesh map. The above assignment means using the values of the rendering elements to assign values to the corresponding positions of the initial three-dimensional mesh map. For example, if the current rendering element is the 2D image of the wall surface of the visible surface element, then through the RGB values or brightness values and other information of the pixels of this wall surface 2D image, assign values to the position corresponding to the current mine wall image on the initial three-dimensional mesh map. Thus, a VR drill scene can be obtained).

[0155] It should be noted that in the above embodiments of the present application, the initial three-dimensional mesh map is assigned values through each rendering element in the index table, thereby obtaining a VR drill scene.

[0156] In the above embodiments of the present application, after constructing the index table, the initial three-dimensional grid map is integrated according to the index table, which can simplify the operation of the VR drill scenario. Further, the initial three-dimensional grid map is assigned values by rendering elements, thereby obtaining a complete VR drill scenario.

[0157] Specifically, in step S252, each of the scene information elements is integrated according to the index table to obtain an initial three-dimensional grid map, including the following operation steps: Step S2521: At the initial operation, a first initial three-dimensional grid map is established; It should be noted that the above first initial three-dimensional grid map is initially empty and only contains a three-dimensional grid map of the grid. In subsequent operations, the index table is used to fill the three-dimensional grid map to obtain the initial three-dimensional grid map.

[0158] Step S2522: The real-world coordinates M1 of the scene information element are obtained by converting the coordinates M of the scene information element corresponding to the index table through the real-world conversion matrix F1; M1 = M × F1; It should be noted that in the above embodiments of the present application, the coordinates M (two-dimensional image coordinates) of each rendering element of the scene information element (such as a 2D picture of a wall surface) are converted into real-world coordinates M1 (three-dimensional world coordinates, that is, 3D coordinates of the wall surface) through the real-world conversion matrix F1.

[0159] Step S2523: The display coordinates M2 are obtained by performing coordinate conversion on the basis of the real-world coordinates M1 through the display conversion matrix F2; M2 = M1 × F2; It should be noted that in the above embodiments of the present application, the real-world coordinates M1 (such as the 3D coordinates of the wall surface obtained above) are converted into three-dimensional coordinates in the initial three-dimensional scene (that is, the VR drill scenario) through the display conversion matrix F2.

[0160] Step S2524: The mapping coordinates M3 are obtained by performing coordinate conversion on the basis of the display coordinates M2 through the mapping conversion matrix F3; M3 = F3 × M2; It should be noted that in the above embodiments of the present application, the three-dimensional coordinates of the initial three-dimensional scene are converted into the mapping coordinates M3 displayed on the VR glasses through the mapping conversion matrix F3, that is, the 3D coordinates of the wall surface on the three-dimensional virtual scene are mapped to the mapping coordinates on the VR glasses worn by the drill personnel.

[0161] Step S2525: The mapping coordinates are matched with the respective virtual coordinates in the first initial three-dimensional grid map to obtain the initial three-dimensional grid map.

[0162] It should be noted that in the above embodiments of the present application, the mapping coordinates on the VR glasses are matched with the coordinates with empty values in the first initial three-dimensional grid map, so as to obtain an initial three-dimensional grid map that can be viewed and rehearsed by any VR glasses; In the above embodiments of the present application, the coordinates of the scene pheromone are converted to the coordinates of the three-dimensional grid by sequentially performing coordinate conversion through the real conversion matrix F1, the display conversion matrix F2, and the mapping conversion matrix F3, so as to gradually convert the coordinates of the scene pheromone into mapping coordinates; in further operations, the mapping coordinates are matched and mapped with the virtual coordinates of the empty three-dimensional grid map of the first initial three-dimensional grid map to obtain the initial three-dimensional grid map.

[0163] Specifically, as Figure 7 shown, in step S2525, matching the mapping coordinates with each virtual coordinate in the first initial three-dimensional grid map to obtain the initial three-dimensional grid map includes the following operation steps: Step S25251: Calculate and obtain the correlation relationship between each of the mapping coordinates; It should be noted that the correlation relationship in the above embodiments of the present application can use the Euclidean distance or the Manhattan distance; by first calculating the correlation relationship between each mapping coordinate, a reference basis for subsequent matching can be provided, that is, after the mapping coordinates are matched and mapped to the virtual coordinates, it is also necessary to confirm the newly generated correlation relationship of each mapping coordinate after the matching, so as to confirm whether the matching result is accurate; when the matching result is inaccurate, it proves that the matching relationship is wrong, and it is necessary to re-iterate the matching.

[0164] Step S25252: Initialize the iteration parameters, where the iteration parameters include the first matching coordinates of each of the mapping coordinates (the matching position is the position of the virtual coordinates after matching to the first initial three-dimensional grid map), the number of mapping coordinates, the initial matching positions of each of the mapping coordinates, and the matching step size; Step S25253: Traverse each of the mapping coordinates, calculate and obtain the first correlation relationship between each of the mapping coordinates under the current first matching coordinates; determine whether the first correlation relationship is a preset multiple of the correlation relationship; if so, output the first matching coordinates as the final target matching coordinates, and map the scene pheromones corresponding to each of the mapping coordinates to the target matching coordinates according to the target matching coordinates to obtain the initial three-dimensional grid map; if not, update the matching step size according to the matching degree between the first correlation relationship and the correlation relationship (the matching degree can be calculated using the mean square error) to obtain a new matching step size; Step S25254: Use the new matching step size as the matching step size and return to the above operation until the first correlation relationship is a preset multiple of the correlation relationship, and output the initial three-dimensional grid map.

[0165] It should be noted that in the above embodiments of the present application, the association relationship of each mapping coordinate is first calculated at the initial time, and then in the iterative matching process, by judging the relationship between the management relationship of each matching coordinate and the initially obtained association relationship, it is determined whether the matching coordinate is accurate; when it is determined that the matching coordinate is inaccurate, the matching step size is updated, and then the search is iterated again until the correct matching coordinate is obtained, improving the accuracy of the matching.

[0166] It should be noted that in the above embodiments of the present application, the association relationship between each mapping coordinate is first determined, and then the iterative parameters for iteratively searching for the matching coordinates corresponding to each mapping coordinate are initialized, including the first matching coordinate of the mapping coordinate (the matching position is the position of the virtual coordinate after matching to the first initial three-dimensional grid map), the number of mapping coordinates, the initial matching position of each mapping coordinate, and the matching step size; in further operations, by calculating the first association relationship between each matching coordinate when each mapping coordinate is at the first matching coordinate, and then by judging the relationship between the first association relationship and the initially obtained association relationship, the final target matching coordinate is obtained; this is because the association relationship between each mapping coordinate at the initial time (that is, on the above-mentioned wall surface 2D image, for example) is fixed. When each mapping coordinate is matched to the first initial three-dimensional grid map, if the first association relationship between each matching coordinate changes, it means that the scene environment information composed of these matching coordinates has been distorted or other changes have occurred, which means that the currently obtained first initial three-dimensional grid map will be greatly inconsistent with the initial scene. Therefore, using the relationship between the first association relationship and the initial association relationship to judge whether the matching coordinate is correct can make the scene environment information in the obtained initial three-dimensional grid map more fitting and similar to the original scene environment information, so that the final VR training scene is more in line with the actual situation.

[0167] In the specific implementation process of the above embodiments of the present application, the technical personnel found that when the matching coordinate is incorrect, if a fixed matching step size is used to update and search for a new matching coordinate in the case of extremely large data volume, it will cause extremely large data delay, and if a fixed matching step size is used to update and search for a new matching coordinate in the case of extremely small data volume, it will always use an overly large matching step size to search, which also makes the search and acquisition of the target matching coordinate inaccurate and not fast enough. Therefore, for the update of the matching step size, further judgment and calculation are required to more quickly and accurately search for the target matching coordinate of the mapping coordinate.

[0168] Specifically, in step S25253, the matching step size is updated according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size, including the following operation steps: Step S252531: Calculate and obtain the gradient value ▽f(x) of the current matching degree according to a preset gradient loss function; Step S252532: Calculate and obtain a new matching step size according to the gradient value; Bnew = B - λ × ▽f(x); where λ is the learning rate; B is the matching step size; Bnew is the new matching step size; It should be noted that the above application of the present application calculates a new matching step size through the gradient value of the matching degree. When more virtual coordinates are selected, a larger matching step size can be selected by judging the gradient value to search for the matching coordinates. By reasonably selecting the learning rate and other hyperparameters, the efficiency of the algorithm can be further improved, so as to obtain the optimal solution (i.e., the matching coordinates corresponding to the above mapping coordinates) faster.

[0169] In summary, a coal mine accident emergency drill method and storage medium based on virtual reality applications proposed in the embodiments of the present invention analyze the collected coal mine accident cases to obtain a scenario script, and then generate a VR drill scenario according to the user's drill instructions to simulate a real and complex accident scenario; and in subsequent operations, based on the user wearing a VR device, the accident emergency measure information implementation behavior of the user for the disaster state information of the current VR drill scenario is simulated according to the disaster state information and accident emergency measure information in the selected VR drill scenario, so as to improve the emergency response ability of the staff for coal mine accidents, and through the immersive drill of VR, improve the interactivity and authenticity of the drill, greatly improve the learning effect, and ensure the safety of the staff's accident drill; Further, during the process of generating the VR drill scenario, the drill location, drill rescue type, drill personnel type, and drill disaster type selected through the location selection instruction, rescue type selection instruction, personnel type selection instruction, and disaster type selection instruction of the drill instruction, as well as the disaster state information and disaster state change information of the coal mine accident scenario on the time axis obtained through the scenario script, are used to extract scenario information elements. Then, an index table is established according to the rendering elements of the scenario information elements, and the mapping coordinates of the scenario information elements are obtained through the conversion of the real conversion matrix, display conversion matrix, and mapping conversion matrix based on the coordinates of the scenario information elements corresponding to the index table; further, based on the mapping coordinates of the scenario information elements, the coordinates in the initially empty first initial three-dimensional grid map are searched through the search step size dynamically changed by using the gradient descent algorithm, and then the initial three-dimensional grid map is obtained; finally, the values of the rendering elements are used to assign values to the corresponding positions of the initial three-dimensional grid map to obtain the VR drill scenario; In the VR drill scenario, users can simulate diverse disaster situations, including those that cannot be simulated in daily drills. Rescue teams can practice repeatedly in a risk-free environment to strengthen their decision-making and operation skills, reducing the risks of injuries and accidents in real training. Through a realistic simulation environment and specific operation training, the emergency response and self-rescue capabilities of miners in case of emergencies can be significantly improved, as well as the rescue capabilities and efficiency of the rescue team. This enhances the collaboration and response capabilities of the entire mine emergency response team, effectively reducing the threat to the lives and safety of workers caused by accidents, minimizing the impact scope and harm of disasters, and improving the overall safety management level of the mine.

[0170] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0171] It should be noted that in the present invention, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article, or device. Without further limitations, the element limited by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including the element.

[0172] Although the embodiments disclosed in the present invention are as above, the above content is only an embodiment adopted for the convenience of understanding the present invention and is not intended to limit the present invention. Any person skilled in the art within the technical field to which the present invention pertains may make any modifications and changes in the form of implementation and details without departing from the spirit and scope disclosed by the present invention. However, the scope of patent protection of the present invention shall still be subject to the scope defined by the appended claims.

Claims

1. A VR-based coal mine accident drill method, characterized in that include: Perform scenario analysis on the collected coal mine accident cases to obtain scenario scripts for each coal mine accident case, wherein the scenario scripts include a scenario evolution path and multiple flexible modules, wherein the flexible modules are used to generate VR drill scenes by combining the scenario evolution path according to drill instructions; Obtaining a user's rehearsal instruction, and combining the scenario evolution path and the flexible module of the scenario script according to the rehearsal instruction to generate a VR rehearsal scene, wherein the VR rehearsal scene includes multiple time nodes; Obtain the drill time node selected by the user from different time nodes; Determining a feedback model corresponding to a drill time node from a feedback model library, wherein the feedback model library includes: disaster status information at each time node, accident emergency response information corresponding to the disaster status information, and accident emergency response information implementation behavior corresponding to the accident emergency response information; Display multiple emergency response measures to be selected to the current user, and receive the emergency response measures selected by the current user; Based on the accident emergency measures information currently selected by the user, the feedback model is interacted with to realize the interactive operation of the accident emergency measures information implementation behavior in the VR drill scene under the influence of the current accident emergency measures information.

2. The VR-based coal mine accident drill method according to claim 1, wherein, The drill instructions include: location selection instructions, rescue type selection instructions, personnel type selection instructions, and disaster type selection instructions; The step of combining the scenario evolution path and the flexible module of the scenario script according to the drill instruction to generate a VR drill scene includes: Combining scenario scripts of each coal mine accident case according to the location selection instruction, the rescue type selection instruction, the personnel type selection instruction, and / or the disaster type selection instruction to obtain a determined scenario evolution path and a flexible module corresponding to the drill instruction; Combining the scenario evolution path and the flexible module to obtain scenario pheromone; Obtain rendering elements corresponding to the scene pheromones, render each of the scene pheromones according to the rendering elements, and obtain a VR practice scene.

3. The method for coal mine accident drill based on VR according to claim 2, wherein, Rendering each of the scene pheromones according to the rendering elements to obtain a VR practice scene includes: Building an index table according to the rendering elements; Integrate the pheromones of each scene according to the index table to obtain an initial three-dimensional grid map; The initial three-dimensional grid image is assigned a value according to each of the rendering elements to obtain a VR practice scene.

4. The method for coal mine accident drill based on VR according to claim 3, characterized in that The step of integrating the scene pheromones according to the index table to obtain an initial three-dimensional grid map includes: During the initial operation, a first initial three-dimensional grid graph is established; The coordinate M of the scene pheromone corresponding to the index table is converted by the reality conversion matrix F1 to obtain the real coordinate M1 of the scene pheromone; M1=M×F1; Performing coordinate transformation based on the real coordinate M1 through the display transformation matrix F2 to obtain the display coordinate M2; M2=M1×F2; Performing coordinate transformation based on the display coordinate M2 through the mapping transformation matrix F3 to obtain a mapping coordinate M3; M3=F3×M2; The mapped coordinates are matched with the virtual coordinates in the first initial three-dimensional grid map to obtain an initial three-dimensional grid map.

5. A VR-based coal mine accident drill method according to claim 4, characterized in that The matching of the mapped coordinates with the respective virtual coordinates in the first initial three-dimensional grid map to obtain an initial three-dimensional grid map includes: Calculating and obtaining the correlation relationship between each of the mapping coordinates; Initializing iteration parameters, the iteration parameters including: the first matching coordinate of each of the mapping coordinates, the number of mapping coordinates, the initial matching position of each of the mapping coordinates, and the matching step size; Traversing each of the mapping coordinates, calculating and obtaining a first association relationship between each of the mapping coordinates under the current first matching coordinate; determining whether the first association relationship is a preset multiple of the association relationship; if the first association relationship is a preset multiple of the association relationship, outputting the first matching coordinate as the final target matching coordinate, and mapping the scene pheromone corresponding to each of the mapping coordinates to the target matching coordinate according to the target matching coordinate to obtain an initial three-dimensional grid map; if the first association relationship is not a preset multiple of the association relationship, updating the matching step size according to the matching degree between the first association relationship and the association relationship to obtain a new matching step size; The new matching step length is used as the matching step length and the above operation is returned to, until the first association relationship is a preset multiple of the association relationship, and an initial three-dimensional grid map is output.

6. The method for coal mine accident drill based on VR according to claim 5, wherein The updating of the matching step length according to the matching degree between the first association relationship and the association relationship to obtain a new matching step length includes: Calculate and obtain the gradient value of the current matching degree according to a preset gradient loss function; Obtaining a new matching step length by calculating the gradient value; Bnew=B-λ×▽f(x); Among them, λ is the learning rate; B is the matching step size; Bnew is the new matching step size; ▽f(x) is the gradient value.

7. A VR-based coal mine accident drill device, characterized in that, The device comprises: A decomposition module is used to perform scenario analysis on the collected coal mine accident cases to obtain scenario scripts for each coal mine accident case, wherein the scenario scripts include a scenario evolution path and multiple flexible modules, wherein the flexible modules are used to generate VR drill scenes by combining the scenario evolution path according to the drill instructions; a combination module, configured to obtain a user's rehearsal instruction, and combine the scenario evolution path and the flexible module of the scenario script according to the rehearsal instruction to generate a VR rehearsal scene, wherein the VR rehearsal scene includes multiple time nodes; A selection module is configured to obtain a drill time node selected by a user from different time nodes; determine a feedback model corresponding to the drill time node from a feedback model library, wherein the feedback model library includes: disaster status information at each time node, accident emergency measures information corresponding to the disaster status information, and accident emergency measures information implementation behavior corresponding to the accident emergency measures information; The display module is used to display multiple pieces of accident emergency measures information to be selected to the current user and receive the accident emergency measures information selected by the current user; based on the accident emergency measures information selected by the current user, it interacts with the feedback model to realize the interactive operation of the accident emergency measures information implementation behavior in the VR drill scene under the influence of the current accident emergency measures information.

8. A computer device, comprising a memory, a processor, and a computer program stored on the memory, characterized in that, The processor executes the computer program to implement the steps of the VR-based coal mine accident drill method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the VR-based coal mine accident drill method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the VR-based coal mine accident drill method according to any one of claims 1 to 6.

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