Mine equipment simulation system based on virtual reality

Abstract

The invention belongs to the technical field of intelligent mine equipment, provides a mine equipment simulation system, and aims to solve the problem of low real-time performance of mine equipment simulation in the prior art, and the system comprises a first detection module which is used for detecting whether a corresponding preset mine equipment area subunit changes or not; the first determination module is used for determining the updated region granularity corresponding to the preset mine equipment region subunit when the preset mine equipment region subunit changes; the second determining module is used for determining difference updating information data corresponding to the updating area granularity; the first transmission module is used for transmitting the difference updating information data to a preset mine equipment simulation background; the first updating module is used for updating the initial mine equipment simulation model according to the difference updating information data to obtain a new mine equipment simulation model; and the first interaction module is used for performing simulation interaction on the new mine equipment simulation modeling based on virtual reality, so that the real-time performance of front-end mine equipment simulation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mining equipment, and in particular to a mining equipment simulation system based on virtual reality. Background Art

[0002] Mining equipment refers to all types of machinery used throughout the entire process of mineral resource exploration, mining, beneficiation, transportation, and safety monitoring. Based on operational processes and technical functions, it includes but is not limited to exploration equipment, open-pit mining equipment, underground mining equipment, and mineral processing equipment. Exploration equipment includes but is not limited to geological drilling equipment and geophysical instruments; open-pit mining equipment includes but is not limited to perforating equipment, loading equipment, and transportation equipment; and underground mining equipment includes but is not limited to tunneling equipment, coal mining equipment, and auxiliary transportation. Mining equipment is generally selected based on the operational needs of mineral resources.

[0003] Due to the particularity of the operating environment of mining equipment, ensuring the normal operation of mining equipment and maximizing the personal safety and production safety of production personnel are important research topics in the use and maintenance of mining equipment.

[0004] With the development of computer technology, the use of simulation technology to realize mining equipment simulation is the core technical means of the intelligent transformation of modern mining. It can not only improve the safety risk prevention and control of mining operations, but also optimize economic benefits.

[0005] In traditional technology, the realization of mining equipment simulation generally includes the following process: based on a number of pre-deployed sensors, corresponding information is collected on the physical entity of the mining equipment, and the collected information is transmitted to the corresponding simulation platform. Then, based on the acquired information and based on the selected simulation technology, simulation modeling of the physical entity of the mining equipment is carried out to realize the simulation of the physical entity of the mining equipment.

[0006] However, the inventors realized that in traditional technologies, when mining equipment simulation is realized based on the above-mentioned mining equipment simulation technology, due to the complexity of the environment in which the mining equipment is located and the complexity of the mining equipment system, and as the high-fidelity requirements for the simulation effects of mining equipment become increasingly higher, the amount of corresponding information data that needs to be processed for mining equipment simulation is very large, which reduces the computing efficiency of the above-mentioned information data, delays the real-time simulation presentation of the front-end mining equipment by the background simulation, affects the real-time effect of the mining equipment simulation, and leads to the possibility of untimely discovery and prevention of mine operation safety risks.

[0007] Therefore, how to improve the real-time performance of mining equipment simulation has become an urgent problem to be solved in the field of intelligent mining equipment. Summary of the Invention

[0008] The technical problem solved by the present invention is to solve the problem of low real-time performance of mining equipment simulation in traditional technologies.

[0009] To solve the above technical problems, the present invention provides the following technical solutions: a virtual reality-based mining equipment simulation system, comprising: a preset edge computing subsystem and a preset mining equipment simulation backend subsystem, wherein the preset edge computing subsystem and the preset mining equipment simulation backend subsystem are in communication connection; wherein the preset edge computing subsystem comprises: a first detection module, configured to detect whether a corresponding preset mining equipment regional subunit has changed based on a preset edge computing device; a first determination module, configured to determine, upon detecting a change in the preset mining equipment regional subunit, an update regional granularity corresponding to the preset mining equipment regional subunit and to determine differential update information data corresponding to the update regional granularity; a first transmission module, configured to transmit the differential update information data to the preset mining equipment simulation backend; the preset mining equipment simulation backend subsystem comprises: a first update module, configured to update an initial mining equipment simulation model based on the preset mining equipment simulation backend according to the differential update information data to obtain a new mining equipment simulation model; and a first interaction module, configured to perform simulation interaction on the new mining equipment simulation model based on a preset virtual reality method.

[0010] As a preferred solution of the virtual reality-based mining equipment simulation system described in the present invention, the first determination module includes: an eighth determination submodule, used to determine several current mining equipment information features corresponding to the current mining equipment information data, and determine several historical neighbor mining equipment information features corresponding to the historical neighbor mining equipment information data; a ninth determination submodule, used to determine the information features contained in several current mining equipment information features that are different from several historical neighbor mining equipment information features, and obtain current mining equipment information difference features corresponding to several current mining equipment information features; a tenth determination submodule, used to determine the coverage area corresponding to the current mining equipment information difference features, and obtain the update area granularity corresponding to the preset mining equipment area subunit.

[0011] Beneficial effects of the present invention: The virtual reality-based mining equipment simulation system provided by the present invention, based on the initial mining equipment simulation modeling, based on edge computing, when it detects that the status of the mining equipment has changed, determines the update area granularity, and determines the difference update information data corresponding to the update area granularity, and then transmits the difference update information data from the edge computing device to the mining equipment simulation background. The mining equipment simulation background updates the corresponding part of the initial mining equipment simulation modeling according to the difference update information data to obtain a new mining equipment simulation modeling, and presents and interacts with the new mining equipment simulation modeling based on virtual reality. It not only realizes distributed computing based on edge computing, but also greatly reduces the amount of data calculation because it only updates the difference update information data. Therefore, with the help of edge computing and difference update, the computing efficiency of the corresponding information data can be greatly improved, and the real-time simulation presentation of the front-end mining equipment can be realized. The presentation of the mining simulation modeling based on virtual reality can realize the real-time simulation interaction of the mining equipment, thereby improving the real-time simulation effect and interactive effect of the mining equipment simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic block diagram of a mining equipment simulation system based on virtual reality provided by an embodiment of the present invention; Figure 2 A schematic diagram of the overall concept of a virtual reality-based mining equipment simulation system provided by an embodiment of the present invention; Figure 3 A first sub-schematic block diagram of a mining equipment simulation system based on virtual reality provided by an embodiment of the present invention; Figure 4 This is a second sub-schematic block diagram of the virtual reality-based mining equipment simulation system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0013] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, but not all of the embodiments.

[0014] An embodiment of the present invention provides a virtual reality-based mining equipment simulation system, which can be applied to devices including but not limited to desktop computers, servers, cloud platforms, and edge computing devices, and can be used when simulating mining equipment in the field of including but not limited to intelligent mining equipment.

[0015] Faced with the technical problem of low real-time performance of mining equipment simulation in traditional technologies, the inventors proposed a mining equipment simulation system based on virtual reality in the embodiment of the present invention. The core idea of ​​the embodiment of the present invention is: with the help of edge computing and difference updating, the initial mining equipment simulation modeling is updated, and the updated new mining equipment simulation modeling is presented and interacted based on virtual reality, which can greatly improve the computing efficiency of the corresponding information data, realize real-time simulation interaction of mining equipment, and thus improve the real-time simulation effect and interaction effect of mining equipment simulation.

[0016] Example 1, please refer to Figure 1 and Figure 2 , Figure 1 A schematic block diagram of a mining equipment simulation system based on virtual reality provided by an embodiment of the present invention is provided. Figure 2 This is a schematic diagram of the overall concept of the mining equipment simulation system based on virtual reality provided by the embodiment of the present invention. Figure 1 As shown, in this embodiment, the mining equipment simulation system 100 includes a preset edge computing subsystem 1 and a preset mining equipment simulation background subsystem 2, and the preset edge computing subsystem 1 and the preset mining equipment simulation background subsystem 2 are in communication connection, wherein the preset edge computing subsystem 1 includes a first detection module 101, a first determination module 102 and a first transmission module 103; the preset mining equipment simulation background subsystem 2 includes a first update module 104 and a first interaction module 105; the above-mentioned functional modules are described in detail as follows: The preset edge computing subsystem 1 includes: The first detection module 101 is used to detect whether a corresponding preset mining equipment area subunit has changed based on a preset edge computing device.

[0017] Explanatory, as Figure 2 As shown in Figure 1, several preset mining equipment physical entities are generally deployed in the operating environment of mining equipment to carry out operations on corresponding mineral resources, such as Figure 2 As shown in the example, there are five types of mining equipment deployed, namely preset mining equipment 1 to preset mining equipment 5. The deployed mining equipment and its corresponding spatiotemporal states composed of the environment and operating states are the simulation targets of the mining equipment simulation system. Specifically, the required mining equipment will be deployed according to different types of mineral resource processing to carry out corresponding mineral resource operations. For example, for iron ore, several mining equipment corresponding to electric shovel loaders, high-pressure roller mills, and magnetic separators can be deployed. For coal mines, several mining equipment corresponding to fully mechanized mining supports, coal plows, and gas extraction systems can be deployed.

[0018] Therefore, for all the deployed preset mining equipment, the space is regarded as a whole deployment area, and the overall deployment area is divided into several mining equipment area sub-units, namely, the preset mining equipment area sub-units. The preset mining equipment area sub-units are regional subsets of the overall deployment area, that is, the preset mining equipment area sub-units are local areas of the overall deployment area, and different preset mining equipment area sub-units are associated with different preset edge computing devices. Therefore, when performing mining equipment simulation processing, different preset edge computing devices are used to process the edge computing of the mining equipment simulation information data corresponding to different preset mining equipment area sub-units. Figure 2 As shown, the preset edge computing subsystem 11 and its corresponding preset edge device process the edge computing of the mining equipment simulation information data corresponding to the preset mining equipment area subunit 1, and the preset edge computing subsystem 12 and its corresponding preset edge device process the edge computing of the mining equipment simulation information data corresponding to the preset mining equipment area subunit 2, wherein the preset edge computing subsystem 11 and the preset edge computing subsystem 12 correspond to Figure 1 The preset edge computing subsystem 1 in.

[0019] According to the above conception and setting, when performing mining equipment simulation, the present invention first uses the first detection module 101 included in the preset edge computing subsystem 1 to identify whether the preset mining equipment area subunit has changed, that is, the first detection module 101 is used to detect whether the corresponding preset mining equipment area subunit has changed based on the preset edge computing device. Specifically, information collection equipment deployed corresponding to a preset mining equipment area sub-unit, including but not limited to using laser scanning or LiDAR to obtain equipment point cloud data, mining sensors (vibration, temperature, gas), smart cameras (AI visual analysis), and on-board controllers (unmanned mining truck ECUs), collects mining equipment area sub-unit information data corresponding to the preset mining equipment area sub-unit. The mining equipment area sub-unit information data includes but is not limited to information data corresponding to the temporal and spatial state of the mining equipment composed of the preset mining equipment, its operating status, and the surrounding environment. The mining equipment area sub-unit information data represents information data required for mining equipment simulation. The collected mining equipment area sub-unit information data is transmitted to a preset edge computing device corresponding to the corresponding preset edge computing subsystem. The preset edge computing device is a pre-set edge computing node. The preset edge computing device includes but is not limited to an industrial-grade server and an FPGA acceleration card. The preset edge computing subsystem then uses a first detection module 101 to detect whether the corresponding preset mining equipment area sub-unit has changed. The detection of whether the corresponding preset mining equipment area sub-unit has changed can be performed based on, but not limited to, a comparison of before and after information of the corresponding preset mining equipment and whether the before and after surrounding environment has changed.

[0020] The first determining module 102 is configured to determine an update region granularity corresponding to the preset mining equipment region subunit when a change is detected in the preset mining equipment region subunit, and determine difference update information data corresponding to the update region granularity.

[0021] Explanatoryally, the first determination module 102 is used to determine the update area granularity corresponding to the preset mine equipment area sub-unit when a change is detected in the preset mine equipment area sub-unit, wherein the update area granularity represents the minimum area required for the simulation update corresponding to the changed part of the preset mine equipment area sub-unit, that is, the update area granularity includes all the changed parts of the preset mine equipment area sub-unit, and the update area granularity is a subset of the preset mine equipment area sub-unit. The update area granularity is determined by comparing the before and after changes of the preset mine equipment area sub-unit, according to the before and after changes and in combination with the data required for the simulation update and the minimum divisible unit of the model, so that the update area granularity not only includes all the changed parts of the preset mine equipment area sub-unit, but also meets the requirements of the simulation update. The minimum divisibility of data and model, and the determination of the difference update information data corresponding to the update area granularity, the difference update information data represents the minimum amount of information data required to express the changes before and after the simulation update of the update area granularity, the difference update information data can also be called incremental update information data, the difference update information data compares the simulation differences before and after the update area granularity, and only processes the newly added, modified or deleted content, rather than full replacement, its core logic is similar to the difference submission in Git version control, the difference update information data generally uses the difference comparison algorithm to compare the simulation differences before and after the update area granularity to obtain the difference update information data, that is, the incremental package, and the difference update information data is used in the preset mining equipment simulation background for incremental update of the initial mining equipment simulation modeling.

[0022] The first transmission module 103 is configured to transmit the difference update information data to a preset mining equipment simulation background.

[0023] Explanatoryally, the pre-set mining equipment simulation background is the preset mining equipment simulation background. The preset mining equipment simulation background is the device for performing mining equipment simulation relative to the preset edge computing device. The preset mining equipment simulation background includes but is not limited to the back-end computing device for performing mining equipment simulation corresponding to the server, server cluster or cloud platform.

[0024] According to the above concept and configuration, a first transmission module 103 is used to transmit the difference update information data to the preset mining equipment simulation backend, that is, the difference update information data is transmitted from the preset edge computing device to the preset mining equipment simulation backend, and then the preset mining equipment simulation backend updates the mining equipment simulation according to the difference update information data. It should be noted that a fog computing layer (FogComputing) can also be deployed between the preset edge computing device and the preset mining equipment simulation backend as needed. The fog computing layer is generally used as an intermediate layer connecting the edge and the preset mining equipment simulation backend. The devices corresponding to the fog computing layer include but are not limited to high-performance gateways and micro data centers to perform simulations corresponding to but not limited to device cluster collaborative scheduling and a time series database (InfluxDB) to store recent historical data. Here, this is not limited in the technical solution of the present invention and can be flexibly deployed and configured as needed.

[0025] The preset mining equipment simulation background subsystem 2 includes: The first updating module 104 is configured to update the initial mining equipment simulation modeling based on the preset mining equipment simulation background and the difference update information data to obtain a new mining equipment simulation modeling.

[0026] Explanatoryally, the first update module 104 is used to update the initial mining equipment simulation modeling based on the preset mining equipment simulation background and the difference update information data. Updating the initial mining equipment simulation modeling is a key link in integrating the difference information data packet (generally the differential packet) corresponding to the received difference update information data with the existing version corresponding to the local initial mining equipment simulation modeling. Its processing flow generally needs to ensure atomicity, security and rollback. Generally, the differential algorithm corresponding to the InfluxDB TSM differential encoding based on differential application and the grid difference algorithm provided by Open3D is adopted. The appropriate algorithm can be selected from different differential algorithms as needed. There is no limitation here. The difference update information data is updated to the initial mining equipment simulation modeling to obtain a new mining equipment simulation modeling. Among them, the initial mining equipment simulation modeling is the simulation modeling of existing mining equipment before the update. The initial mining equipment simulation modeling includes but is not limited to the initialized mining equipment simulation modeling and the historical mining equipment simulation modeling. The historical mining equipment simulation modeling refers to the mining equipment simulation modeling corresponding to the relevant mining equipment simulation in the past. The initial mining equipment simulation modeling generally refers to high-precision equipment models (such as excavators and mining trucks) constructed through including but not limited to CAD or CAE software. The initial mining equipment simulation modeling includes but is not limited to modeling based on digital twin technology (Digital Twin). The initial mining equipment simulation modeling includes but is not limited to mining equipment modeling and corresponding environment modeling, wherein the environment modeling includes but is not limited to lighting modeling, sound field modeling, and disaster special effects modeling. Accordingly, the above-mentioned difference update information data also includes but is not limited to mining equipment information data and corresponding environment information data, and can be combined with VR technology to achieve immersive operation interaction.

[0027] The first interactive module 105 is configured to simulate and interact with the new mining equipment using a simulated model based on a preset virtual reality method.

[0028] Explanatory speaking, after obtaining the simulation modeling of the new mining equipment, it can be simulated and interacted through various terminals corresponding to the operation and maintenance control end, including but not limited to explosion-proof tablet computers, VR / AR remote expert systems, and based on the preset virtual reality method, VR-based control devices including but not limited to handle mapping operations, VR glasses, and VR helmet poles, so as to carry out immersive training based on mining equipment simulation, diagnosis of equipment failures through VR, and business processing corresponding to mining equipment corresponding to dangerous scene simulation. Among them, virtual reality (i.e., Virtual Reality, VR) is an interactive system that generates a completely virtual three-dimensional environment through a computer and uses sensory deception technology to make users feel physically present. Its core feature is to build a digital space isolated from the physical world, and users achieve an "entry-type" experience through dedicated equipment.

[0029] In an embodiment of the present invention, a preset edge computing subsystem and a preset mining equipment simulation background subsystem are set, and the preset edge computing subsystem and the preset mining equipment simulation background subsystem are in communication connection, wherein the preset edge computing subsystem includes: a first detection module, which is used to detect whether the corresponding preset mining equipment regional subunit has changed based on the preset edge computing device; a first determination module, which is used to determine the update regional granularity corresponding to the preset mining equipment regional subunit when a change is detected in the preset mining equipment regional subunit; a second determination module, which is used to determine the difference update information data corresponding to the update regional granularity; a first transmission module, which is used to transmit the difference update information data to the preset mining equipment simulation background; the preset mining equipment simulation background subsystem includes: a first update module, which is used to determine the difference update information data based on the preset edge computing device. A preset mining equipment simulation background is set, and the initial mining equipment simulation modeling is updated according to the difference update information data to obtain a new mining equipment simulation modeling; the first interactive module is used to simulate and interact the new mining equipment simulation modeling based on a preset virtual reality method, so as to realize not only distributed computing deployment based on edge computing, but also greatly reduce the amount of data calculation because only the difference update information data is updated. Therefore, with the help of edge computing and difference update, the computing efficiency of the corresponding information data can be greatly improved, and the real-time degree of the front-end mining equipment simulation can be improved. The presentation and interaction of the mining simulation modeling based on virtual reality can improve the real-time degree and efficiency of the mining equipment simulation interaction, thereby improving the real-time simulation effect and interaction effect of the mining equipment simulation, and thus improving the safety of mine operation production.

[0030] In one embodiment, see Figure 3 , Figure 3 This is the first schematic block diagram of the mining equipment simulation system based on virtual reality provided by the embodiment of the present invention. Figure 3As shown, in this embodiment, the first detection module 101 includes: The first determining submodule 301 is configured to determine the current mining equipment information data corresponding to the preset mining equipment area subunit; The second determining submodule 302 is configured to determine the historical neighboring mining equipment information data corresponding to the current mining equipment information data; The first judgment submodule 303 is used to judge whether the current mining equipment information data is similar to the historical neighboring mining equipment information data; A first determination submodule 304 is configured to determine whether the preset mining equipment area subunit has changed when the current mining equipment information data is not similar to the historical neighboring mining equipment information data; The second determination submodule 305 is configured to determine that the preset mining equipment area subunit has not changed when the current mining equipment information data is similar to the historical neighboring mining equipment information data.

[0031] Explanatory, as Figure 3 As shown, the first detection module 101 includes: a first determination submodule 301, a second determination submodule 302, a first judgment submodule 303, a first judgment submodule 304 and a second judgment submodule 305; the above functional modules are described in detail as follows: The first determination submodule 301 is used to determine the current mining equipment information data corresponding to the preset mining equipment area subunit. The current mining equipment information data generally represents the current latest information data corresponding to the preset mining equipment, that is, the latest mining equipment area subunit information data collected by the information collection equipment deployed corresponding to the preset mining equipment area subunit. The current mining equipment information data generally represents the latest status information data corresponding to the preset mining equipment area subunit.

[0032] The second determination submodule 302 is used to determine the historical neighboring mining equipment information data corresponding to the current mining equipment information data. The historical neighboring mining equipment information data represents the past reference object that is closest in time to the current mining equipment information data. Except for the corresponding time points, the historical neighboring mining equipment information data and the current mining equipment information data have the same meaning and content, which will not be repeated here.

[0033] The first judgment submodule 303 is used to judge whether the current mining equipment information data is similar to the historical neighboring mining equipment information data. Generally, the information features of the current mining equipment information data and the historical neighboring mining equipment information data are extracted based on corresponding information data feature extraction algorithms including but not limited to those based on deep learning. The information features of the two are compared using feature comparison algorithms corresponding to, including but not limited to, Euclidean distance, cosine similarity, and deep learning-based feature comparison to judge whether the current mining equipment information data is similar to the historical neighboring mining equipment information data, thereby detecting changes in the preset mining equipment area subunit.

[0034] The first determination submodule 304 is used to, when the current mining equipment information data is not similar to the historical neighboring mining equipment information data, indicate that the difference between the current mining equipment information data and the historical neighboring mining equipment information data is relatively large and exceeds the corresponding preset similarity threshold, determine that the preset mining equipment area subunit has changed, that is, identify that the preset mining equipment area subunit has changed, wherein the preset similarity threshold is set accordingly according to needs and different target objects. For those with higher requirements for refinement, the preset similarity threshold will be set higher, for example, wear identification of corresponding mining equipment. For those with lower requirements for refinement, the preset similarity threshold will be set lower, for example, identification of environmental changes corresponding to the corresponding mining equipment.

[0035] The second determination submodule 305 is used to, when the current mining equipment information data is similar to the historical neighboring mining equipment information data, indicate that the difference between the current mining equipment information data and the historical neighboring mining equipment information data is relatively small and does not exceed the corresponding preset similarity threshold, and default to the current mining equipment information data being the same as the historical neighboring mining equipment information data or the difference being so small as to be very insignificant, and determine that the preset mining equipment area subunit has not changed, that is, identify that the preset mining equipment area subunit has changed.

[0036] Furthermore, the first judgment submodule includes: a third determining submodule, configured to determine a current feature of a target object corresponding to a preset target object contained in the current mining equipment information data, and correspondingly determine a historical neighbor feature of the target object corresponding to the historical neighbor mining equipment information data; The second judgment submodule is used to judge whether the current feature of the target object is the same as the historical neighbor feature of the target object; a third determination submodule, configured to determine that the current mining equipment information data is not similar to the historical neighboring mining equipment information data when the current feature of the target object is different from the feature of the historical neighboring target object; The fourth determination submodule is configured to determine whether the current mining equipment information data is similar to the historical neighbor mining equipment information data when the current feature of the target object is the same as the feature of the historical neighbor of the target object.

[0037] Specifically, the first judgment submodule includes: a third determination submodule, a second judgment submodule, a third determination submodule, and a fourth determination submodule; the above functional modules are described in detail as follows: The third determination submodule is used to determine the current characteristics of the target object corresponding to the preset target object contained in the current mining equipment information data, and correspondingly determine the historical neighbor characteristics of the target object corresponding to the historical neighbor mining equipment information data. For example, in the case of an excavator as the preset target object, the current characteristics corresponding to the excavator contained in the current mining equipment information data are determined, and correspondingly determine the historical neighbor characteristics corresponding to the excavator contained in the historical neighbor mining equipment information data, and then compare the current characteristics of the excavator with the historical neighbor characteristics, so that the current characteristics of the target object and the historical neighbor characteristics of the target object for the same preset target object are comparable.

[0038] The second judgment submodule is used to judge whether the current features of the target object are the same as the historical neighbor features of the target object. The similarity judgment can be performed based on the feature comparison algorithm described above, so that the comparison between the current mining equipment information data and the historical neighbor mining equipment information data is converted into and focused on the comparison between the current features of the target object and the historical neighbor features of the target object of the specific preset target object. Whether the features are the same, not only can it be realized through the main preset target object to detect whether the preset mining equipment area sub-unit has changed, but also because the comparison of whether the current features of the target object and the historical neighbor features of the target object are the same is limited, the detection efficiency and detection accuracy of whether the preset mining equipment area sub-unit has changed can be improved.

[0039] The third determination submodule is used to indicate that the preset target object has changed when the current characteristics of the target object are different from the historical neighbor characteristics of the target object, determine that the current mining equipment information data is not similar to the historical neighbor mining equipment information data, and then determine that the preset mining equipment area subunit has changed.

[0040] The fourth judgment submodule is used to indicate that the preset target object has not changed when the current feature of the target object is the same as the historical neighbor feature of the target object, and to judge that the current mining equipment information data is similar to the historical neighbor mining equipment information data, and then to judge that the preset mining equipment area subunit has not changed, thereby filtering out the non-major or noise features and secondary information features corresponding to the interference features contained in the current mining equipment information data, focusing on the recognition and detection of the front and back features of the main preset target object, and improving the detection efficiency and accuracy of whether the preset mining equipment area subunit has changed.

[0041] In an embodiment of the present invention, by comparing the current mining equipment information with the historical neighboring mining equipment information, it is detected whether the preset mining equipment area sub-unit has changed. Then, when it is detected that the preset mining equipment area sub-unit has changed, the initial mining equipment simulation modeling is updated with the help of difference update, which can greatly improve the computing efficiency of the corresponding information data, realize the real-time simulation interaction of mining equipment, and thus improve the real-time simulation effect and interaction effect of mining equipment simulation.

[0042] In one embodiment, the first determining submodule includes: A first collection submodule is configured to collect initial mining equipment information data corresponding to the preset mining equipment area subunit based on a preset information data collection device; The fourth determining submodule is configured to determine the current mining equipment information data corresponding to the preset mining equipment area subunit based on a preset sliding window method.

[0043] Explanatoryally, the first determination submodule includes: a first acquisition submodule and a fourth determination submodule; the above functional modules are described in detail as follows: The first acquisition submodule is used to acquire initial mining equipment information data corresponding to a preset mining equipment area subunit based on a preset information data acquisition device. The initial mining equipment information data is stream data based on a time series, and is a dynamic information data.

[0044] The fourth determination submodule is used to determine the current mining equipment information data corresponding to the preset mining equipment area sub-unit based on the preset sliding window method, wherein the sliding window is a dynamic data processing technology. By moving a fixed or variable-sized window on the data sequence, real-time analysis of local data is achieved. Its essence is local sampling in time or space. The preset sliding window method includes but is not limited to overlapping windows, non-overlapping windows, and interval windows. The preset sliding window method includes but is not limited to the setting of parameters corresponding to the window size, sliding step, and trigger conditions, wherein the window size represents the data range (time / quantity dimension) of each analysis; the sliding step represents the interval of each window movement (which can be equal to or less than the window size); the trigger condition represents the rule for updating the window data (time-driven / event-driven); the setting of the above-mentioned preset sliding window method can be set accordingly as needed and will not be repeated here.

[0045] In an embodiment of the present invention, initial mining equipment information data corresponding to a preset mining equipment area subunit is collected based on a preset information data collection device, and current mining equipment information data corresponding to the preset mining equipment area subunit is determined based on a preset sliding window method. By means of the real-time information data corresponding to the sliding window, the real-time performance of the front-end mining equipment simulation can be further improved, thereby improving the real-time degree and efficiency of the mining equipment simulation interaction, and improving the real-time simulation effect and interaction effect of the mining equipment simulation, thereby improving the safety of mine operation production.

[0046] In one embodiment, the first detection module 101 further includes: a fifth determining submodule, configured to determine a current mining equipment environment state corresponding to the preset mining equipment area subunit; A first detection submodule is configured to detect whether the current environmental state of the mining equipment meets a preset environmental state condition; A first execution submodule is configured to execute the step of “determining the current mining equipment information data corresponding to the preset mining equipment area subunit” when the current mining equipment environment state does not meet the preset environment state condition; The first identification submodule is configured to identify a change in the preset mining equipment area subunit when the current mining equipment environment state meets a preset environment state condition.

[0047] Explanatoryally, in this embodiment, the first detection module 101 further includes: a fifth determination submodule, a first detection submodule, a first execution submodule, and a first identification submodule; the above functional modules are described in detail as follows: The fifth determination submodule is used to determine the current mining equipment environmental state corresponding to the preset mining equipment area subunit. The current mining equipment environmental state represents the time and space state corresponding to the surrounding environment of the current preset mining equipment. The time and space state includes but is not limited to the light changes caused by the time changes between early morning, daytime, evening and night, and the changes in spatial state caused by cloudy days, sunny days, rainy and snowy weather, freezing weather and strong winds.

[0048] The first detection submodule is used to detect whether the current environmental status of the mining equipment meets the preset environmental status conditions. The environmental status conditions are pre-set, that is, the preset environmental status conditions. The preset environmental status conditions include but are not limited to the time change conditions corresponding to the time changes described above, and include but are not limited to the space state change conditions caused by the weather conditions described above.

[0049] The first execution submodule is used to, when the current mining equipment environmental state does not meet the preset environmental state condition, indicate that the spatiotemporal state corresponding to the surrounding environment of the preset mining equipment has not changed, execute the step of "determining the current mining equipment information data corresponding to the preset mining equipment area subunit", that is, continue to detect whether the corresponding preset mining equipment area subunit has changed according to the technical solution described in the above embodiment.

[0050] The first identification submodule is used to indicate that the spatiotemporal state corresponding to the surrounding environment of the preset mining equipment has changed when the current environmental state of the mining equipment meets the preset environmental state conditions, directly identify that the regional subunit of the preset mining equipment has changed, and then simulate the corresponding mining equipment according to the simulation processing corresponding to the change of the regional subunit of the preset mining equipment. This can further improve the accuracy and efficiency of detecting whether the regional subunit of the corresponding preset mining equipment has changed, and further improve the real-time performance and simulation efficiency of the mining equipment simulation.

[0051] Further, see Figure 4 , Figure 4 This is a second schematic block diagram of a mining equipment simulation system based on virtual reality provided by an embodiment of the present invention. Figure 4 As shown, in this embodiment, Figure 4 The first detection submodule 400, that is, the first detection submodule mentioned above, includes: The second detection submodule 401 is used to detect whether the current mining equipment environment state meets the preset time condition; The second identification submodule 402 is configured to identify a change in the preset mining equipment area subunit when the current mining equipment environment state meets the preset time condition; The third detection submodule 403 is configured to detect whether the current mining equipment environment state meets a preset event condition when the current mining equipment environment state does not meet the preset time condition; The third identification submodule 404 is configured to identify a change in the preset mining equipment area subunit when the current mining equipment environment state satisfies a preset event condition; The fourth identification submodule 405 is configured to identify that the preset mining equipment area subunit has not changed when the current mining equipment environment state does not satisfy a preset event condition.

[0052] Specifically, if Figure 4 As shown, the first detection submodule includes: a second detection submodule 401, a second identification submodule 402, a third detection submodule 403, a third identification submodule 404 and a fourth identification submodule 405; the above functional modules are described in detail as follows: The second detection submodule 401 is used to detect whether the current state of the mining equipment environment meets the preset time conditions. The preset time conditions are preset time conditions. The preset time conditions represent the conditions of time changes. The preset time conditions include but are not limited to the time change conditions corresponding to the time changes described above, and may also include seasonal changes, for example, the time changes from daytime to evening, from evening to night, from night to early morning, and from early morning to daytime. Since time changes will cause light changes, which in turn cause changes in the entire preset mining equipment area subunit, the corresponding mining equipment simulation also needs to be updated accordingly.

[0053] The second identification submodule 402 is used to indicate that the time corresponding to the preset mining equipment area subunit has changed accordingly when the current mining equipment environment status meets the preset time condition, identify the change of the preset mining equipment area subunit, and then cause the entire preset mining equipment area subunit to change due to the time change, and the corresponding mining equipment simulation also needs to be updated accordingly.

[0054] The third detection submodule 403 is used to indicate that the time corresponding to the preset mining equipment area subunit has not changed accordingly when the current mining equipment environment state does not meet the preset time condition. For example, when the detection is still in the time period corresponding to daytime or nighttime when the light change is not obvious, it is used to detect whether the current mining equipment environment state meets the preset event condition. The preset event condition indicates the condition for whether the preset event occurs. The preset event condition includes but is not limited to the spatial state change condition caused by the weather condition change described above.

[0055] The third identification submodule 404 is used to indicate the occurrence of a preset event when the current mining equipment environmental state meets the preset event conditions, including but not limited to the spatial state change caused by the weather condition change described above, identify the change of the preset mining equipment area subunit, and then cause the entire preset mining equipment area subunit to change due to the corresponding preset event change, and the corresponding mining equipment simulation also needs to be updated accordingly.

[0056] The fourth identification submodule 405 is used to indicate that the preset event has not occurred when the current mining equipment environmental status does not meet the preset event conditions, including but not limited to the weather conditions described above have not changed and the corresponding spatial status has not changed, identify that the preset mining equipment area subunit has not changed, and continue to execute the step of "determining the current mining equipment information data corresponding to the preset mining equipment area subunit", that is, continue to detect whether the corresponding preset mining equipment area subunit has changed according to the technical solution described in the above embodiment, thereby further combining time-driven and event-driven methods to detect whether the corresponding preset mining equipment area subunit has changed, which can further improve the accuracy and efficiency of detecting whether the corresponding preset mining equipment area subunit has changed, and further improve the real-time and simulation efficiency of mining equipment simulation.

[0057] The embodiment of the present invention combines the detection of the current mining equipment environment status with the comparison of the current mining equipment information and its corresponding historical neighboring mining equipment information, so as to detect whether the corresponding preset mining equipment area sub-unit has changed from different dimensions, thereby improving the accuracy and timeliness of the detection of the corresponding preset mining equipment area sub-unit, and then, when it is detected that the preset mining equipment area sub-unit has changed, the initial mining equipment simulation modeling is updated by means of difference update, which can further improve the real-time performance of the mining equipment simulation, thereby further improving the real-time simulation effect and interactive effect of the mining equipment simulation.

[0058] In one embodiment, the first determining module 102 includes: a sixth determining submodule, configured to, when the current mining equipment environment state satisfies a preset environment state condition to identify that the preset mining equipment area subunit has changed, determine that the update area granularity corresponding to the preset mining equipment area subunit is the preset mining equipment area subunit; The seventh determining submodule is configured to determine that the difference update information data corresponding to the update region granularity is the current mining equipment information data.

[0059] Explanatoryally, the first determination module 102 includes: a sixth determination submodule and a seventh determination submodule; the above functional modules are described in detail as follows: The sixth determination submodule is used to identify changes in the preset mining equipment area subunit when the current mining equipment environment state meets the preset environment state conditions, that is, when the current mining equipment environment state meets the above-mentioned time-driven conditions or event-driven conditions, it indicates that the spatiotemporal state corresponding to the surrounding environment of the preset mining equipment has changed, directly identify changes in the preset mining equipment area subunit, and determine that the update area granularity corresponding to the preset mining equipment area subunit is the entire preset mining equipment area subunit, that is, to perform a global update on the simulation modeling corresponding to the preset mining equipment area subunit.

[0060] The seventh determination submodule is used to determine that the difference update information data corresponding to the update area granularity is the current mining equipment information data, so as to update the initial mining equipment simulation modeling according to the current mining equipment information data corresponding to the preset mining equipment area sub-unit, that is, according to the current mining equipment information data, the simulation modeling corresponding to the preset mining equipment area sub-unit is fully updated to realize the global update of the simulation modeling corresponding to the preset mining equipment area sub-unit.

[0061] The embodiment of the present invention directly updates the preset mining equipment area sub-unit directly with the full amount of information data corresponding to the current mining equipment when the current mining equipment environment status changes. This can update all changes corresponding to the preset mining equipment area sub-unit in real time as quickly as possible, so as to improve the computing efficiency of the corresponding information data as much as possible, thereby further improving the real-time performance of the mining equipment simulation, and further improving the real-time simulation effect and interactive effect of the mining equipment simulation.

[0062] In one embodiment, the first determining module 102 includes: an eighth determining submodule, configured to determine a plurality of current mining equipment information features corresponding to the current mining equipment information data, and determine a plurality of historical neighboring mining equipment information features corresponding to the historical neighboring mining equipment information data; a ninth determining submodule, configured to determine information features included in the plurality of current mining equipment information features that are different from the plurality of historical neighboring mining equipment information features, and obtain current mining equipment information difference features corresponding to the plurality of current mining equipment information features; The tenth determining submodule is configured to determine a coverage area corresponding to the current mining equipment information difference feature, and obtain an update area granularity corresponding to the preset mining equipment area subunit.

[0063] Explanatoryally, the first determination module 102 includes: an eighth determination submodule, a ninth determination submodule, and a tenth determination submodule; the above functional modules are described in detail as follows: The eighth determination submodule is used to determine several current mining equipment information features corresponding to the current mining equipment information data, and to determine several historical neighbor mining equipment information features corresponding to the historical neighbor mining equipment information data. The determination of features is generally based on corresponding information data feature extraction algorithms including but not limited to deep learning-based feature extraction algorithms to extract and determine features. No further details will be given here, and reference may be made to relevant existing technical means.

[0064] The ninth determination submodule is used to determine the information features contained in several current mining equipment information features that are different from several historical neighboring mining equipment information features, and obtain the current mining equipment information difference features corresponding to the several current mining equipment information features, that is, when the current mining equipment information data is not similar to the historical neighboring mining equipment information data, it is manifested as the difference in corresponding information features, that is, the difference features of several current mining equipment information features from several historical neighboring mining equipment information features, that is, the current mining equipment information difference features. For example, when several current mining equipment information features are features A, B, C, D, and E, and several historical neighboring mining equipment information features are features A, B, E, F, and H, after feature comparison, it can be obtained that the current mining equipment information difference features are features C and D, that is, the features of several current mining equipment information features that are different from several historical neighboring mining equipment information features.

[0065] The tenth determination submodule is used to determine the coverage area corresponding to the current mining equipment information difference characteristics, and obtain the update area granularity corresponding to the preset mining equipment area subunit; specifically, since the mining equipment simulation is to simulate including but not limited to the physical entity of the mining equipment and its corresponding surrounding environment, the physical entity of the mining equipment is deployed in the corresponding spatial area, that is, the simulation of the mining equipment simulation is realized by simulating the corresponding spatial state, that is, there is a corresponding relationship between the mining equipment and the corresponding spatial area, and the information data corresponding to the mining equipment simulation can be determined through the corresponding spatial area. Therefore, the spatial area can be used as the update unit, that is, the spatial area can be used as the preset mining equipment area subunit. The corresponding update area granularity is used to perform corresponding updates on the initial mining equipment simulation modeling based on the corresponding information data corresponding to the mining equipment in the corresponding spatial area. Thus, the coverage area corresponding to the current mining equipment information difference characteristics is determined, and the update area granularity corresponding to the preset mining equipment area sub-unit is obtained. As mentioned above, the update area granularity includes all the changed parts of the preset mining equipment area sub-unit based on the spatial area. The update area granularity is a subset of the preset mining equipment area sub-unit, and the update area granularity is the smallest update unit. The corresponding difference update information data is determined by the update area granularity, and then the corresponding update of the initial mining equipment simulation modeling is realized in units of spatial areas.

[0066] In an embodiment of the present invention, by taking the coverage area corresponding to the current mining equipment information difference characteristics as the update area granularity corresponding to the preset mining equipment area sub-unit, it can not only ensure that the difference update information data reflects all parts of the changes in the preset mining equipment area sub-unit, but also ensure that the difference update information data is the minimum amount of information data, so that all changes corresponding to the preset mining equipment area sub-unit can be updated in real time, and the computing efficiency of the corresponding information data can be improved as much as possible, thereby further improving the real-time performance of mining equipment simulation, and further improving the real-time simulation effect and interactive effect of mining equipment simulation.

[0067] In one embodiment, the tenth determining submodule includes: An eleventh determining submodule is used to determine the coordinate system corresponding to the preset mining equipment area subunit; a twelfth determining submodule, configured to determine, based on the coordinate system, a coordinate range of the target mining equipment corresponding to the current mining equipment information difference feature; The thirteenth determination submodule is configured to determine the minimum enclosing area corresponding to the coordinate range based on the coordinate range and a preset enclosing area determination method, and obtain the coverage area corresponding to the current mining equipment information difference feature.

[0068] Explanatoryally, the tenth determining submodule includes: an eleventh determining submodule, a twelfth determining submodule, and a thirteenth determining submodule; the above functional modules are described in detail as follows: The eleventh determination submodule is used to determine the coordinate system corresponding to the preset mining equipment area subunit, for example, to establish coordinate points corresponding to the preset mining equipment area subunit, including but not limited to two-dimensional or three-dimensional coordinate points, so as to determine the relative position corresponding to the current mining equipment information difference feature with the help of the coordinates, and the above-mentioned relative position is based on the relative position of the spatial area where the preset mining equipment area subunit is located.

[0069] The twelfth determination submodule is used to determine the coordinate range of the target mining equipment corresponding to the current mining equipment information difference feature based on the coordinate system. The current mining equipment information difference feature describes the target mining equipment, and the target mining equipment is a three-dimensional entity, which is represented in the coordinate system as a set of several coordinate points in the corresponding coordinate system. The current mining equipment information difference feature is the corresponding mining equipment described by the information feature, that is, it describes the mining equipment that needs to be updated for simulation modeling, that is, the target mining equipment. Therefore, according to the set of the above-mentioned several coordinate points, the coordinate range corresponding to the current mining equipment information difference feature is determined, that is, the coordinate range corresponding to the target mining equipment.

[0070] The thirteenth determination submodule is used to determine the minimum enclosing area corresponding to the coordinate range based on the preset enclosing area determination method according to the coordinate range, and obtain the coverage area corresponding to the current mining equipment information difference characteristics, the coverage area is the corresponding spatial area, that is, the update area granularity corresponding to the preset mining equipment area sub-unit is obtained, wherein the enclosing area determination method is pre-set, that is, the preset enclosing area determination method, the preset enclosing area determination method represents the method of determining the minimum enclosing area corresponding to the coordinate range, the preset enclosing area determination method includes but is not limited to the determination algorithm based on the enclosing area corresponding to the minimum enclosing rectangle, convex hull, minimum enclosing circle or Alpha shape, which can be selected and set according to the needs to achieve a balance between accuracy and efficiency to meet the needs of mining equipment simulation, and the above-mentioned algorithms including but not limited to the enclosing area determination methods corresponding to the minimum enclosing rectangle, convex hull, minimum enclosing circle, and Alpha shape can refer to the corresponding existing technical means, which will not be repeated here.

[0071] In an embodiment of the present invention, the corresponding coverage area is determined by the coordinates corresponding to the current mining equipment information difference characteristics, and then the update area granularity corresponding to the preset mining equipment area sub-unit is obtained, which can realize the refined determination of the update area granularity, and can ensure that the difference update information data reflects all parts of the changes in the preset mining equipment area sub-unit, and can ensure that the difference update information data is the minimum amount of information data. It can also achieve a balance between the accuracy and computational efficiency of the update area granularity by reasonably selecting the enclosing area determination method to meet the needs of mine intelligence, so that all changes corresponding to the preset mining equipment area sub-unit can be updated in real time, and the computational efficiency of the corresponding information data can be improved as much as possible, thereby further improving the real-time performance of mining equipment simulation, and further improving the real-time simulation effect and interactive effect of mining equipment simulation.

[0072] In one embodiment, the mining equipment simulation system 100 further includes: A first statistical module is used to count the update frequency corresponding to the update area granularity; A first determination module is configured to determine whether the update frequency is greater than or equal to a preset update frequency threshold; a second determining module configured to, when the update frequency is greater than or equal to a preset update frequency threshold and a change in the preset mining equipment area subunit is detected again, and when it is determined that the current update area granularity corresponding to the preset mining equipment area subunit is the update area granularity, determine that the difference update information data corresponding to the current update area granularity is the corresponding current mining equipment information data; The first execution module is configured to execute the step corresponding to "determining the difference update information data corresponding to the update area granularity" when the update frequency is less than a preset update frequency threshold.

[0073] Explanatoryally, the mining equipment simulation system 100 further includes: a first statistical module, a first judgment module, a second determination module, and a first execution module; the above functional modules are described in detail as follows: The first statistical module is used to count the update frequency corresponding to the update area granularity, and the update frequency represents the number of times the mining equipment simulation modeling corresponding to the update area granularity is updated within a corresponding preset unit time.

[0074] The first judgment module is used to determine whether the update frequency is greater than or equal to the preset update frequency threshold. The update frequency threshold is set in advance, that is, the preset update frequency threshold. The preset update frequency threshold indicates whether the update of the corresponding simulation modeling corresponding to the update area granularity is a high-frequency or non-high-frequency critical value, which is also a preset quantization boundary value.

[0075] The second determination module is used to determine that the difference update information data corresponding to the current update area granularity is the corresponding current mining equipment information data when the update frequency is greater than or equal to the preset update frequency threshold, indicating that the update of the corresponding simulation modeling corresponding to the update area granularity is a high-frequency update, and when the preset mining equipment area sub-unit is detected to have changed again, and it is determined that the current update area granularity corresponding to the preset mining equipment area sub-unit is the same update area granularity mentioned above, the current mining equipment information data corresponding to the current update area granularity is fully updated, that is, the current update area granularity is updated accordingly across the entire domain, so as to update all changes corresponding to the current update area granularity in real time as quickly as possible, thereby further improving the real-time performance of mining equipment simulation.

[0076] The first execution module is used to indicate that the update of the corresponding simulation modeling corresponding to the update area granularity is a non-high-frequency update when the update frequency is less than the preset update frequency threshold, and to execute the steps corresponding to "determining the difference update information data corresponding to the update area granularity", that is, to continue to respond according to the technical solution described in the above embodiment.

[0077] In an embodiment of the present invention, when the update frequency is greater than or equal to the preset update frequency threshold, and the preset mining equipment area sub-unit is detected again to have changed, and when it is determined that the current update area granularity corresponding to the preset mining equipment area sub-unit is the same as the above-mentioned update area granularity, the difference update information data corresponding to the update area granularity is determined to be the corresponding current mining equipment information data. When the update area granularity is identified as a high-frequency update, the update area granularity is directly updated in full to the corresponding current mining equipment information data. All possible changes corresponding to the above-mentioned update area granularity can be updated in real time as quickly as possible, so as to improve the computational efficiency of the corresponding information data as much as possible, thereby further improving the real-time performance of mining equipment simulation, and further improving the real-time simulation effect and interactive effect of mining equipment simulation.

[0078] It should be noted that the virtual reality-based mining equipment simulation system described in the above embodiments can recombine the technical features contained in different embodiments as needed to obtain a combined implementation plan, but all of them are within the scope of protection required by the present invention.

[0079] Each module in the aforementioned virtual reality-based mining equipment simulation system can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a computer device's memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0080] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device that implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] The software tools, components, and models not produced by our company that appear in the embodiments of the present invention are for illustrative purposes only and do not represent actual use.

[0082] The relevant data collection in the embodiments of the present invention complies with the requirements of relevant laws and regulations, such as China's Personal Information Protection Law, GDPR (EU General Data Protection Regulation) or information security standards of other countries and regions.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A mining equipment simulation system based on virtual reality, characterized in that: include: A preset edge computing subsystem and a preset mining equipment simulation background subsystem, and the preset edge computing subsystem and the preset mining equipment simulation background subsystem are in communication connection; The preset edge computing subsystem includes: A first detection module is configured to detect, based on a preset edge computing device, whether a corresponding preset mining equipment area subunit has changed; A first determining module is configured to, when detecting that a change occurs in the preset mining equipment area subunit, determine an update area granularity corresponding to the preset mining equipment area subunit and determine difference update information data corresponding to the update area granularity; A first transmission module is used to transmit the difference update information data to a preset mining equipment simulation background; The preset mining equipment simulation background subsystem includes: A first updating module is configured to update the initial mining equipment simulation modeling based on the preset mining equipment simulation background and the difference update information data to obtain a new mining equipment simulation modeling; The first interactive module is used to simulate and interact with the new mining equipment based on a preset virtual reality method.

2. The virtual reality-based mining equipment simulation system according to claim 1, characterized in that: The first detection module includes: A first determining submodule is configured to determine current mining equipment information data corresponding to the preset mining equipment area subunit; A second determining submodule is configured to determine historical neighboring mining equipment information data corresponding to the current mining equipment information data; A first judgment submodule is configured to judge whether the current mining equipment information data is similar to the historical neighboring mining equipment information data; The first determination submodule is configured to determine whether the preset mining equipment area subunit has changed when the current mining equipment information data is not similar to the historical neighboring mining equipment information data.

3. The virtual reality-based mining equipment simulation system according to claim 2, characterized in that: The first judgment submodule includes: a third determining submodule, configured to determine a current feature of a target object corresponding to a preset target object contained in the current mining equipment information data, and correspondingly determine a historical neighbor feature of the target object corresponding to the historical neighbor mining equipment information data; The second judgment submodule is used to judge whether the current feature of the target object is the same as the historical neighbor feature of the target object; The third determination submodule is configured to determine that the current mining equipment information data is not similar to the historical neighbor mining equipment information data when the current feature of the target object is different from the feature of the historical neighbor of the target object.

4. The virtual reality-based mining equipment simulation system according to claim 2, characterized in that: The first determining submodule includes: A first collection submodule is configured to collect initial mining equipment information data corresponding to the preset mining equipment area subunit based on a preset information data collection device; The fourth determining submodule is configured to determine the current mining equipment information data corresponding to the preset mining equipment area subunit based on a preset sliding window method.

5. The virtual reality-based mining equipment simulation system according to claim 2, characterized in that: The first detection module further includes: a fifth determining submodule, configured to determine a current mining equipment environment state corresponding to the preset mining equipment area subunit; A first detection submodule is configured to detect whether the current environmental state of the mining equipment meets a preset environmental state condition; A first execution submodule is configured to execute the step of "determining the current mining equipment information data corresponding to the preset mining equipment area subunit" when the current mining equipment environment state does not meet the preset environment state condition; The first identification submodule is configured to identify a change in the preset mining equipment area subunit when the current mining equipment environment state meets a preset environment state condition.

6. The virtual reality-based mining equipment simulation system according to claim 5, characterized in that: The first detection submodule includes: The second detection submodule is used to detect whether the current mining equipment environment state meets the preset time condition; A second identification submodule is configured to identify a change in the preset mining equipment area subunit when the current mining equipment environment state satisfies the preset time condition; A third detection submodule is configured to detect whether the current mining equipment environment state meets a preset event condition when the current mining equipment environment state does not meet the preset time condition; a third identification submodule, configured to identify a change in the preset mining equipment area subunit when the current mining equipment environment state satisfies a preset event condition; The fourth identification submodule is configured to identify that the preset mining equipment area subunit has not changed when the current mining equipment environment state does not satisfy a preset event condition.

7. The virtual reality-based mining equipment simulation system according to claim 5 or 6, characterized in that: The first determining module includes: a sixth determining submodule, configured to, when the current mining equipment environment state satisfies a preset environment state condition to identify that the preset mining equipment area subunit has changed, determine that the update area granularity corresponding to the preset mining equipment area subunit is the preset mining equipment area subunit; The seventh determining submodule is configured to determine that the difference update information data corresponding to the update region granularity is the current mining equipment information data.

8. The virtual reality-based mining equipment simulation system according to claim 2, characterized in that: The first determining module includes: an eighth determining submodule, configured to determine a plurality of current mining equipment information features corresponding to the current mining equipment information data, and determine a plurality of historical neighboring mining equipment information features corresponding to the historical neighboring mining equipment information data; a ninth determining submodule, configured to determine information features included in the plurality of current mining equipment information features that are different from the plurality of historical neighboring mining equipment information features, and obtain current mining equipment information difference features corresponding to the plurality of current mining equipment information features; The tenth determining submodule is configured to determine a coverage area corresponding to the current mining equipment information difference feature, and obtain an update area granularity corresponding to the preset mining equipment area subunit.

9. The virtual reality-based mining equipment simulation system according to claim 8, characterized in that: The tenth determining submodule includes: An eleventh determining submodule is used to determine the coordinate system corresponding to the preset mining equipment area subunit; a twelfth determining submodule, configured to determine, based on the coordinate system, a coordinate range of the target mining equipment corresponding to the current mining equipment information difference feature; The thirteenth determination submodule is configured to determine the minimum enclosing area corresponding to the coordinate range based on the coordinate range and a preset enclosing area determination method, and obtain the coverage area corresponding to the current mining equipment information difference feature.

10. The virtual reality-based mining equipment simulation system according to claim 2, characterized in that: The mining equipment simulation system further includes: A first statistical module is used to count the update frequency corresponding to the update area granularity; A first determination module is configured to determine whether the update frequency is greater than or equal to a preset update frequency threshold; a second determining module configured to, when the update frequency is greater than or equal to a preset update frequency threshold and a change in the preset mining equipment area subunit is detected again, and when it is determined that the current update area granularity corresponding to the preset mining equipment area subunit is the update area granularity, determine that the difference update information data corresponding to the current update area granularity is the corresponding current mining equipment information data; The first execution module is configured to execute the step corresponding to "determining the difference update information data corresponding to the update area granularity" when the update frequency is less than a preset update frequency threshold.

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