Mining equipment control method based on digital twinning and related products

Abstract

The application discloses a kind of based on digital twinning mining equipment control method and related product, applied to mining technical field.The based on digital twinning mining equipment control method includes, the actual motion state parameter of mining device in first time window, actual environment parameter and first motion control parameter are obtained;According to actual motion state parameter, determine the power information of mining device in the motion environment where mining device is located;According to power information and actual motion state parameter, determine the motion acceleration of mining device in motion environment;According to motion acceleration and actual motion state parameter, determine the estimated motion state parameter of mining device in second time window, estimated motion state parameter is used to control mining device.According to the embodiment of the application, the problem that the actual motion state and preset motion state of mining device exist deviation in mining process can be solved, cause the problem of low mining efficiency of deep sea mining device.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mining, and particularly relates to a mining equipment control method based on digital twinning and related products. BACKGROUND

[0002] The mining device usually operates in an extreme environment such as a deep-sea environment or an underground environment with extremely high water pressure, low temperature, complex geological structure, strong water flow, etc. However, the motion state of the mining device in the extreme environment is extremely unstable, and this unstable condition causes a deviation between the actual motion state and the preset motion state of the mining device, thereby causing the problem of low mining efficiency of the mining device. SUMMARY

[0003] The application embodiment provides a mining equipment control method based on digital twinning and related products, specifically, the related products can include a mining device control system, a device, equipment, a storage medium and a program product, and the mining equipment control method based on digital twinning and the related products can solve the problem of low mining efficiency of the deep-sea mining device caused by the deviation between the actual motion state and the preset motion state of the mining device in the mining process.

[0004] In a first aspect, the application embodiment provides a mining equipment control method based on digital twinning, applied to a control device, and the mining equipment control method based on digital twinning comprises the following steps.

[0005] Obtaining actual motion state parameters, actual environment parameters and first motion control parameters of a mining device in a first time window;

[0006] According to the actual motion state parameters, determining power information of the mining device in a motion environment in which the mining device is located, the motion environment being an environment corresponding to the actual environment parameters and the first motion control parameters;

[0007] According to the power information and the actual motion state parameters, determining a motion acceleration of the mining device in the motion environment.

[0008] According to the motion acceleration and the actual motion state parameters, determining estimated motion state parameters of the mining device in a second time window, the occurrence time of the second time window being later than the occurrence time of the first time window, and the estimated motion state parameters being used to control the mining device.

[0009] In a second aspect, the application embodiment provides a mining equipment control system based on digital twinning, and the control system comprises the following.

[0010] The mining equipment comprises a mining device and a sensor mounted on the mining device, and the sensor is used to obtain actual motion state parameters and actual environment parameters of the mining device in a first time window.

[0011] The control device is in communication connection with the mining device, and the control device comprises at least one of the following: a server, an electronic device, and is used for executing the digital-twin-based mining device control method according to any one of the first aspect.

[0012] In a third aspect, an embodiment of the present application provides a digital-twin-based mining device control apparatus applied to a control device, and the control apparatus comprises:

[0013] A first acquisition module is configured to acquire actual motion state parameters, actual environment parameters and first motion control parameters of the mining device within a first time window;

[0014] A first determination module is configured to determine power information of the mining device in a motion environment of the mining device according to the actual motion state parameters, the motion environment being an environment corresponding to the actual environment parameters and the first motion control parameters;

[0015] A second determination module is configured to determine motion acceleration of the mining device in the motion environment according to the power information and the actual motion state parameters;

[0016] A third determination module is configured to determine estimated motion state parameters of the mining device within a second time window according to the motion acceleration and the actual motion state parameters, the second time window occurring later than the first time window, and the estimated motion state parameters being used for controlling the mining device.

[0017] In a fourth aspect, an embodiment of the present application provides a computer device, which comprises a processor and a memory storing computer program instructions; and the processor executes the computer program instructions to implement the digital-twin-based mining device control method according to any one of the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer program instructions; and the computer program instructions are executed by a processor to implement the digital-twin-based mining device control method according to any one of the first aspect.

[0019] In a sixth aspect, an embodiment of the present application provides a computer program product, which comprises computer programs or instructions; and the computer program product comprises computer programs or instructions; and the computer programs or instructions are executed by a processor of a computer device, so that the computer programs or instructions are executed by the processor to implement the digital-twin-based mining device control method according to any one of the first aspect.

[0020] The mining equipment control method based on digital twinning provided by the embodiments of the present application can determine the power information of the mining device in the motion environment in which the mining device is located by acquiring actual motion state parameters, actual environment parameters and first motion control parameters, can comprehensively and accurately consider the effect of external environment and control instructions on the power of the mining device, and then obtain power information that is more in line with the actual motion environment of the mining device. After determining the power information, by calculating the motion acceleration of the mining device in the current motion environment, the motion change trend of the mining device in the current motion environment can be accurately acquired, and by virtue of the motion change trend combined with the actual motion state in the first time window, the motion state of the mining device in a second time window later than the first time window can be more accurately predicted, that is, the estimated motion state parameter is obtained. Then, after obtaining the estimated motion state parameter, the mining device is controlled by using the estimated motion state parameter, which can make the running state of the mining device closer to the preset motion state, effectively reduce the deviation between the actual motion state and the preset motion state of the mining device, and significantly improve the mining efficiency of the mining device, thereby solving the problem of low mining efficiency of the mining device caused by the deviation between the actual motion state and the preset motion state. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0022] Figure 1 The architecture schematic diagram of the mining equipment control system based on digital twinning provided by some embodiments of the present application is shown;

[0023] Figure 2 The schematic diagram of the remote operation platform interface in the mining equipment control system based on digital twinning provided by some embodiments of the present application is shown;

[0024] Figure 3 The flow schematic diagram of the mining equipment control method based on digital twinning provided by some embodiments of the present application is shown;

[0025] Figure 4 The flow schematic diagram of one specific implementation of step 320 provided by some embodiments of the present application is shown;

[0026] Figure 5 The flow schematic diagram of one specific implementation of step 3202 provided by some embodiments of the present application is shown;

[0027] Figure 6A flowchart illustrating a specific implementation of step 32021 provided by some embodiments of the present application is shown;

[0028] Figure 7 A flowchart illustrating a specific implementation of step 330 provided by some embodiments of the present application is shown;

[0029] Figure 8 A flowchart illustrating a specific implementation of step 340 provided by some embodiments of the present application is shown;

[0030] Figure 9 A flowchart illustrating a method of adjusting a second motion control parameter of a mining equipment control method based on digital twinning provided by some embodiments of the present application is shown;

[0031] Figure 10 A flowchart illustrating a specific implementation of step 420 provided by some embodiments of the present application is shown;

[0032] Figure 11 A structural diagram of a mining equipment control device based on digital twinning provided by some embodiments of the present application is shown;

[0033] Figure 12 A structural diagram of a computer device provided by some embodiments of the present application is shown. DETAILED DESCRIPTION

[0034] The features and exemplary embodiments of various aspects of the present application will be described in detail below with reference to the drawings. The following detailed description is merely intended to explain the present application, and is not intended to limit the present application. The present application can be implemented without some of the specific details, which will be apparent to those skilled in the art. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

[0035] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0036] It should be noted that the acquisition, storage, use and processing of data in the embodiments of the present application comply with the relevant provisions of national laws and regulations.

[0037] It should also be noted that in the embodiments of the present application, some industry existing solutions such as software, components, models, etc. may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0038] In order to solve the problem of low mining efficiency of the mining device caused by the deviation between the actual motion state and the preset motion state of the mining device due to the unstable motion state of the mining device in the extreme environment, the embodiments of the present application provide a mining equipment control method based on digital twinning and related products. The related products can include a mining device control system, a device, an equipment, a storage medium and a program product.

[0039] First, the mining equipment control system based on digital twinning provided by the embodiments of the present application will be introduced.

[0040] Figure 1 The architecture schematic diagram of the mining equipment control system based on digital twinning provided by some embodiments of the present application is shown. As Figure 1As shown, the mining equipment control system 100 based on digital twinning can include a mining equipment 110 and a control device 120. Among them, the mining equipment 110 is an entity that performs mining operations, specifically, the mining equipment 110 can include a mining device and a sensor mounted on the mining device, which is used to obtain actual motion state parameters and actual environment parameters of the mining device within a first time window. The mining device can include a mining vehicle body, a propulsion mechanism, an operating arm, and an actuator. The propulsion mechanism is used to power the mining vehicle body to move in the working environment. The operating arm is connected to the mining vehicle body and is used to perform actions such as stretching, shrinking, and rotating. The actuator is arranged at the end of the operating arm and is used to perform mining operations such as digging and grabbing ore. The control device 120 communicates with the mining equipment 110 through a communication link, specifically, the control device 120 can include at least one of a server and an electronic device.

[0041] In some embodiments of the present application, in order to comprehensively and accurately obtain the actual motion state parameters and the actual environment parameters of the mining device, the sensors mounted on the mining device include multiple types of sensors, including but not limited to accelerometers, gyroscopes, pressure sensors, temperature sensors, flow rate sensors, and vision sensors. These sensors can monitor various actual motion state parameters of the mining device in real time, such as position parameters, attitude parameters, speed parameters, and pressure parameters, and can also collect actual environment parameters of the working environment of the mining device, such as water flow speed parameters, seabed topography parameters, and temperature parameters.

[0042] Next, the specific application of the above-mentioned multiple types of sensors in the mining device will be described.

[0043] Accelerometer and gyroscope: The inertial measurement unit composed of an accelerometer and a gyroscope is a sensor for monitoring the motion state of the mining device. The inertial measurement unit can accurately measure the speed parameters of the mining vehicle, such as acceleration, angular velocity, and attitude parameters such as roll angle, pitch angle, and yaw angle. Specifically, the accelerometer and the gyroscope can be arranged on the mining vehicle body and the operating arm.

[0044] Pressure sensor: The pressure sensor is used to measure the pressure parameters in the working environment of the mining device in real time, such as water pressure in deep sea environment and contact pressure between the mining device and the seabed during the mining process. It can be understood that as the depth of water increases, the water pressure will increase significantly, and the data collected by the pressure sensor will help analyze the impact of deep sea pressure on the structure and performance of the mining device. Specifically, the pressure sensor can be installed on the bottom or working surface of the mining vehicle body to accurately monitor the contact pressure between the mining device and the seawater.

[0045] Temperature sensor: The temperature sensor is used to measure the temperature parameters of the mining device in real time, such as the temperature of seawater in deep-sea environment. It can be understood that the change of seawater temperature will have an impact on the material performance and operation safety of the mining device. By monitoring the change of seawater temperature, factors that may cause damage to the key components of the mining device can be found in time. Specifically, the temperature sensor can be arranged around the mechanical components and power systems of the mining device to monitor the temperature rise of these parts in real time.

[0046] Flow rate sensor: The flow rate sensor is used to detect the flow rate parameters of water flow, such as the speed and direction of ocean current. It can be understood that the speed and direction of ocean current will have a significant impact on the maneuverability and operating environment of the mining device, providing an important reference for the operation of the mining device. Based on this, in order to accurately measure the speed and direction of ocean current, the flow rate sensor should be arranged on the side of the mining vehicle body.

[0047] Visual sensor: It can be an underwater camera, which is used to provide real-time visual data of the mining area to detect seabed topography parameters. It can be understood that the operator can observe the seabed topography, mineral distribution, etc. through these real-time visual data, so as to better control the operation of the mining device. Specifically, the visual sensor can be arranged at the front end or side of the mining vehicle body to obtain comprehensive real-time video stream of the operating environment around the mining device.

[0048] In some embodiments of the present application, the data acquisition frequency of each sensor described above can be determined according to the working characteristics of the mining device and the accuracy requirements of the sensor. In order to ensure that the motion state of the mining device can be reflected in time, the data acquisition frequency can be set between several hertz to several tens of hertz, for example, 10 hertz. It can be understood that a higher data acquisition frequency can capture more subtle motion changes of the mining device, but also generate more data volume.

[0049] In some embodiments of the present application, since the data collected by the sensor includes noise, error and other interference factors, based on this, in order to improve the quality of the data, data preprocessing is needed after obtaining the sensor data. Common data preprocessing steps can include filtering, denoising and data normalization. Among them, filtering can use low-pass filters such as Kalman filter or mean filter to remove high-frequency noise. These filters can smooth the data, reduce the influence of random noise, and make the data more stable and reliable. Denoising can use signal processing algorithms such as wavelet denoising to remove measurement errors. Wavelet denoising can effectively reduce the noise level while preserving the characteristics of the signal, improving the accuracy of the data. Data normalization can normalize the sensor data according to the needs of subsequent analysis and processing, so that the data of different sensors are within a unified scale range. In this way, the performance of subsequent algorithms can be affected due to the large difference in data scale.

[0050] In the working environment of the mining device, real-time data transmission is a key link for the normal operation of the entire control system. Delayed data transmission will directly affect subsequent mechanical calculation and optimized control, therefore, the data transmission between the mining device 110 and the control device 120 can be realized through wireless communication technology such as underwater acoustic communication, Bluetooth, wireless communication, or wired communication mode such as optical fiber communication.

[0051] In some embodiments of the present application, in order to ensure that the sensor data can be transmitted efficiently and in real time, a suitable transmission protocol and a reasonable network architecture can be selected. Among them, the transmission protocol can include WebSocket protocol, Message Queuing Telemetry Transport (MQTT) protocol and User Datagram Protocol (UDP) protocol. Among them, the WebSocket protocol is used in the scene that requires real-time bidirectional communication, and the WebSocket protocol can support low-latency bidirectional data flow, real-time transmission of data between the server and the electronic device, and ensure the timeliness and interactivity of the data. The MQTT protocol is suitable for real-time data transmission of low-bandwidth and low-power devices, has lower network bandwidth requirements and higher fault tolerance, can stably run in complex network environment, and can be used in sensor data acquisition and transmission. The UDP protocol does not have a process of establishing and transmitting guarantee, has very low delay, and therefore is suitable for application scenarios that are very sensitive to delay, and can quickly transmit data in the case of very high real-time requirements. Network design can include local area network or wireless network. When the mining device works in a wired environment, such as through a fiber connection, the local area network transmission protocol can ensure high-speed and stable transmission of data. The local area network has higher bandwidth and lower delay, and can meet the demand of fast transmission of a large amount of data. When the mining device works in a wired environment, underwater acoustic communication or radio communication can be used to realize remote data transmission. It can be understood that although the underwater acoustic communication has limited bandwidth, it can realize long-distance communication and is suitable for data transmission in deep sea environment; radio communication has advantages in some specific short-distance scenarios. In view of the working condition difference and monitoring demand of different mining devices, the transmission protocol selection and network architecture design can be combined with the specific working scene characteristics, and the embodiments of the present application are not limited.

[0052] Among them, there are multiple independent clock sources between the mining device and multiple types of sensors. In order to ensure data accuracy and timing, a time synchronization protocol such as the Precision Time Protocol can be used to ensure the consistency of the timestamps of the data collected by each sensor, so as to ensure that the data of different sensors is aligned in time and avoid data confusion caused by time difference. Based on this, all sensors embed real-time accurate timestamps at the data collection moment and synchronize to a unified reference clock. In this way, it can be ensured that multiple source data is accurately aligned.

[0053] It can be understood that real-time data transmission needs to ensure the minimum delay. By optimizing the network protocol stack, reducing communication interruption and delay, the delay requirement of millisecond level can be realized. In addition, buffering and batch processing of data at the data acquisition end also helps to improve real-time performance. For example, the sensor data collected within a period of time can be packaged and transmitted at one time, reducing the number of transmissions and thus reducing the delay. Further, in order to reduce bandwidth consumption and improve transmission efficiency, especially in the case of limited network bandwidth, data compression techniques can be used to compress the data to be transmitted. Common data compression algorithms include but are not limited to entropy (Huffman) coding, lossless data compression algorithm (Lempel-Ziv 1977 algorithm, LZ77), etc.

[0054] In some embodiments of the present application, the control device 120 can be a server or an electronic device, and after the control device receives the data collected by the sensors of the mining device, further data processing is needed before the data can be applied to the subsequent control method. The data processing process can include data reception, data fusion and integration, and data storage and backup. Among them, the control device can receive real-time data from the mining device through the WebSocket protocol, MQTT protocol or other real-time transmission protocols. The receiving process mainly includes data analysis and anomaly detection. Data analysis refers to the specific format of the received sensor data, and the corresponding analysis method is selected to convert the sensor data into a format that the control device can process. Anomaly detection refers to checking the validity and accuracy of the data during the data receiving process. For example, if the data sent by a sensor is abnormal, such as exceeding the preset range, the sensor can filter or discard the data to avoid the impact of abnormal data on subsequent processing. Then, after all the sensor data is received and analyzed, data fusion can be performed through a data fusion method to provide accurate input data for the subsequent control method. The data fusion method can specifically include Kalman filtering or particle filtering. Kalman filtering refers to weighting the average of data from multiple sensors to remove noise and provide more accurate estimates. Kalman filtering refers to adjusting the weight adaptively according to the dynamic characteristics and noise statistics of the system to improve the accuracy of data fusion. Particle filtering refers to simulating multiple possible states, assigning a certain weight to each state, and then updating the weight according to the observation data to obtain a more accurate state estimate.

[0055] In some embodiments of the present application, the control device 120 described above can include a server and an electronic device. After receiving the data collected by the sensor, the electronic device sends the aforementioned data to the server and inputs the aforementioned data to a remote operation platform of the electronic device. Among them, the remote operation platform is configured with a digital twin system. The digital twin system is pre-constructed through simulation software. Specifically, the digital twin system includes a virtual space and a virtual mining device located in the virtual space, wherein the virtual space is constructed based on the preset mining environment parameters of the mining device, and the virtual mining device is constructed based on the attribute parameters of the mining device. After receiving the sensor data input by the electronic device each time, the remote operation platform updates the virtual space and the virtual mining device through the sensor data, so as to ensure that the motion state of the virtual mining device is consistent with that of the actual mining device, and the environment parameters of the virtual space are consistent with those of the actual mining working environment. It can be understood that, as a virtual mapping of the actual mining device, the digital twin system not only can intuitively show the motion state of the mining device, but also can provide a reliable basis for subsequent control of the mining device. For example, when formulating a control strategy of the mining device, simulation verification can be first performed on the digital twin system, the effects of different control strategies are evaluated, and then the control strategy is applied to the actual mining device, so as to improve the accuracy and safety of the control of the actual mining device.

[0056] In some embodiments of the present application, the interface of the remote operation platform configured by the electronic device can include a picture display area 210, a data recording area 220, a state information display area 230 and a mining control area 240, as shown in the following figure. Figure 2 The picture display area 210 shows the virtual picture of the virtual mining device in the virtual space in the deep sea mining scene. The data recording area 220 presents the relevant data in the form of a chart, which can specifically include the motion parameter changes of the mining device such as pitch angle speed, yaw angle speed and roll angle speed. The state information display area 230 displays various motion state parameters of the mining device, such as position parameters, pitch angle, yaw angle, roll angle, motion speed, seabed environment temperature, seabed flow speed, current operation mode and current unlocking state. The mining control area 240 includes control controls, such as operation arm angle control controls, mining vehicle body control controls and manual / automatic control switching controls, so as to enable the operator to remotely monitor and control the deep sea mining operation.

[0057] It should be noted that the mining device control method based on digital twin provided in the embodiments of the present application can be applied to the working scene of seabed mining operation and underground mining operation.

[0058] Next, the mining device control method based on digital twin provided in the embodiments of the present application will be introduced.

[0059] Figure 3A flowchart of a mining equipment control method based on digital twinning provided by some embodiments of the present application is shown. As shown in Figure 3 the mining equipment control method based on digital twinning can be applied to the control device in the above Figure 1 , and specifically can include steps 310 to 340.

[0060] Step 310, acquiring actual motion state parameters, actual environment parameters and first motion control parameters of the mining device within a first time window;

[0061] Step 320, determining power information of the mining device in a motion environment in which the mining device is located according to the actual motion state parameters, the motion environment being an environment corresponding to the actual environment parameters and the first motion control parameters;

[0062] Step 330, determining motion acceleration of the mining device in the motion environment according to the power information and the actual motion state parameters;

[0063] Step 340, determining estimated motion state parameters of the mining device within a second time window according to the motion acceleration and the actual motion state parameters, the occurrence time of the second time window being later than the occurrence time of the first time window, the estimated motion state parameters being used to control the mining device.

[0064] Thus, by acquiring the actual motion state parameters, the actual environment parameters and the first motion control parameters, and determining the power information of the mining device in the motion environment in which the mining device is located, the effects of the external environment and the control instructions on the power of the mining device can be comprehensively and accurately considered, and more power information that conforms to the actual motion environment of the mining device can be obtained. After determining the power information, the motion acceleration of the mining device in the current motion environment can be calculated, and the motion trend of the mining device in the current motion environment can be accurately obtained. Based on the motion trend and the actual motion state within the first time window, the motion state of the mining device within the second time window, which occurs later than the first time window, can be more accurately predicted, i.e., the estimated motion state parameters are obtained. After obtaining the estimated motion state parameters, the mining device can be controlled by using the estimated motion state parameters, so that the running state of the mining device is closer to the preset motion state, the deviation between the actual motion state and the preset motion state of the mining device is effectively reduced, the mining efficiency of the mining device is significantly improved, and the problem of low mining efficiency of the mining device caused by the deviation between the actual motion state and the preset motion state is solved.

[0065] Firstly, in relation to step 310, the actual motion state parameters in the embodiment of the present application can reflect the actual motion of the mining device in the first time window, and specifically can include actual mining vehicle body motion state parameters and actual operating arm motion state parameters. The actual mining vehicle body motion state parameters and the actual operating arm motion state parameters can be obtained through the sensor data collected by the above-mentioned multiple types of sensors. Among them, the actual mining vehicle body motion state parameters are used to reflect the motion characteristics of the mining vehicle body, and specifically can include actual mining vehicle body position parameters, actual mining vehicle body attitude parameters, actual mining vehicle body linear velocity and actual mining vehicle body angular velocity. The actual mining vehicle body position parameters can be represented by a three-dimensional vector , which reflects the position of the mining vehicle body in space; the actual mining vehicle body attitude parameters can be represented by a three-dimensional vector , which reflects the orientation of the mining vehicle body in space; the actual mining vehicle body linear velocity can be represented by , which reflects the speed and direction of the linear motion of the mining vehicle body in space; and the actual mining vehicle body angular velocity can be represented by , which reflects the speed and direction of the rotation of the mining vehicle body around the axis. The actual operating arm motion state parameters are used to reflect the motion state of the operating arm, and specifically can include actual operating arm joint angle parameters and actual operating arm joint speed. Among them, the actual operating arm joint angle parameters can be represented by , where n is the number of operating arm joints, and is used to reflect the angle of each operating arm joint; and the actual operating arm joint speed can be represented by , which is used to reflect the speed of change of each joint angle.

[0066] The actual environment parameters reflect the surrounding environment conditions of the mining device in the first time window, which can have different degrees of influence on the motion of the mining device, and specifically can be obtained through the sensor data collected by the above-mentioned multiple types of sensors. In actual application, the actual environment parameters can include water flow velocity, water pressure, water temperature, seafloor topography and other environmental parameters. The first motion control parameters can include first propulsion mechanism control parameters, first mechanical arm control parameters, first position parameters, first speed parameters and first attitude parameters. In one example, the first motion control parameters can be obtained through the input data of the user input control device, such as through the input data of the remote operation platform of the control system installed with the mining device. The operator can input the corresponding first motion control parameters according to the actual demand at the remote operation platform, so as to set the initial control target and control parameter for the operation of the mining device, and ensure that the mining device can work in the expected manner.

[0067] Secondly, regarding step 320, the power information in this embodiment refers to the influence of the operating environment of the mining device on various structures of the mining device. Based on this, the power information in this embodiment can specifically include environmental power information, propulsion mechanism power information, and manipulator interaction power information. Specifically, environmental power information refers to information on various external forces experienced by the mining device in the operating environment; propulsion mechanism power information refers to information on the power or force generated by the propulsion mechanism in the mining device; and manipulator interaction power information refers to information on the reaction forces generated when the manipulator, such as a robotic arm or digging arm, interacts with the operating environment of the mining device, such as ore or soil. These reaction forces reflect the actual interaction state between the manipulator and the operating environment of the mining device.

[0068] In some embodiments of this application, in order to monitor and analyze the operating status of mining equipment in real time, prior to step 310 above, the digital twin-based mining equipment control method may further include constructing a digital twin system. The digital twin system includes a virtual space and a virtual mining device located within the virtual space. The virtual space is constructed based on preset mining environment parameters of the mining device, and the virtual mining device is constructed based on attribute parameters of the mining device. Through the digital twin system, mining operations of the mining equipment can be simulated and tested in a virtual environment.

[0069] The virtual space is a digital simulation environment that mimics the real mining operation environment. Preset mining environment parameters can include geometric features of the mining operation environment such as terrain, landforms, layout, temperature, humidity, and other related parameters. For example, mining environment parameters of mining equipment can be collected and analyzed through geological exploration data, climate conditions, historical mining records, etc., and then a virtual mining environment can be constructed using technologies such as 3D modeling and simulation.

[0070] A virtual mining apparatus is a digital simulation of a real mining apparatus in a virtual space. The attributes of the mining apparatus can include its structure, appearance, dimensions, mass, operating principle, performance parameters, and other relevant information. For example, 3D modeling and simulation technologies can be used to construct a virtual mining apparatus that corresponds to a real mining apparatus.

[0071] Based on this, such as Figure 4 As shown, step 320 above may specifically include steps 3201 to 3203.

[0072] Step 3201: Update the virtual motion state parameters of the virtual mining device in the virtual space according to the actual motion state parameters.

[0073] The virtual motion state parameter refers to corresponding motion state data of the virtual mining device in the virtual space, and the virtual motion state parameter is updated synchronously with the actual motion state parameter of the actual mining device.

[0074] Exemplarily, the actual motion state parameter of the real mining device is acquired in real time through the above-mentioned multiple sensors, and these actual motion state parameters are transmitted to the digital twin system through wireless or wired mode. After receiving these actual motion state parameters, the digital twin system updates the virtual motion state parameter of the virtual mining device according to the received actual motion state parameter, so as to ensure that the virtual motion state parameter and the actual motion state parameter are consistent in time. In this way, by updating the virtual motion state parameter of the virtual mining device in real time, it can be ensured that the digital twin system accurately reflects the working state of the real mining device.

[0075] In step 3202, the virtual motion state parameter is processed through the mining device mechanical model to obtain virtual power information of the virtual mining device in the virtual space.

[0076] The mining device mechanical model refers to a mathematical model constructed based on physical principles and used to describe the motion law and force condition of the mining device. The virtual power information refers to information describing the power characteristics of the virtual mining device in the virtual space, which is calculated according to the virtual motion state parameter and the mining device mechanical model.

[0077] Exemplarily, in the digital twin system, a corresponding mining device mechanical model is constructed according to the physical characteristics of the mining device and the working environment. Then, the virtual motion state parameter is input into the mining device mechanical model, and the virtual power information of the virtual mining device in the virtual space is obtained through calculation.

[0078] In step 3203, the virtual power information is determined as the power information of the mining device.

[0079] Therefore, by determining the virtual power information as the power information of the mining device, real-time monitoring and evaluation of the power characteristics of the mining device can be realized.

[0080] In some embodiments of the present application, the virtual mining device includes a virtual mining vehicle body, a virtual propulsion mechanism for propelling the virtual mining vehicle body to move, and a virtual operating arm connected to the virtual mining vehicle body; and the virtual power information includes virtual environment power information, virtual propulsion mechanism power information, and virtual operating arm interaction power information. Based on this, in order to improve the accuracy of the virtual power information, as shown in the above-mentioned step 3202, the step 3202 can specifically include step 32021 and step 32022. Figure 5

[0081] ​In step 32021, the virtual motion state parameters and the virtual environment parameters corresponding to the actual environment parameters are processed by the mining device mechanical model to obtain virtual environment dynamic information and virtual operation arm interaction dynamic information.

[0082] Exemplarily, the actual motion state parameters and the actual environment parameters are collected by the sensors installed on the mining device and are sent to the server of the control device. The server inputs the actual motion state parameters and the actual environment parameters as the virtual motion state parameters and the virtual environment parameters into the mining device mechanical model. The mining device mechanical model processes the virtual motion state parameters and the virtual environment parameters and outputs the virtual environment dynamic information and the virtual operation arm interaction dynamic information corresponding to the operation arm. The virtual environment dynamic information and the virtual operation arm interaction dynamic information can be used to evaluate the force state and the operation effect of the virtual mining device in the virtual environment corresponding to the virtual environment parameters.

[0083] In step 32022, a first virtual motion control parameter corresponding to the first motion control parameter is processed to obtain virtual propulsion mechanism dynamic information.

[0084] Exemplarily, the server can obtain the first motion control parameter through the input interface of the remote operation platform and send the first motion control parameter to the server. After receiving the first motion control parameter, the server takes the first motion control parameter as the first virtual motion control parameter of the virtual mining device, determines the virtual dynamic information generated by the virtual propulsion mechanism under the first virtual motion control parameter through the first virtual motion control parameter, and takes the virtual dynamic information as the virtual dynamic information corresponding to the virtual propulsion mechanism.

[0085] In some embodiments of the present application, the virtual motion state parameters include virtual mining vehicle body motion state parameters and virtual operation arm motion state parameters. The virtual mining vehicle body motion state parameters correspond to the actual mining vehicle body motion state parameters, and the virtual operation arm motion state parameters correspond to the actual operation arm motion state parameters. Based on this, as shown in the above step 32021, the step 32021 can specifically include step 320211 and step 320212. Figure 6

[0086] In step 320211, according to the association relationship between the reference mining vehicle body motion state parameters and the reference environment dynamic information, the reference environment dynamic information associated with the virtual mining vehicle body motion state parameters is determined as the virtual environment dynamic information.

[0087] ​The reference mining vehicle body motion state parameter can include a reference linear velocity, the reference environmental dynamic information can include a reference environmental force, the virtual mining vehicle body motion state parameter can include a virtual linear velocity corresponding to an actual linear velocity, and the virtual environmental dynamic information can include a virtual environmental force.

[0088] Exemplarily, the step 320211 can specifically include determining the reference environmental force associated with the virtual linear velocity as the virtual environmental force through the association between the reference linear velocity and the reference environmental force. The virtual environmental force is a vector for representing the size and direction of the water flow resistance in the virtual environment corresponding to the virtual environmental parameter. It can be understood that the direction of the virtual environmental force is opposite to the motion direction of the virtual mining vehicle body.

[0089] In some embodiments of the present application, the mining device mechanical model described above can include a mathematical model of the environmental force, and the virtual environmental force and the actual environmental force can be calculated by using the same mathematical model of the environmental force. The mathematical model of the environmental force can be specifically represented by the following formula (1):

[0090] (1)

[0091] wherein, represents a resistance coefficient, represents a linear velocity of the mining vehicle body, represents a module of the linear velocity of the mining vehicle body.

[0092] It is worth noting that the resistance coefficient is a scalar, which reflects the influence of the shape, surface roughness and fluid characteristics of the mining device on the resistance. It can be understood that the resistance coefficient of the mining device with different shapes and structures will be different. Exemplarily, the resistance coefficient corresponding to the mining device can be determined in advance by experiment or numerical simulation. The greater the resistance coefficient, the greater the water flow resistance of the mining device at the same motion speed. It can be understood that the resistance coefficient of the mining device in the real mining environment can be directly used as the resistance coefficient of the virtual mining device in the virtual space for calculation.

[0093] The step 320212 includes determining the reference operating arm interactive dynamic force information associated with the virtual operating arm motion state parameter as the virtual operating arm interactive dynamic force information according to the association between the reference operating arm motion state parameter and the reference operating arm interactive dynamic force information.

[0094] The reference operating arm motion state parameter can include a reference operating arm joint angle parameter, the reference operating arm interactive force information can include a reaction force of the reference operating arm motion, the virtual operating arm motion state parameter can include a virtual operating arm joint angle parameter corresponding to the actual operating arm joint angle parameter, and the virtual operating arm interactive force information can include a reaction force of the virtual operating arm motion. The reaction force of the virtual operating arm motion represents a force exerted by the virtual operating arm on the mining device during the motion, which will affect the overall motion state of the mining device.

[0095] Exemplarily, the step 320212 can specifically include determining, by using the correlation between the reference operating arm joint angle parameter and the reaction force of the reference operating arm motion, the reaction force of the reference operating arm motion associated with the virtual operating arm joint angle parameter as the reaction force of the virtual operating arm motion.

[0096] In some embodiments of the present application, the above-mentioned mining device mechanical model can further include a mathematical model of the reaction force of the operating arm motion, and the reaction force of the virtual operating arm motion and the reaction force of the actual operating arm motion can be calculated by using the same mathematical model of the reaction force of the operating arm motion. The mathematical model of the reaction force of the operating arm motion can be represented by the following formula (2):

[0097] (2)

[0098] wherein, represents the operating arm joint angle parameter, i.e., the joint angle vector of the operating arm, represents the reaction force of the end effector of the operating arm interacting with the environment, represents the coupling matrix of the operating arm motion to the vehicle body speed.

[0099] It is worth noting that, is the transpose matrix of the operating arm Jacobian matrix , which reflects the velocity mapping relationship between the operating arm joint space and the Cartesian space, i.e., the space where the end effector of the operating arm is located. Specifically, each column of the Jacobian matrix corresponds to the influence degree of the motion of one joint on the speed of the end effector, and the transpose matrix is used to map the reaction force of the end effector of the operating arm interacting with the environment to the operating arm joint space, thereby obtaining the relationship between the reaction force of the operating arm motion and the reaction force of the end effector of the operating arm interacting with the environment.

[0100] ​In some embodiments of the present application, the first virtual motion control parameter comprises a first virtual propulsion mechanism control parameter, and the step 32022 can specifically comprise determining the reference propulsion mechanism power information associated with the first virtual propulsion mechanism control parameter as the virtual propulsion mechanism power information according to the association between the reference propulsion mechanism motion control parameter and the reference propulsion mechanism power information.

[0101] The virtual propulsion mechanism power information comprises a virtual propulsion mechanism thrust parameter.

[0102] Exemplarily, the mining device mechanical model can further comprise a mathematical model for reflecting the thrust characteristics of the propulsion mechanism, which can determine the association between the reference propulsion mechanism control parameter and the reference propulsion mechanism thrust parameter according to the control strategy of the propulsion mechanism. When determining the virtual propulsion mechanism thrust parameter, the reference propulsion mechanism thrust parameter associated with the first propulsion mechanism control parameter can be determined as the propulsion mechanism thrust parameter according to the association between the reference propulsion mechanism control parameter and the reference propulsion mechanism thrust parameter, and then the virtual propulsion mechanism thrust parameter can be determined according to the actual propulsion mechanism thrust parameter. For example, after the actual propulsion mechanism thrust parameter is determined, the actual propulsion mechanism thrust parameter is directly determined as the virtual propulsion mechanism thrust parameter.

[0103] In some embodiments of the present application, the motion acceleration comprises a motion linear acceleration and a motion angular acceleration. As shown in Figure 7 The step 330 can specifically comprise a step 3301 and a step 3302.

[0104] The step 3301 comprises determining the reference motion linear acceleration associated with the power information and the actual motion state parameter as the motion linear acceleration according to the association between the reference power information, the reference motion state parameter and the reference motion linear acceleration.

[0105] The reference power information is a series of power-related data of the mining device collected and stored in the database of the control device in advance. These data cover the power conditions of the mining device under the comprehensive action of various forces such as the thrust of the propulsion mechanism, the environmental force, the reaction force of the operation arm motion, etc. in different working conditions. The reference motion state parameter comprises the motion state information of the mining device in different working conditions, such as the position, the attitude, the linear velocity, the angular velocity, etc. The reference motion linear acceleration comprises the motion linear acceleration of the mining device in the corresponding working condition corresponding to the reference power information and the reference motion state parameter.

[0106] Exemplarily, a first association mathematical model is established, and the motion linear acceleration is calculated through the first association mathematical model.

[0107] Step 3302, according to the correlation of the reference power information, the reference motion state parameter and the reference angular acceleration of motion, the reference angular acceleration of motion associated with the power information and the actual motion state parameter is determined as the angular acceleration of motion.

[0108] Exemplarily, a second correlation mathematical model is established, and the angular acceleration of motion is calculated through the second optical association data model.

[0109] Exemplarily, in order to accurately obtain the above-mentioned linear acceleration of motion and the angular acceleration of motion, it is necessary to construct complete kinematics equation, complete dynamics equation and manipulator kinematics and dynamics. The complete kinematics equation can be represented by the following formula (3) and formula (4).

[0110] (3)

[0111] wherein, represents the mining vehicle body speed, the Jacobian matrix is determined by the current state , represents the Jacobian matrix of the environmental flow to the mining vehicle body speed, , is the mining vehicle body position coordinate, is the mining vehicle body attitude angle (roll angle, pitch angle, yaw angle), represents the propulsion mechanism to the mining vehicle body speed configuration matrix, which is used to map the propulsion mechanism thrust parameter to the speed, represents the coupling matrix of the manipulator motion to the mining vehicle body speed, and depends on the manipulator joint angle , which is used to represent the influence of the geometric configuration of the operating arm on the mining vehicle body speed.

[0112] Based on the above-mentioned formula (3), it can be known that the mining vehicle body speed is the result of the joint action of the environmental flow, the propulsion mechanism thrust and the manipulator motion.

[0113] (4)

[0114] wherein, represents the rate of change of the mining vehicle body attitude, i.e. the change of the vehicle body attitude with time, represents the Euler angle differential matrix, which is used to convert the mining vehicle body angular velocity into the attitude rate of change, represents the linear speed of the mining vehicle body, which reflects the speed of the mining vehicle body rotating around its own axis.

[0115] The complete dynamics equation can also include linear speed dynamics and angular speed dynamics. The linear speed dynamics, i.e. the first correlation mathematical model, can be represented by the following formula (5):

[0116] (5)

[0117] wherein, The inertia of the mining vehicle body, propulsion mechanism and steering arm can be obtained by analyzing and calculating the mass distribution and geometry of the mining vehicle body, propulsion mechanism and steering arm, is the angular acceleration of the motion line, represents the Coriolis force and the centrifugal force term, which can be determined according to the current mining vehicle body speed and the mining vehicle body attitude , combined with the motion trajectory of the mining vehicle body and the conversion relationship of the coordinate system, using the calculation formula of the Coriolis force and the centrifugal force, can be calculated by the above formula (1), represents the reaction force of the operation arm movement, which can be calculated by the above formula (2), represents the propulsion mechanism thrust parameter, which can be determined by the performance parameters of the propeller and its working state. Specifically, through the relationship curve of the propulsion mechanism thrust and input power, rotation speed and other parameters, according to the actual set propeller working parameters, it can be found or calculated from these relationships.

[0118] The angular velocity dynamics, i.e. the second correlation mathematical model, can be represented by the following formula (6):

[0119] (6)

[0120] wherein, is the angular acceleration of the motion line, represents the moment of inertia matrix varying with the configuration of the steering arm, which can be calculated according to the parallel axis theorem and the superposition principle of the moment of inertia, represents the torque generated by the environment on the mining vehicle body, such as the torque generated by the impact force of water flow, wind force, etc. Specifically, it can be calculated according to the size, point and direction of the environmental force by experimental measurement combined with theoretical analysis.

[0121] represents the torque generated by the propulsion mechanism, which is determined by the force arm length of the propulsion mechanism. Specifically, it can be represented by the following formula (7):

[0122] (7)

[0123] wherein, represents the position of the propulsion mechanism relative to the center of mass, represents the force of a single propeller in the propulsion mechanism, which can be calculated by determining the position vector of the propeller and the force vector generated by it, and using the vector cross product to calculate the torque of each propeller.

[0124] The inertia moment of the manipulator motion can be represented by the following equation (8):

[0125] (8)

[0126] wherein, represents the Jacobian matrix of the manipulator, represents the reaction force of the manipulator end effector, which can be measured by a sensor or calculated according to a model of the interaction between the manipulator and the environment.

[0127] The kinematics and dynamics equations of the manipulator include kinematics constraints and dynamics constraints, and the kinematics constraints can be represented by the following equation (9):

[0128] (9)

[0129] wherein, represents the velocity of the manipulator end effector, which is a parameter of the interaction between the manipulator and the environment or the work target, represents the Jacobian matrix of the manipulator, which is used to reflect the mapping relationship between the joint space velocity of the manipulator and the velocity of the manipulator end effector, represents the joint position vector of the manipulator.

[0130] The dynamics constraints can be represented by the following equation (10):

[0131] (10)

[0132] wherein, represents the inertia matrix of the manipulator, which is a matrix related to the joint position vector of the manipulator and describes the inertia characteristics of the manipulator at different joint positions, i.e., the ability of the manipulator to resist changes in the motion state, represents the Coriolis force and centrifugal force terms, which are related to the joint position vector and the joint space velocity of the manipulator and reflect the Coriolis force and centrifugal force generated by the relative motion of the joints during the motion of the manipulator, represents the joint driving torque, which is the torque applied to the joint by the driving device and is used to drive the motion of the manipulator, represents the reaction force of the interaction between the manipulator end effector and the environment, which is fed back to the vehicle dynamics and affects the motion state of the vehicle.

[0133] It is worth noting that the Jacobian matrix is time-varying, i.e.,​ all change in real time, because as the manipulator moves and the vehicle body position and attitude change, the relative position and attitude of the manipulator to the environment also change, resulting in changes in the elements of the Jacobian matrix.

[0134] In some embodiments of the present application, the above formulas (3) to (10) can be solved simultaneously to accurately obtain the linear motion acceleration and angular motion acceleration.

[0135] In some embodiments of the present application, the actual motion state parameters include actual mining vehicle body motion state parameters, and the actual mining vehicle body motion state parameters include actual mining vehicle body position parameters, actual mining vehicle body attitude parameters, actual mining vehicle body angular velocity and actual mining vehicle body linear velocity; the estimated motion state parameters include estimated mining vehicle body position parameters and estimated mining vehicle body attitude parameters. Based on this, as shown in FIG. 3B, the above step 340 can specifically include steps 3401 to 3404. Figure 8

[0136] Step 3401, determining the moving position information of the mining vehicle body in the time interval according to the linear motion acceleration in the motion acceleration, the time interval between the first time window and the second time window and the actual mining vehicle body linear velocity.

[0137] Wherein, the linear motion acceleration is a physical quantity describing the speed change of the mining vehicle body in linear motion. The first time window and the second time window are pre-set time windows, which can be accurate time points or time intervals covering a certain time length. For example, when the first time window and the second time window are the first time point and the second time point respectively, the time interval is the time length between the first time point and the second time point. For another example, when the first time window and the second time window are the first time interval and the second time interval respectively, the time length between the starting time of the first time interval and the starting time of the second time interval can be determined as the time interval of the first time window and the second time window, or the time length between the ending time of the first time interval and the ending time of the second time interval can be determined as the time interval of the first time window and the second time window.

[0138] Exemplarily, by integrating the linear motion acceleration in the time interval and combining the actual mining vehicle body linear velocity, the moving position information of the mining vehicle body in the time interval can be obtained.

[0139] Step 3402, determining the estimated mining vehicle body position parameters of the mining device in the second time window according to the actual mining vehicle body position parameters and the moving position information.

[0140] ​​​​Exemplarily, the actual mining vehicle body position parameter is the actual position of the mining vehicle body in the first time window, and the estimated mining vehicle body position parameter of the mining device in the second time window can be obtained by superimposing the actual position with the movement position information obtained in step 3401.

[0141] Specifically, the estimated mining vehicle body position parameter in the second time window is which can be represented by the following formula (11):

[0142] (11)

[0143] wherein, the actual mining vehicle body position parameter is represented by, the actual mining vehicle body linear velocity is represented by, the time interval of the first time window and the second time window is represented by, and the movement position information is represented by.

[0144] In step 3403, the movement posture information of the mining vehicle body in the time interval is determined according to the movement angular acceleration in the movement acceleration, the time interval and the actual mining vehicle body angular velocity.

[0145] The movement angular acceleration is used to describe the speed of change of the angular velocity when the mining vehicle body rotates.

[0146] In step 3404, the estimated vehicle body posture parameter of the mining device in the second time window is determined according to the actual mining vehicle body posture parameter and the movement posture information.

[0147] Exemplarily, the actual mining vehicle body posture parameter is the actual posture of the mining vehicle body in the first time window, and the estimated vehicle body posture parameter of the mining device in the second time window can be obtained by combining the actual posture with the movement posture information obtained in step 3403.

[0148] Specifically, the estimated vehicle body posture parameter in the second time window is which can be represented by the following formula (12):

[0149] (12)

[0150] wherein, the actual mining vehicle body posture parameter is represented by, the actual mining vehicle body angular velocity is represented by, the time interval of the first time window and the second time window is represented by, the posture-related transformation matrix is represented by, which is used to convert the angular velocity to a suitable coordinate system for integral calculation, and the movement posture information is represented by.

[0151] Thus, by using the actual mining vehicle body posture parameters and the actual mining vehicle body position parameters as the starting point of time integration, directly participating in the update of the mining vehicle body position and posture, the position and posture changes of the mining vehicle body in the second time window can be more accurately estimated, and the estimated motion state parameters of the mining device in the second time window can be accurately obtained.

[0152] In some embodiments of the present application, as shown in Figure 9 The control method of the mining device further includes steps 410 to 420.

[0153] Step 410, obtaining the second motion control parameters and the ideal motion state parameters of the mining device in the second time window.

[0154] The second motion control parameters refer to a set of parameters used to control the motion of the mining device in the second time window, which directly affect the operating state of the mining device, such as the speed of the motor, which determines the speed, direction and amplitude of the motion of each component of the mining device. The ideal motion state parameters are a combination of position, posture, speed and acceleration of each part of the mining device such as the mining vehicle body and the mechanical arm, which are set by the user in an ideal situation, and are an ideal motion state that the user expects the mining device to achieve in the second time window.

[0155] For example, the second control parameters and the ideal motion state parameters set in advance by the user according to the process requirements of the mining operation, the performance of the equipment and the past operation experience, etc. can be read from the parameter table stored in the control system of the mining device.

[0156] Step 420, adjusting the second motion control parameters according to the deviation between the ideal motion state parameters and the estimated motion state parameters to obtain third motion control parameters, which are used to control the mining device to carry out mining operations.

[0157] The deviation refers to the difference between the ideal motion state parameters and the estimated motion state parameters. The third motion control parameters are adjusted control parameters, which aim to change the control parameters so that the mining device can be closer to the motion state corresponding to the ideal motion state parameters in subsequent operation, thereby better completing the mining operation.

[0158] Exemplarily, first, the deviation between the ideal motion state parameter and the estimated motion state parameter is calculated, and for the position parameter, the difference in each coordinate axis direction is calculated; for the attitude parameter, the difference of each attitude angle is calculated. Then, these deviation quantities are input into a feedback control algorithm such as a proportional-integral-derivative (PID) controller, which will calculate the amount of adjustment required for the second motion control parameter according to the size, change trend and integral term of the deviation quantity and other factors. For example, if the deviation quantity is large and continuously increasing, the PID controller will increase the adjustment amount to quickly correct the deviation. Finally, according to the output result of the PID controller, the second motion control parameter is adjusted accordingly to obtain the third motion control parameter. For example, if the adjustment amount output by the PID controller is to increase the motor speed by 10%, then the value of the motor speed in the original second motion control parameter is increased by 10% to obtain the third motion control parameter.

[0159] Thus, the second motion control parameter is accurately obtained, and the third motion control parameter is obtained by adjusting the second motion control parameter according to the deviation between the ideal motion state parameter and the estimated motion state parameter, which can continuously correct the motion state of the mining device in subsequent operations, reduce the difference between the ideal motion state and the estimated motion state, improve the accuracy and stability of the mining operation, and ensure that the mining device can carry out the mining operation according to the estimated motion state parameter with relatively high accuracy, thereby improving the overall mining efficiency.

[0160] In some embodiments of the present application, as shown in Figure 10 The above step 420 can specifically include steps 4201 to 4204.

[0161] Step 4201, according to the association between the preset deviation quantity and the preset motion control parameter adjustment quantity, determine the motion control parameter adjustment quantity associated with the deviation quantity.

[0162] The association between the preset deviation quantity and the preset motion control parameter adjustment quantity is a pre-set association, which establishes the relationship between the deviation between the ideal motion state parameter and the estimated motion state parameter and the amount of adjustment required for the motion control parameter to correct the deviation. Exemplarily, this association is usually based on a large amount of experimental data, theoretical analysis and actual operation experience to summarize an association table or a function model. When the deviation between the ideal motion state parameter and the estimated motion state parameter is obtained, according to the type of the deviation such as position deviation, attitude deviation, etc. and the specific value, the association table is looked up or the function model is calculated.

[0163] Step 4202, determining at least two candidate motion control parameters according to the motion control parameter adjustment amount and the second motion control parameter.

[0164] The candidate motion control parameter is a set of parameters calculated according to the motion control parameter adjustment amount and the second motion control parameter, which may be used to control the motion of the mining device. These parameters are generated on the basis of adjusting the second motion control parameter, and are used to further screen out the target motion control parameter that is most suitable for the current operation of the mining device.

[0165] For example, after the motion control parameter adjustment amount is determined, for each parameter in the second motion control parameter, such as the motor speed, it is calculated according to the corresponding adjustment amount. For example, if the adjustment amount of the motor speed is increased by 10%, and the value of the motor speed in the current second motion control parameter is n0, then a candidate motor speed parameter n1 = n0(1+0.1) is calculated. By performing similar calculations on all related parameters in the second motion control parameter, a new parameter combination is obtained, which is a candidate motion control parameter. In order to increase the diversity of selection and improve the possibility of screening out the optimal parameter, at least two such candidate motion control parameter combinations can be generated according to different adjustment strategies, such as changing the adjustment ratio within a certain range. 0*

[0166] Step 4203, determining a target motion control parameter according to at least two candidate motion control parameters, the sum of the power consumption of the propulsion mechanism and the power consumption of the operating arm corresponding to the target motion control parameter being less than a preset power consumption threshold.

[0167] The target motion control parameter is a control parameter selected from at least two candidate motion control parameters, which is most suitable for the current operation of the mining device. The evaluation criterion is that the sum of the power consumption of the propulsion mechanism and the power consumption of the operating arm corresponding to the target motion control parameter is less than a preset power consumption threshold. The preset power consumption threshold is a power consumption upper limit value preset according to the energy supply situation of the mining device, the operation cost requirement, and the past operation experience, etc., which is used to measure whether the power consumption of the candidate motion control parameter is within an acceptable range.

[0168] For each candidate motion control parameter, the power consumption of the propulsion mechanism and the power consumption of the operating arm corresponding to it need to be calculated respectively.

[0169] The power consumption of the propulsion mechanism can be calculated by the mathematical expression of the engine power shown in the following formula (13):

[0170] (13)

[0171] Wherein, represents the propulsion mechanism thrust parameter,​ represents the propulsion mechanism efficiency matrix.

[0172] The power consumption of the operating arm can be calculated by a mathematical expression of operating arm motion energy consumption shown in the following formula (14):

[0173] (14)

[0174] wherein, represents the joint velocity vector, represents the joint motor damping matrix.

[0175] The sum of the power consumption of the propulsion mechanism and the power consumption of the operating arm can be represented by the following formula (15):

[0176] (15)

[0177] Exemplarily, when there are multiple candidate motion control parameters whose sum of power consumption is less than the preset power consumption threshold, in order to achieve the optimization goal of minimizing energy consumption on the basis of meeting the motion state adjustment demand, which can reduce the mining operation cost to the greatest extent, the candidate motion control parameter with the minimum power consumption can be taken as the target motion control parameter. When there are multiple candidate motion control parameters whose power consumption is the same and is the minimum, the target motion control parameter that fits the actual situation of the mining device and has the highest operation efficiency can be finally determined by comparing the operation efficiency of the mining device under each motion control parameter, i.e. calculating the mining work amount completed in unit time.

[0178] Step 4204, determining the target motion control parameter as the third motion control parameter.

[0179] Therefore, based on the preset correlation relationship, the direction and amplitude of the adjustment of the motion control parameter required to correct the deviation can be quickly and targetedly determined, which helps to speed up the movement of the mining device to the estimated motion state. Further, the target motion control parameter is screened out, which can effectively control the power consumption of the propulsion mechanism and the operating arm while meeting the adjustment demand of the motion state of the mining device, so as to optimize the energy consumption. In this way, not only the cost of mining operation can be reduced, but also the energy utilization efficiency can be improved.

[0180] In some embodiments of the present application, the third motion control parameter can be sent to the remote operation platform of the electronic device, i.e., the mining device, by the server. After receiving the third motion control parameter, the electronic device generates a set of control instructions based on the third motion control parameter and sends the set of control instructions to the mining device. The set of control instructions will indicate how the mining device should adjust its motion state to achieve the intended target. After the mining device executes the control instructions, the new motion state of the mining device and the environmental information are fed back to the electronic device of the mining device and the server by means of sensors. During the operation of the mining device, whenever an action is completed or the mining task is advanced to a certain stage, the sensors will quickly come into play to monitor the motion state of the mining device in real time and accurately, and send the obtained sensor data to the server.

[0181] It can be understood that in the deep-sea mining task scenario with extremely high complexity, the mining device does not work in isolation, but can work cooperatively with other devices and systems, such as underwater robots, remote operation platforms, data analysis systems, etc. In view of this, the server can connect with other devices and systems by means of open interfaces and protocols, such as the WebSocket, the REST API, etc., and thus build an efficient control platform for cooperative work. For example, the data of the mining device and the control instructions can be integrated with the remote operation platform. In this way, the operator can monitor the state of the mining device in real time through the remote operation platform and manually intervene or adjust when necessary, thereby ensuring the smooth progress of the mining operation of the mining device.

[0182] Based on the mining device control method based on digital twinning provided in the above embodiments, correspondingly, the present application also provides a specific implementation of a mining device control apparatus based on digital twinning. Please refer to the following embodiments.

[0183] Firstly, referring to Figure 11 The mining device control apparatus 500 based on digital twinning provided in the embodiments of the present application comprises:

[0184] The first acquisition module 510 is configured to acquire the actual motion state parameter, the actual environmental parameter and the first motion control parameter of the mining device within a first time window.

[0185] The first determination module 520 is configured to determine the power information of the mining device in the motion environment in which the mining device is located according to the actual motion state parameter, the motion environment being the environment corresponding to the actual environmental parameter and the first motion control parameter.

[0186] The second determining module 530 is configured to determine the motion acceleration of the mining device in the motion environment according to the power information and the actual motion state parameter.

[0187] The third determining module 540 is configured to determine the estimated motion state parameter of the mining device in a second time window according to the motion acceleration and the actual motion state parameter, the occurrence time of the second time window being later than that of the first time window, and the estimated motion state parameter being used for controlling the mining device.

[0188] Therefore, the actual motion state parameter, the actual environment parameter and the first motion control parameter can be acquired by the first acquiring module 510, the power information of the motion environment of the mining device can be determined by the first determining module 520, the effects of the external environment and the control instruction on the power of the mining device can be comprehensively and accurately considered, and the power information that is more consistent with the actual motion environment can be obtained. After the power information is determined, the motion acceleration of the mining device in the current motion environment can be calculated by the second determining module 530, the motion change trend of the mining device in the current motion environment can be accurately acquired, the motion state of the mining device in the second time window that is later than the first time window can be more accurately predicted by combining the actual motion state in the first time window, and the estimated motion state parameter can be obtained. After the estimated motion state parameter is obtained, the mining device can be controlled by the third determining module 540 using the estimated motion state parameter, the running state of the mining device can be closer to the preset motion state, the deviation between the actual motion state and the preset motion state of the mining device can be effectively reduced, the waste of resources caused by unnecessary motion can be avoided, the mining device can be more efficiently used for mining operation, the mining efficiency can be significantly improved, and thus the problem of low mining efficiency of the mining device caused by the deviation between the actual motion state and the preset motion state can be solved.

[0189] In some embodiments of the present application, the mining equipment control device 500 based on digital twinning can further include:

[0190] The constructing module is configured to, before acquiring the actual motion state parameter, the actual environment parameter and the first motion control parameter of the mining device in the first time window, construct a digital twinning system, the digital twinning system including a virtual space and a virtual mining device located in the virtual space, the virtual space being constructed based on preset mining environment parameters of the mining device, and the virtual mining device being constructed based on attribute parameters of the mining device.

[0191] Based on this, the first determining module 520 can specifically include:

[0192] The first updating sub-module is configured to update the virtual motion state parameter of the virtual mining device in the virtual space according to the actual motion state parameter.

[0193] The first processing submodule is configured to process the virtual motion state parameter by using the mining device mechanical model, and obtain virtual power information of the virtual mining device in the virtual space.

[0194] The first determining submodule is configured to determine the virtual power information as the power information of the mining device.

[0195] In some embodiments of the present application, the first processing submodule can specifically include:

[0196] The first determining unit is configured to, in a case where the virtual mining device includes a virtual mining vehicle body, a virtual propulsion mechanism for propelling the virtual mining vehicle body to move, and a virtual operating arm connected to the virtual mining vehicle body, and the virtual power information includes virtual environment power information, virtual propulsion mechanism power information, and virtual operating arm interaction power information, process the virtual motion state parameter and virtual environment parameters corresponding to the actual environment parameters by using the mining device mechanical model, to obtain the virtual environment power information and the virtual operating arm interaction power information.

[0197] The second determining unit is configured to process the first virtual motion control parameter corresponding to the first motion control parameter, to obtain the virtual propulsion mechanism power information.

[0198] In some embodiments of the present application, the first determining unit can be specifically configured to:

[0199] In a case where the virtual motion state parameter includes virtual mining vehicle body motion state parameters and virtual operating arm motion state parameters, reference environment power information associated with the virtual mining vehicle body motion state parameter is determined as the virtual environment power information according to an association relationship between the reference mining vehicle body motion state parameter and the reference environment power information.

[0200] Reference operating arm interaction power information associated with the virtual operating arm motion state parameter is determined as the virtual operating arm interaction power information according to an association relationship between the reference operating arm motion state parameter and the reference operating arm interaction power information.

[0201] In some embodiments of the present application, the second determining unit can be specifically configured to:

[0202] In a case where the first virtual motion control parameter includes a first virtual propulsion mechanism control parameter, reference propulsion mechanism power information associated with the first virtual propulsion mechanism control parameter is determined as the virtual propulsion mechanism power information according to an association relationship between the reference propulsion mechanism control parameter and the reference propulsion mechanism power information.

[0203] In some embodiments of the present application, the second determining module 530 can specifically include:

[0204] The second determining sub-module is configured to, in the case that the motion acceleration comprises a motion linear acceleration and a motion angular acceleration, determine the reference motion linear acceleration associated with the power information and the actual motion state parameter as the motion linear acceleration according to the correlation among the reference power information, the reference motion state parameter and the reference motion linear acceleration.

[0205] The third determining sub-module is configured to determine the reference motion angular acceleration associated with the power information and the actual motion state parameter as the motion angular acceleration according to the correlation among the reference power information, the reference motion state parameter and the reference motion angular acceleration.

[0206] In some embodiments of the present application, the third determining module 540 can specifically include:

[0207] The fourth determining sub-module is configured to, in the case that the actual motion state parameter of the mining vehicle body comprises an actual mining vehicle body position parameter, an actual mining vehicle body attitude parameter, an actual mining vehicle body angular velocity and an actual mining vehicle body linear velocity, and the estimated motion state parameter comprises an estimated mining vehicle body position parameter and an estimated mining vehicle body attitude parameter, determine the moving position information of the mining vehicle body within the time interval according to the motion linear acceleration in the motion acceleration, the time interval between the first time window and the second time window and the actual mining vehicle body linear velocity.

[0208] The fifth determining sub-module is configured to determine the estimated mining vehicle body position parameter of the mining device within the second time window according to the actual mining vehicle body position parameter and the moving position information.

[0209] The sixth determining sub-module is configured to determine the moving attitude information of the mining vehicle body within the time interval according to the motion angular acceleration in the motion acceleration, the time interval and the actual mining vehicle body angular velocity.

[0210] The seventh determining sub-module is configured to determine the estimated vehicle body attitude parameter of the mining device within the second time window according to the actual mining vehicle body attitude parameter and the moving attitude information.

[0211] In some embodiments of the present application, the control device 500 of the mining device can further include:

[0212] The second obtaining module is configured to obtain a second motion control parameter of the mining device within the second time window.

[0213] The fourth determining module is configured to determine an ideal motion state parameter of the mining device within the second time window according to the second motion control parameter and the actual motion state parameter.

[0214] The fifth determining module is configured to adjust the second motion control parameter according to the deviation between the ideal motion state parameter and the estimated motion state parameter, to obtain a third motion control parameter, and the third motion control parameter is used to control the mining device to carry out the mining operation according to the motion state corresponding to the estimated motion state parameter.

[0215] In some embodiments of the present application, the fifth determining module described above can include:

[0216] An eighth determining sub-module is configured to determine a motion control parameter adjustment amount associated with the deviation according to a preset deviation amount and a preset motion control parameter adjustment amount correlation;

[0217] A ninth determining sub-module is configured to determine at least two candidate motion control parameters according to the motion control parameter adjustment amount and the second motion control parameter;

[0218] A tenth determining sub-module is configured to determine a target motion control parameter according to the at least two candidate motion control parameters, and a sum of power consumption of the propulsion mechanism and power consumption of the operating arm corresponding to the target motion control parameter is less than a preset threshold;

[0219] An eleventh determining sub-module is configured to determine the target motion control parameter as the third motion control parameter.

[0220] The various modules of the mining equipment control device based on digital twinning provided by the embodiments of the present application can achieve Figures 3 to 10 The functions of the various steps of the mining equipment control method based on digital twinning provided by the embodiments of the present application can achieve the corresponding technical effects, and for brevity, will not be described here.

[0221] Figure 12 A hardware structure schematic diagram of a computer device provided by the embodiments of the present application is shown.

[0222] The computer device can include a processor 601 and a memory 602 having computer program instructions stored therein.

[0223] Exemplarily, the computer device can be a remote operation platform of the server or the mining device described above.

[0224] Specifically, the processor 601 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement one or more embodiments of the present application.

[0225] The memory 602 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 602 can include a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, a Compact Disc (CD) or other optical disk, a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 602 can include removable or non-removable (or fixed) media, where appropriate. Where appropriate, the memory 602 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 602 is non-volatile, solid-state memory.

[0226] In particular embodiments, the memory 602 includes read-only memory (ROM). Random access memory (RAM), a magnetic disk storage medium, an optical storage medium, flash memory, electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to

[0227] The processor 601 implements the control method of the mining device in any of the above embodiments by reading and executing the computer program instructions stored in the memory 602.

[0228] In one example, the computer device can further include a communication interface 603 and a bus 610. Wherein, as shown, the processor 601, the memory 602, the communication interface 603 are connected through the bus 610 and complete the communication between each other. Figure 11

[0229] The communication interface 603 is mainly used to realize the communication between each module, device, unit and / or equipment in the embodiments of the application.

[0230] ​Bus 610 includes a hardware, software, or both, that couples components of the online data traffic billing device to each other. As an example but not a limitation, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 610 can include one or more buses. Although the example embodiments described and illustrated herein relate to a particular bus, the application contemplates any suitable bus or interconnect.

[0231] The computer device can execute the mining equipment control method based on digital twinning in the embodiments of the application, thereby realizing the combination Figures 3 to 10 The mining equipment control method based on digital twinning is described.

[0232] In addition, in combination with the mining equipment control method based on digital twinning in the above-mentioned embodiments, the embodiments of the application can provide a computer storage medium to realize. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to realize the control method of any one of the mining devices in the above-mentioned embodiments. Examples of the computer readable storage medium include non-transitory computer readable storage medium, such as a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, etc.

[0233] In addition, in combination with the mining equipment control method based on digital twinning in the above-mentioned embodiments, the embodiments of the application can provide a computer program product to realize. The program product is stored in a storage medium, and specifically can include a computer program or instructions, which are executed by a processor to realize any one of the mining equipment control methods based on digital twinning in the above-mentioned embodiments. The program product is executed by at least one processor to realize the processes of the above-mentioned data processing method embodiments, and can achieve the same technical effects. To avoid repetition, this will not be repeated here.

[0234] It is to be understood that the application is not limited to particular configurations and processes described herein and shown in the drawings. The detailed description is not to be taken as limiting the application. In the above embodiments, several specific steps are described and illustrated in order to provide a thorough understanding of the application. However, the application can be practiced with fewer or additional steps, and in a different order. The application is to be limited only by the claims.

[0235] The functions noted in the structural block diagrams above can be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, for example, they can be an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, Intranet, etc.

[0236] It is also to be understood that the example embodiments described herein are based on a series of steps or apparatuses to describe some methods or systems. However, the application is not limited to the order of the steps described above, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0237] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. Alternatively, computer program implemented steps can be implemented by special purpose logic circuitry, e.g., an FPGA or an ASIC, or by a combination of special purpose logic circuitry and computer hardware. Those skilled in the art will recognize that the present application is not limited to the specific implementations described herein, and thus many modifications and permutations of the described implementations are also permissible.

[0238] The above is merely specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method for controlling mining equipment based on digital twins, characterized in that, Applied to control equipment, including: Acquire the actual motion state parameters, actual environmental parameters, and first motion control parameters of the mining device within the first time window; Based on the actual motion state parameters, the power information of the mining device in the motion environment of the mining device is determined, wherein the motion environment is the environment corresponding to the actual environment parameters and the first motion control parameters; Based on the power information and the actual motion state parameters, the motion acceleration of the mining device in the motion environment is determined. The power information includes environmental power information, propulsion mechanism power information and operating arm interactive power information. The actual motion state parameters include actual mining vehicle motion state parameters and actual operating arm motion state parameters. Based on the motion acceleration and the actual motion state parameters, the estimated motion state parameters of the mining device within a second time window are determined. The occurrence time of the second time window is later than that of the first time window. The estimated motion state parameters are used to control the mining device. The mining device includes a propulsion mechanism and an operating arm; The second motion control parameters and ideal motion state parameters of the mining device are obtained within the second time window. Based on the correlation between the preset deviation and the preset motion control parameter adjustment, determine the motion control parameter adjustment that is associated with the deviation between the ideal motion state parameter and the estimated motion state parameter. Based on the adjustment amount of the motion control parameter and the second motion control parameter, at least two candidate motion control parameters are determined; Based on the at least two candidate motion control parameters, a target motion control parameter is determined, wherein the sum of the power consumption of the propulsion mechanism and the power consumption of the operating arm corresponding to the target motion control parameter is less than a preset power consumption threshold. The target motion control parameter is determined as the third motion control parameter, which is used to control the mining device to carry out mining operations.

2. The control method according to claim 1, characterized in that, Before acquiring the actual motion state parameters, actual environmental parameters, and first motion control parameters of the mining device within the first time window, the control method further includes: A digital twin system is constructed, comprising a virtual space and a virtual mining device located in the virtual space. The virtual space is constructed based on preset mining environment parameters of the mining device, and the virtual mining device is constructed based on attribute parameters of the mining device. The step of determining the power information of the mining device in the motion environment of the mining device based on the actual motion state parameters includes: Update the virtual motion state parameters of the virtual mining device in the virtual space according to the actual motion state parameters; By processing the virtual motion state parameters using the mechanical model of the mining device, the virtual dynamic information of the virtual mining device in the virtual space is obtained. The virtual power information is determined as the power information of the mining device.

3. The control method according to claim 2, characterized in that, The virtual mining device includes a virtual mining vehicle body, a virtual propulsion mechanism for propelling the virtual mining vehicle body, and a virtual operating arm connected to the virtual mining vehicle body; the virtual power information includes virtual environment power information, virtual propulsion mechanism power information, and virtual operating arm interactive power information. The process of processing the virtual motion state parameters using a mining device mechanical model to obtain virtual dynamic information of the virtual mining device in the virtual space includes: By processing the virtual motion state parameters and the virtual environment parameters corresponding to the actual environment parameters through the mechanical model of the mining device, the virtual environment dynamic information and the virtual operating arm interactive dynamic information are obtained. The first virtual motion control parameter corresponding to the first motion control parameter is processed to obtain the power information of the virtual propulsion mechanism.

4. The control method according to claim 3, characterized in that, The virtual motion state parameters include virtual mining vehicle motion state parameters and virtual operating arm motion state parameters; The process of processing the virtual motion state parameters and the virtual environment parameters corresponding to the actual environment parameters to obtain the virtual environment dynamic information and the virtual manipulator interaction dynamic information includes: Based on the correlation between the reference mining vehicle motion state parameters and the reference environmental dynamic information, the reference environmental dynamic information associated with the virtual mining vehicle motion state parameters is determined as the virtual environmental dynamic information. Based on the correlation between the reference manipulator motion state parameters and the reference manipulator interaction power information, the reference manipulator interaction power information associated with the virtual manipulator motion state parameters is determined as the virtual manipulator interaction power information.

5. The control method according to claim 3, characterized in that, The first virtual motion control parameters include first virtual propulsion mechanism control parameters; the step of processing the first virtual motion control parameters corresponding to the first motion control parameters to obtain the power information of the virtual propulsion mechanism includes: Based on the correlation between the reference propulsion mechanism control parameters and the reference propulsion mechanism power information, the reference propulsion mechanism power information associated with the first virtual propulsion mechanism control parameters is determined as the virtual propulsion mechanism power information.

6. The control method according to any one of claims 1 to 5, characterized in that, The acceleration of motion includes linear acceleration and angular acceleration. Determining the motion acceleration of the mining device in the motion environment based on the power information and the actual motion state parameters includes: Based on the correlation between reference dynamic information, reference motion state parameters, and reference motion linear acceleration, the reference motion linear acceleration associated with the dynamic information and the actual motion state parameters is determined as the motion linear acceleration. Based on the correlation between the reference dynamic information, the reference motion state parameters, and the reference motion angular acceleration, the reference motion angular acceleration associated with the dynamic information and the actual motion state parameters is determined as the motion angular acceleration.

7. The control method according to any one of claims 1 to 5, characterized in that, The actual motion state parameters include the actual mining vehicle motion state parameters, which include the actual mining vehicle position parameters, the actual mining vehicle attitude parameters, the actual mining vehicle angular velocity, and the actual mining vehicle linear velocity; the estimated motion state parameters include the estimated mining vehicle position parameters and the estimated mining vehicle attitude parameters. The step of determining the estimated motion state parameters of the mining device within the second time window based on the motion acceleration and the actual motion state parameters includes: Based on the linear acceleration in the motion acceleration, the time interval between the first time window and the second time window, and the actual linear velocity of the mining vehicle, the movement position information of the mining vehicle within the time interval is determined; Based on the actual mining vehicle position parameters and the movement position information, the estimated mining vehicle position parameters of the mining device within the second time window are determined; Based on the angular acceleration in the motion acceleration, the time interval, and the actual angular velocity of the mining vehicle, the movement posture information of the mining vehicle within the time interval is determined; Based on the actual mining vehicle attitude parameters and the movement attitude information, the estimated vehicle attitude parameters of the mining device within the second time window are determined.

8. A mining equipment control system based on digital twin, characterized in that, The control system includes: Mining equipment includes a mining device and a sensor mounted on the mining device, the sensor being used to acquire the actual motion state parameters and actual environmental parameters of the mining device within a first time window; A control device, communicatively connected to the mining equipment, the control device comprising at least one of the following: a server, an electronic device, for executing the mining equipment control method based on digital twin as described in any one of claims 1 to 7.

9. A mining equipment control device based on digital twin, characterized in that, Applied to control equipment, the control device includes: The first acquisition module is used to acquire the actual motion state parameters, actual environmental parameters and first motion control parameters of the mining device within the first time window; The first determining module is used to determine the power information of the mining device in the motion environment of the mining device based on the actual motion state parameters, wherein the motion environment is the environment corresponding to the actual environment parameters and the first motion control parameters; The second determining module is used to determine the motion acceleration of the mining device in the motion environment based on the power information and the actual motion state parameters. The power information includes environmental power information, propulsion mechanism power information and operating arm interactive power information. The actual motion state parameters include actual mining vehicle motion state parameters and actual operating arm motion state parameters. The third determining module is used to determine the estimated motion state parameters of the mining device within a second time window based on the motion acceleration and the actual motion state parameters. The occurrence time of the second time window is later than the occurrence time of the first time window. The estimated motion state parameters are used to control the mining device. The second acquisition module is used to acquire the second motion control parameters and ideal motion state parameters of the mining device within a second time window. The mining device includes a propulsion mechanism and an operating arm. The fourth determining module is used to determine the motion control parameter adjustment amount associated with the deviation amount based on the correlation between the preset deviation amount and the preset motion control parameter adjustment amount; determine at least two candidate motion control parameters based on the motion control parameter adjustment amount and the second motion control parameter; determine a target motion control parameter based on the at least two candidate motion control parameters, wherein the sum of the power consumption of the propulsion mechanism and the power consumption of the operating arm corresponding to the target motion control parameter is less than a preset power consumption threshold; and determine the target motion control parameter as a third motion control parameter, wherein the third motion control parameter is used to control the mining device to carry out mining operations.

10. A computer device, characterized in that, The computer device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the mining equipment control method based on digital twin as described in any one of claims 1-7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the mining equipment control method based on digital twins as described in any one of claims 1-7.

12. A computer program product, characterized in that, It includes a computer program or instructions, which are executed by a processor of a computer device, causing the computer device to perform the mining equipment control method based on digital twins as described in any one of claims 1-7.

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