A high-voltage pulse rock breaking simulation system and method based on digital twinning

Abstract

The application discloses a high-pressure pulse rock breaking simulation system and method based on digital twinning, relates to the technical field of high-pressure pulse rock breaking, and specifically comprises the high-pressure pulse rock breaking simulation system which comprises a mechanical device and a digital twinning mechanism model; the mechanical device is composed of a heating module, a water jet dust removal module, a high-pressure pulse rock breaking module and a central control module. The application heats the rock in advance through microwaves, forms an uneven thermal stress field by utilizing the dielectric difference of different minerals, generates a large number of microcracks and reduces the overall mechanical strength of the rock, simultaneously increases the water jet dust removal assembly, removes the rock surface debris dust, reduces the rock temperature, causes the reverse force of surface shrinkage and internal expansion, promotes the expansion and penetration of the original microcracks, and then uses the high-pressure pulse device, so that the energy can be accurately released along the prefabricated cracks, and the invalid dissipation is reduced.

Description

Technical Field

[0001] This invention relates to the field of high-pressure pulse rock breaking, specifically to a high-pressure pulse rock breaking simulation system and method based on digital twins. Background Technology

[0002] High-pressure pulse rock breaking technology, as an emerging technology, utilizes a high-voltage pulse power supply to achieve rapid energy storage and instantaneous discharge, forming a high-energy plasma channel in a conductive medium such as water. The channel expands rapidly, generating strong shock waves and cavitation effects. The shock waves propagate into the rock in the form of stress waves. When the stress value exceeds the tensile and compressive strength of the rock, a large number of microcracks are generated inside the rock and rapidly expand and penetrate, ultimately achieving overall rock fragmentation. At the same time, the high-temperature plasma generated during the discharge process also causes thermal damage to the rock, further reducing its mechanical strength and assisting in fracturing. Compared with traditional rock breaking technology, it has advantages such as safety, efficiency, environmental protection, controllability, and low cost.

[0003] Microwave-assisted rock breaking is an emerging rock fracturing technology that is more efficient, lower cost, and safer than purely mechanical and blasting methods, and has broad application prospects in mineral processing and underground space excavation. Microwaves are ultra-high frequency electromagnetic waves with wavelengths ranging from 0.001 to 1 m and frequencies from 0.3 to 300 GHz. Under microwave radiation, the dielectric properties of the rock minerals themselves consume microwave energy and convert it into heat energy. This causes minerals with strong dielectric properties to heat up rapidly in a short time, forming "hot spots" inside the rock. Consequently, the rock is destroyed by the combined effects of water evaporation, internal mineral decomposition, and expansion.

[0004] However, existing high-pressure pulse rock breaking technology and microwave rock breaking technology both have certain limitations. Shock wave rock breaking requires overcoming high rock compressive and tensile strength, which can easily lead to ineffective energy dissipation. In addition, the discharge is easily affected by the working conditions. Rock cuttings and impurities in the working medium can easily block the discharge channel, resulting in discontinuous pulse discharge or even arc discharge, reducing energy transfer efficiency. Furthermore, microwave rock breaking relies on thermal damage to induce cracking, which has obvious limitations when used alone. The primary drawback is that pure microwave rock breaking efficiency is low. Microwaves achieve rock damage through volume heating, but the rate of crack initiation and propagation based solely on thermal stress is slow, making it difficult to meet the high-efficiency construction requirements of drilling and mining operations. Microwaves exhibit an attenuation effect when propagating in rock media. Deep rocks absorb less microwave energy than the surface layer, which can easily lead to excessive damage to the surface layer while the deeper layers fail to effectively induce cracking, limiting its effectiveness when used in deep wells and thick formations. Summary of the Invention

[0005] This application proposes a high-pressure pulse rock breaking simulation system and method based on digital twins, which has the advantages of facilitating the removal of debris and dust from the rock surface, reducing rock temperature, reducing ineffective dissipation, and solving the technical problems mentioned in the background art.

[0006] To achieve the above objectives, this application adopts the following technical solution: a high-pressure pulse rock-breaking simulation system based on digital twins, wherein the high-pressure pulse rock-breaking simulation system includes mechanical devices and a digital twin mechanism model; The mechanical device consists of a heating module, a water jet dust removal module, a high-pressure pulse rock breaking module, and a central control module. The heating module, the water jet dust removal module, and the high-pressure pulse rock breaking module are all electrically connected to the central control module. The digital twin mechanism model is based on OPC UA communication and Modelica language, and includes three main parts: data awareness, mechanism model, and model self-updating. The heating module, water jet dust removal module, high-pressure pulse rock breaking module, and central control module are all fixedly connected by mechanical supports and arranged in the order of operation of the heating module, water jet dust removal module, and high-pressure pulse rock breaking module.

[0007] Preferably, the high-pressure pulse rock-breaking module includes a high-pressure pulse power supply, an electrode drill bit, rock, a medium, and an oscilloscope; The main circuit of the high-voltage pulse power supply includes a charging power supply, a multi-level unit structure circuit, an inductor, and a load. Each level of the unit structure circuit includes an energy storage capacitor, an insulated gate bipolar transistor, and a diode.

[0008] Preferably, the heating module includes a microwave heating module or an infrared heating module.

[0009] Preferably, the data sensing part consists of a data communication framework and a database. The communication framework consists of an OPC UA server, an OPC UA client, and a serial communication module, which are used to drive the digital twin mechanism model. The data sensing part is responsible for transmitting and storing various multi-source heterogeneous operating data and simulation data from the mechanism model. The mechanism model is a coupled model of mechanical, electrical and control fields built based on the Modelica language. It is used to reflect the overall physical mechanism of the mechanical device. The mechanism model receives data from the data sensing part and the optimization results from the model self-updating part. The model self-updating part receives real-time data from the data perception part, compares it with the simulation results of the mechanism model part, optimizes and adjusts the model parameters, and discretizes the actual data and simulation results to minimize the difference between the two as the optimization objective.

[0010] A high-pressure pulse rock-breaking simulation method based on digital twins, applied to a high-pressure pulse rock-breaking simulation system based on digital twins as described in any one of claims 1-4, characterized by comprising the following operational steps: S1, Device Positioning The mechanical device is moved to the target rock-breaking area, and the distance between the radiation head, nozzle, and discharge electrode and the rock surface is calibrated using the laser positioning component. S2, Microwave heating to pre-induce cracks Since the central control module and the heating module are electrically connected, the heating module is started by the central control module. The heating power and heating time are preset according to the rock type. The microwave acts on the rock through the radiator. By utilizing the dielectric difference of different minerals, the high dielectric minerals heat up quickly, while the low dielectric minerals heat up slowly, forming an uneven thermal stress field, which promotes the initiation of a large number of microcracks inside the rock. S3, Water jet dust removal and crack propagation After microwave heating is completed, the central control module starts the water jet dust removal module after a delay of 0.5-1s. The high-pressure water pump outputs atomized water flow, which blows away debris and dust on the rock surface through adjustable nozzles. At the same time, it quickly reduces the surface temperature of the rock to below 50°C. The contraction of the rock surface and the expansion of the internal residual heat generate a reverse force, which promotes the further expansion and connection of the microcracks that have started in S2. S4, High-pressure pulse precision rock breaking After the water jetting operation stops, the central control module starts the high-pressure pulse rock breaking module based on the internal temperature of the rock fed back by the temperature sensor. The energy storage capacitor bank releases instantaneous high-voltage electrical energy and discharges it to the penetrating crack area of ​​the rock through the retractable discharge electrode. A high-energy plasma channel is formed in the crack channel. The shock wave is precisely transmitted along the pre-made crack without having to overcome the high strength resistance of the intact rock, which is used to quickly achieve the overall crushing of the rock. S5. Methods for constructing digital twin mechanism models Based on the five-dimensional digital twin model, a five-dimensional digital twin model of high-pressure pulse rock breaking is constructed. The overall framework and functional module division of the system are given in combination with the system requirements, and the online functional module development process is explained.

[0011] Preferably, S4 is divided into three stages, namely the pre-penetration stage, the penetration stage, and the blasting stage.

[0012] Preferably, during the pre-breakdown stage, the voltage across the electrode rapidly rises to its peak value, during which the entire circuit is in an open circuit state and the loop current is zero.

[0013] Preferably, during the breakdown stage, a high pulse voltage is applied to the rock and an initial plasma channel is formed inside it. The voltage across the electrodes decreases and the current increases. When the plasma channel completely penetrates to both electrodes, the voltage between the electrodes is the initial channel voltage, and the current flowing through the channel is the initial channel current. The formation and penetration of the plasma channel are completed under the action of high pulse voltage, and the sign of its penetration is that the channel connects the two electrodes inside the rock.

[0014] Preferably, prior to the breakdown stage, the high-voltage electrical pulse primarily acts on the rock via an electrical fracturing mechanism. During the blasting stage, the charge stored in the energy storage capacitor is rapidly injected into the rock, causing the circuit current to rise sharply and reach its peak current, while the voltage at the electrode terminals drops rapidly and eventually approaches zero. During the blasting stage, plasma channels are formed inside the rock, the rock's conductivity increases dramatically, and the charge in the circuit is rapidly injected into the plasma channels, causing the temperature inside the plasma channels to rise rapidly. During the blasting stage, the plasma channel expands due to heat, its volume increases rapidly, and it exerts an effect on the surrounding rock, ultimately achieving rock breakage or pyrolysis. During the blasting stage, the high-voltage electric pulse rock-breaking process involves the coupling of multiple physical fields including electricity, heat, and force, and the current loop tends to be complete.

[0015] Preferably, the high-pressure pulse rock-breaking digital twin five-dimensional model in S6 includes five parts: physical entity, virtual entity, service, twin data, and connection. The physical entity refers to the mechanical device and its related supporting devices, which are accurately simulated and represented in the digital twin system through digital modeling and data acquisition; The virtual entity includes a mechanistic model, a geometric model, and a data model of the mechanical device. The mechanistic model describes the kinematic and dynamic characteristics of the mechanical device, the geometric model describes its shape and structure, and the data model describes the characteristics and performance parameters of the mechanical device. The service includes a 3D visualization module, an online simulation module, a fault prediction module, and a collision detection module. These modules are integrated on the same platform to achieve full-cycle monitoring, simulation analysis, and risk prevention of mechanical devices. The 3D visualization module is used to construct and display a 3D model of the mechanical device in real time, realizing a three-dimensional graphical representation of the mechanical structure. The online simulation module is coupled to the 3D visualization module and is used to simulate the physical characteristics of the mechanical device and dynamically simulate the task execution process. The fault prediction module, based on the output data and historical operating data of the online simulation module, uses data analysis and machine learning algorithms to identify and warn of potential faults in the mechanical device in advance. The collision detection module works in conjunction with the 3D visualization module and the online simulation module to detect the motion trajectory of each component of the mechanical device in real time during the simulation process and actual operation, predicting and avoiding collision risks. The twin data includes controller data, sensor data, and simulation data. The controller data originates from the actual control unit of the mechanical device and records real-time control commands, status parameters, and actuator feedback during the operation of the mechanical device. The sensor data is collected through a sensor network deployed in the mechanical device and its working environment to describe the mechanical device's own posture, dynamic state, and multi-dimensional physical information of the surrounding environment. The simulation data is generated by the online simulation module in a virtual environment and includes predictive behavior simulations of the mechanical device under given working conditions, performance evaluation results, and interactive response data. The twin data is aggregated, time-aligned, and fused through a unified data interface to jointly drive the digital twin model to achieve synchronous mapping and interactive verification with the physical mechanical device. The connection interconnects and integrates physical entities, virtual entities, services, and twin data to build a complete digital twin system. The connection is used to ensure data exchange and information sharing between the various parts, enabling the digital twin system to reflect the status and behavior of mechanical devices in real time and support users to monitor, analyze, and control them in real time. The overall system framework includes a user interface layer, a communication and data acquisition layer, a data preprocessing and model self-updating layer, a data storage and management layer, and a mechanism model layer. The user interface layer is the interaction window between the user and the system, displaying the three-dimensional geometric model of the mechanical device, simulation results, real-time status, operating data, sensor information, and charts showing trends and changes in operating data. The communication and data acquisition layer is responsible for communicating with the mechanical device and collecting operating data. It mainly includes a serial communication module and an OPC UA communication module. The data preprocessing and model self-updating layer detects outliers in the collected data, processes missing values ​​and standardized data, and is also responsible for model self-updating. The data storage and management layer mainly provides two functions: data storage and data management. The data storage is responsible for the integrity and security of the pre-processed data, storing it in the database in the form of data tables, documents, or data points. The data management provides functions for data access, querying, and historical data backtracking. The mechanism model layer is designed as an external component and runs on the MWorks platform. Data can be exchanged between the MWorks platform and the digital twin system. The mechanism model layer mainly runs cross-disciplinary and multi-domain system-level mechanism models of mechanical devices and does not include model self-updating and data communication components. The functional modules are divided into two main modules: the online module and the virtual assembly / disassembly module. The online module is the core module of the mechanical device digital twin system. It collects operational data in real time through sensors and control systems and transmits it to the mechanical device mechanism model and the digital twin system database. The mechanical device mechanism model updates its status using real-time and historical data to ensure that the twin model and the physical object are synchronized in real time. The online module generates early warning information according to preset rules and thresholds to remind users of potential dangers in a three-dimensional visualization manner. The virtual disassembly and assembly module is a supplementary module to the digital twin system. It simulates the disassembly and assembly process of the mechanical device body through virtual interaction and 3D visualization technology to meet the needs of virtual training. It uses a physics engine and collision detection algorithm to detect collisions between parts during the disassembly and assembly process of the mechanical device body and to determine the rationality of the disassembly and assembly process. The online functional module development process is based on the overall framework of the mechanical device digital twin system. The system functions are decomposed into logical modules corresponding to physical entities, virtual models, twin data, and service applications. Based on the Unity3D engine, a project development environment is built, and the physics engine, rendering pipeline, and communication interface with external data sources are configured. In the engine environment, a component-based design pattern is adopted to develop independent functional packages that implement the 3D visualization, online simulation, fault prediction, and collision detection functions. Each functional package is integrated in the Unity project, and the module functions are tested and verified in a virtual environment by injecting the twin data. This establishes the online functional module development process.

[0016] The present invention has the following beneficial effects: 1. This invention preheats rocks with microwaves, creating a non-uniform thermal stress field by utilizing the dielectric differences of different minerals. This induces numerous microcracks and reduces the overall mechanical strength of the rock. Simultaneously, a water jet dust removal component is added to remove debris and dust from the rock surface, lowering the rock temperature and triggering the opposing forces of surface contraction and internal expansion. This promotes the expansion and connection of existing microcracks. Then, a high-voltage pulse device is used, eliminating the need to overcome the high-strength resistance of intact rocks. Energy can be precisely released along the pre-induced cracks, reducing ineffective dissipation.

[0017] 2. During the charging phase, the IGBT is in the off state. The charging power supply charges the parallel energy storage capacitors through diodes and inductors, ensuring that the voltage of each capacitor reaches the charging power supply voltage level. The inductor effectively limits the charging current, reduces current surges, protects key components such as capacitors and diodes in the circuit, improves system reliability, and achieves the effect of protection during the charging process. During the discharging phase, the IGBT is turned on, the energy storage capacitors discharge in series, and the diodes are reverse-biased to achieve voltage isolation between each stage of the unit. This design simplifies the circuit structure, reduces the difficulty of voltage balancing during the series discharge of capacitors, and improves discharge efficiency, achieving the effects of optimized discharge structure and voltage isolation.

[0018] 3. This invention significantly reduces the stringent requirements for the synchronous turn-on and turn-off of IGBTs at each stage. When an IGBT at a certain stage fails and cannot operate normally, the corresponding diode turns on and automatically bypasses the faulty IGBT, allowing the capacitor at that stage to still form a discharge circuit with the subsequent normal stages, ensuring continuous and reliable system output and achieving the effect of reducing synchronous control requirements. In the case of partial IGBT failure, the diode conduction can achieve automatic isolation and bypass of the faulty unit, while maintaining the discharge function of the remaining normal stages to the load. This mechanism not only improves the fault tolerance of the system but also effectively clamps the voltage of the faulty unit, preventing abnormal voltage rise and ensuring the safe and stable operation of the overall circuit, achieving the effects of fault tolerance and voltage clamping. The multi-stage unit structure, with consistent circuit composition at each stage, facilitates modular design and expansion, allowing for flexible adjustment of the number of stages according to different voltage and energy requirements, improving product applicability and maintenance convenience, and achieving the effects of modularity and scalability.

[0019] 4. This invention constructs a digital twin model of an industrial robot based on the five-dimensional model theory of digital twins, making the system structure clear and hierarchical, realizing a systematic design under theoretical guidance, improving the standardization and interpretability of the model. Furthermore, the overall framework is designed in conjunction with system requirements and functional modules are divided to ensure that the system has good scalability and maintainability. The responsibilities of each functional module are clearly defined, which facilitates independent development, testing and integration, and reduces system complexity and development risks. Attached Figure Description

[0020] Figure 1 This is a framework diagram of the high-pressure pulse rock-breaking simulation system of the present invention; Figure 2 This is a diagram of the five-dimensional digital twin model in this invention; Figure 3 This is a framework diagram of the data twin system in this invention. Detailed Implementation

[0021] The technical solution of the present invention will be clearly and completely described below with reference to preferred embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1 to 3 A high-pressure pulse rock-breaking simulation system based on digital twins, the high-pressure pulse rock-breaking simulation system including mechanical devices and a digital twin mechanism model; The mechanical device consists of a heating module, a water jet dust removal module, a high-pressure pulse rock breaking module, and a central control module. The heating module, the water jet dust removal module, and the high-pressure pulse rock breaking module are all electrically connected to the central control module. The digital twin mechanism model is based on OPC UA communication and Modelica language, and includes three main parts: data awareness, mechanism model, and model self-updating. The heating module, water jet dust removal module, high-pressure pulse rock breaking module, and central control module are all fixedly connected by mechanical supports and arranged in the order of operation of the heating module, water jet dust removal module, and high-pressure pulse rock breaking module.

[0023] The high-pressure pulse rock-breaking module includes a high-pressure pulse power supply, an electrode drill bit, rock, a medium, and an oscilloscope; The main circuit of the high-voltage pulse power supply includes a charging power supply, a multi-stage unit structure circuit, an inductor, and a load. Each stage of the unit structure circuit includes an energy storage capacitor, an insulated gate bipolar transistor (IGBT), and a diode. By using the IGBT as a pulse switching device, the size of the power supply and the rise time can be reduced.

[0024] The heating module includes a microwave heating module or an infrared heating module.

[0025] The data sensing part consists of a data communication framework and a database. The communication framework consists of an OPC UA server, an OPC UA client, and a serial communication module, which is used to drive the digital twin mechanism model. The data sensing part is responsible for transmitting and storing various multi-source heterogeneous operating data and simulation data from the mechanism model. The mechanism model is a coupled model of mechanical, electrical and control fields built based on the Modelica language. It is used to reflect the overall physical mechanism of the mechanical device. The mechanism model receives data from the data sensing part and the optimization results from the model self-updating part. The model self-updating part receives real-time data from the data perception part, compares it with the simulation results of the mechanism model part, optimizes and adjusts the model parameters, and discretizes the actual data and simulation results to minimize the difference between the two as the optimization objective.

[0026] A high-pressure pulse rock-breaking simulation method based on digital twins, applied to a high-pressure pulse rock-breaking simulation system based on digital twins as described in any one of claims 1-4, characterized by comprising the following operational steps: S1, Device Positioning The mechanical device is moved to the target rock-breaking area, and the distance between the radiation head, nozzle, and discharge electrode and the rock surface is calibrated using the laser positioning component. S2, Microwave heating to pre-induce cracks Since the central control module and the heating module are electrically connected, the heating module is started by the central control module. The heating power and heating time are preset according to the rock type. The microwave acts on the rock through the radiator. By utilizing the dielectric difference of different minerals, the high dielectric minerals heat up quickly, while the low dielectric minerals heat up slowly, forming an uneven thermal stress field, which promotes the initiation of a large number of microcracks inside the rock. S3, Water jet dust removal and crack propagation After microwave heating is completed, the central control module starts the water jet dust removal module after a delay of 0.5-1s. The high-pressure water pump outputs atomized water flow, which blows away debris and dust on the rock surface through adjustable nozzles. At the same time, it quickly reduces the surface temperature of the rock to below 50°C. The contraction of the rock surface and the expansion of the internal residual heat generate a reverse force, which promotes the further expansion and connection of the microcracks that have started in S2. S4, High-pressure pulse precision rock breaking After the water jetting operation stops, the central control module starts the high-pressure pulse rock breaking module based on the internal temperature of the rock fed back by the temperature sensor. The energy storage capacitor bank releases instantaneous high-voltage electrical energy and discharges it to the penetrating crack area of ​​the rock through the retractable discharge electrode. A high-energy plasma channel is formed in the crack channel. The shock wave is precisely transmitted along the pre-made crack without having to overcome the high strength resistance of the intact rock, which is used to quickly achieve the overall crushing of the rock. S5. Methods for constructing digital twin mechanism models Based on the five-dimensional digital twin model, a five-dimensional digital twin model of high-pressure pulse rock breaking is constructed. The overall framework and functional module division of the system are given in combination with the system requirements, and the online functional module development process is explained.

[0027] The S4 is divided into three stages, namely the pre-penetration stage, the penetration stage, and the blasting stage.

[0028] During the pre-breakdown stage, the voltage across the electrode rapidly rises to its peak value. During this process, the entire circuit is in an open circuit state, and the loop current is zero.

[0029] During the breakdown stage, a high pulse voltage is applied to the rock and an initial plasma channel is formed inside it. The voltage across the electrodes decreases and the current increases. When the plasma channel completely penetrates to both electrodes, the voltage between the electrodes is the initial channel voltage, and the current flowing through the channel is the initial channel current. The formation and penetration of the plasma channel are completed under the action of high pulse voltage, and the sign of its penetration is that the channel connects the two electrodes inside the rock.

[0030] Prior to the breakdown stage, the high-voltage electrical pulse primarily acts on the rock via an electrical fracturing mechanism. During the blasting stage, the charge stored in the energy storage capacitor is rapidly injected into the rock, causing the circuit current to rise sharply and reach its peak current, while the voltage at the electrode terminals drops rapidly and eventually approaches zero. During the blasting stage, plasma channels are formed inside the rock, the rock's conductivity increases dramatically, and the charge in the circuit is rapidly injected into the plasma channels, causing the temperature inside the plasma channels to rise rapidly. During the blasting stage, the plasma channel expands due to heat, its volume increases rapidly, and it exerts an effect on the surrounding rock, ultimately achieving rock breakage or pyrolysis. During the blasting stage, the high-voltage electric pulse rock-breaking process involves the coupling of multiple physical fields including electricity, heat, and force, and the current loop tends to be complete.

[0031] The high-pressure pulse rock-breaking digital twin five-dimensional model in S6 includes five parts: physical entity, virtual entity, service, twin data, and connection. The physical entity refers to the mechanical device and its related supporting devices, which are accurately simulated and represented in the digital twin system through digital modeling and data acquisition; The virtual entity includes a mechanistic model, a geometric model, and a data model of the mechanical device. The mechanistic model describes the kinematic and dynamic characteristics of the mechanical device, the geometric model describes its shape and structure, and the data model describes the characteristics and performance parameters of the mechanical device. The service includes a 3D visualization module, an online simulation module, a fault prediction module, and a collision detection module. These modules are integrated on the same platform to achieve full-cycle monitoring, simulation analysis, and risk prevention of mechanical devices. The 3D visualization module is used to construct and display a 3D model of the mechanical device in real time, realizing a three-dimensional graphical representation of the mechanical structure. The online simulation module is coupled to the 3D visualization module and is used to simulate the physical characteristics of the mechanical device and dynamically simulate the task execution process. The fault prediction module, based on the output data and historical operating data of the online simulation module, uses data analysis and machine learning algorithms to identify and warn of potential faults in the mechanical device in advance. The collision detection module works in conjunction with the 3D visualization module and the online simulation module to detect the motion trajectory of each component of the mechanical device in real time during the simulation process and actual operation, predicting and avoiding collision risks. The twin data includes controller data, sensor data, and simulation data. The controller data originates from the actual control unit of the mechanical device and records real-time control commands, status parameters, and actuator feedback during the operation of the mechanical device. The sensor data is collected through a sensor network deployed in the mechanical device and its working environment to describe the mechanical device's own posture, dynamic state, and multi-dimensional physical information of the surrounding environment. The simulation data is generated by the online simulation module in a virtual environment and includes predictive behavior simulations of the mechanical device under given working conditions, performance evaluation results, and interactive response data. The twin data is aggregated, time-aligned, and fused through a unified data interface to jointly drive the digital twin model to achieve synchronous mapping and interactive verification with the physical mechanical device. The connection interconnects and integrates physical entities, virtual entities, services, and twin data to build a complete digital twin system. The connection is used to ensure data exchange and information sharing between the various parts, enabling the digital twin system to reflect the status and behavior of mechanical devices in real time and support users to monitor, analyze, and control them in real time. The overall system framework includes a user interface layer, a communication and data acquisition layer, a data preprocessing and model self-updating layer, a data storage and management layer, and a mechanism model layer. The user interface layer is the interaction window between the user and the system, displaying the three-dimensional geometric model of the mechanical device, simulation results, real-time status, operating data, sensor information, and charts showing trends and changes in operating data. The communication and data acquisition layer is responsible for communicating with the mechanical device and collecting operating data. It mainly includes a serial communication module and an OPC UA communication module. The data preprocessing and model self-updating layer detects outliers in the collected data, processes missing values ​​and standardized data, and is also responsible for model self-updating. The data storage and management layer mainly provides two functions: data storage and data management. The data storage is responsible for the integrity and security of the pre-processed data, storing it in the database in the form of data tables, documents, or data points. The data management provides functions for data access, querying, and historical data backtracking. The mechanism model layer is designed as an add-on and runs on the MWorks platform. Data can be exchanged between the MWorks platform and the digital twin system. The mechanism model layer mainly runs cross-disciplinary and multi-domain system-level mechanism models of mechanical devices, and does not include model self-updating and data communication parts, in order to reduce the development difficulty of the digital twin system. The functional modules are divided into two main modules: the online module and the virtual assembly / disassembly module. The online module is the core module of the mechanical device digital twin system. It collects operational data in real time through sensors and control systems and transmits it to the mechanical device mechanism model and the digital twin system database. The mechanical device mechanism model updates its status using real-time and historical data to ensure that the twin model and the physical object are synchronized in real time. The online module generates early warning information according to preset rules and thresholds to remind users of potential dangers in a three-dimensional visualization manner. The virtual disassembly and assembly module is a supplementary module to the digital twin system. It simulates the disassembly and assembly process of the mechanical device body through virtual interaction and 3D visualization technology to meet the needs of virtual training. It uses a physics engine and collision detection algorithm to detect collisions between parts during the disassembly and assembly process of the mechanical device body and to determine the rationality of the disassembly and assembly process. The online functional module development process is based on the overall framework of the mechanical device digital twin system. The system functions are decomposed into logical modules corresponding to physical entities, virtual models, twin data, and service applications. Based on the Unity3D engine, a project development environment is built, and the physics engine, rendering pipeline, and communication interface with external data sources are configured. In the engine environment, a component-based design pattern is adopted to develop independent functional packages that implement the 3D visualization, online simulation, fault prediction, and collision detection functions. Each functional package is integrated in the Unity project, and the module functions are tested and verified in a virtual environment by injecting the twin data. This establishes the online functional module development process.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention. The invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-pressure pulse rock-breaking simulation system based on digital twins, characterized in that: The high-pressure pulse rock-breaking simulation system includes mechanical devices and a digital twin mechanism model; The mechanical device consists of a heating module, a water jet dust removal module, a high-pressure pulse rock breaking module, and a central control module. The heating module, the water jet dust removal module, and the high-pressure pulse rock breaking module are all electrically connected to the central control module. The digital twin mechanism model is based on OPC UA communication and Modelica language, and includes three main parts: data awareness, mechanism model, and model self-updating. The heating module, water jet dust removal module, high-pressure pulse rock breaking module, and central control module are all fixedly connected by mechanical supports and arranged in the order of operation of the heating module, water jet dust removal module, and high-pressure pulse rock breaking module.

2. The high-pressure pulse rock-breaking simulation system based on digital twin according to claim 1, characterized in that: The high-pressure pulse rock-breaking module includes a high-pressure pulse power supply, an electrode drill bit, rock, a medium, and an oscilloscope; The main circuit of the high-voltage pulse power supply includes a charging power supply, a multi-level unit structure circuit, an inductor, and a load. Each level of the unit structure circuit includes an energy storage capacitor, an insulated gate bipolar transistor, and a diode.

3. The high-pressure pulse rock-breaking simulation system based on digital twin according to claim 1, characterized in that: The heating module includes a microwave heating module or an infrared heating module.

4. A high-pressure pulse rock-breaking simulation system based on digital twins according to claim 4, characterized in that: The data sensing part consists of a data communication framework and a database. The communication framework consists of an OPC UA server, an OPC UA client, and a serial communication module, which are used to drive the digital twin mechanism model. The data sensing part is responsible for transmitting and storing various multi-source heterogeneous operating data and simulation data from the mechanism model. The mechanism model is a coupled model of mechanical, electrical and control fields built based on the Modelica language. It is used to reflect the overall physical mechanism of the mechanical device. The mechanism model receives data from the data sensing part and the optimization results from the model self-updating part. The model self-updating part receives real-time data from the data perception part, compares it with the simulation results of the mechanism model part, optimizes and adjusts the model parameters, and discretizes the actual data and simulation results to minimize the difference between the two as the optimization objective.

5. A high-pressure pulse rock-breaking simulation method based on digital twins, applied to a high-pressure pulse rock-breaking simulation system based on digital twins as described in any one of claims 1-4, characterized in that, The following steps are included: S1, Device Positioning The mechanical device is moved to the target rock-breaking area, and the distance between the radiation head, nozzle, and discharge electrode and the rock surface is calibrated using the laser positioning component. S2, Microwave heating to pre-induce cracks Since the central control module and the heating module are electrically connected, the heating module is started by the central control module. The heating power and heating time are preset according to the rock type. The microwave acts on the rock through the radiator. By utilizing the dielectric difference of different minerals, the high dielectric minerals heat up quickly, while the low dielectric minerals heat up slowly, forming an uneven thermal stress field, which promotes the initiation of a large number of microcracks inside the rock. S3, Water jet dust removal and crack propagation After microwave heating is completed, the central control module starts the water jet dust removal module after a delay of 0.5-1s. The high-pressure water pump outputs atomized water flow, which blows away debris and dust on the rock surface through adjustable nozzles. At the same time, it quickly reduces the surface temperature of the rock to below 50°C. The contraction of the rock surface and the expansion of the internal residual heat generate a reverse force, which promotes the further expansion and connection of the microcracks that have started in S2. S4, High-pressure pulse precision rock breaking After the water jetting operation stops, the central control module starts the high-pressure pulse rock breaking module based on the internal temperature of the rock fed back by the temperature sensor. The energy storage capacitor bank releases instantaneous high-voltage electrical energy and discharges it to the penetrating crack area of ​​the rock through the retractable discharge electrode. A high-energy plasma channel is formed in the crack channel. The shock wave is precisely transmitted along the pre-made crack without having to overcome the high strength resistance of the intact rock, which is used to quickly achieve the overall crushing of the rock. S5. Method for constructing a digital twin mechanism model Based on the five-dimensional digital twin model, a five-dimensional digital twin model of high-pressure pulse rock breaking is constructed. The overall framework and functional module division of the system are given in combination with the system requirements, and the online functional module development process is explained.

6. The high-pressure pulse rock breaking simulation method based on digital twin according to claim 5, characterized in that: The S4 is divided into three stages, namely the pre-penetration stage, the penetration stage, and the blasting stage.

7. The high-pressure pulse rock breaking simulation method based on digital twin according to claim 6, characterized in that: During the pre-breakdown stage, the voltage across the electrode rapidly rises to its peak value. During this process, the entire circuit is in an open circuit state, and the loop current is zero.

8. The high-pressure pulse rock breaking simulation method based on digital twin according to claim 6, characterized in that: During the breakdown stage, a high pulse voltage is applied to the rock and an initial plasma channel is formed inside it. The voltage across the electrodes decreases and the current increases. When the plasma channel completely penetrates to both electrodes, the voltage between the electrodes is the initial channel voltage, and the current flowing through the channel is the initial channel current. The formation and penetration of the plasma channel are completed under the action of high pulse voltage, and the sign of its penetration is that the channel connects the two electrodes inside the rock.

9. The high-pressure pulse rock breaking simulation method based on digital twin according to claim 6, characterized in that: Prior to the breakdown stage, the high-voltage electrical pulse primarily acts on the rock via an electrical fracturing mechanism. During the blasting stage, the charge stored in the energy storage capacitor is rapidly injected into the rock, causing the circuit current to rise sharply and reach its peak current, while the voltage at the electrode terminals drops rapidly and eventually approaches zero. During the blasting stage, plasma channels are formed inside the rock, the rock's conductivity increases dramatically, and the charge in the circuit is rapidly injected into the plasma channels, causing the temperature inside the plasma channels to rise rapidly. During the blasting stage, the plasma channel expands due to heat, its volume increases rapidly, and it exerts an effect on the surrounding rock, ultimately achieving rock breakage or pyrolysis. During the blasting stage, the high-voltage electric pulse rock-breaking process involves the coupling of multiple physical fields including electricity, heat, and force, and the current loop tends to be complete.

10. A high-pressure pulse rock-breaking simulation method based on digital twins according to claim 5, characterized in that: The high-pressure pulse rock-breaking digital twin five-dimensional model in S6 includes five parts: physical entity, virtual entity, service, twin data, and connection. The physical entity refers to the mechanical device and its related supporting devices, which are accurately simulated and represented in the digital twin system through digital modeling and data acquisition; The virtual entity includes a mechanistic model, a geometric model, and a data model of the mechanical device. The mechanistic model describes the kinematic and dynamic characteristics of the mechanical device, the geometric model describes its shape and structure, and the data model describes the characteristics and performance parameters of the mechanical device. The service includes a 3D visualization module, an online simulation module, a fault prediction module, and a collision detection module. These modules are integrated on the same platform to achieve full-cycle monitoring, simulation analysis, and risk prevention of mechanical devices. The 3D visualization module is used to construct and display a 3D model of the mechanical device in real time, realizing a three-dimensional graphical representation of the mechanical structure. The online simulation module is coupled to the 3D visualization module and is used to simulate the physical characteristics of the mechanical device and dynamically simulate the task execution process. The fault prediction module, based on the output data and historical operating data of the online simulation module, uses data analysis and machine learning algorithms to identify and warn of potential faults in the mechanical device in advance. The collision detection module works in conjunction with the 3D visualization module and the online simulation module to detect the motion trajectory of each component of the mechanical device in real time during the simulation process and actual operation, predicting and avoiding collision risks. The twin data includes controller data, sensor data, and simulation data. The controller data originates from the actual control unit of the mechanical device and records real-time control commands, status parameters, and actuator feedback during the operation of the mechanical device. The sensor data is collected through a sensor network deployed in the mechanical device and its working environment to describe the mechanical device's own posture, dynamic state, and multi-dimensional physical information of the surrounding environment. The simulation data is generated by the online simulation module in a virtual environment and includes predictive behavior simulations of the mechanical device under given working conditions, performance evaluation results, and interactive response data. The twin data is aggregated, time-aligned, and fused through a unified data interface to jointly drive the digital twin model to achieve synchronous mapping and interactive verification with the physical mechanical device. The connection interconnects and integrates physical entities, virtual entities, services, and twin data to build a complete digital twin system. The connection is used to ensure data exchange and information sharing between the various parts, enabling the digital twin system to reflect the status and behavior of mechanical devices in real time and support users to monitor, analyze, and control them in real time. The overall system framework includes a user interface layer, a communication and data acquisition layer, a data preprocessing and model self-updating layer, a data storage and management layer, and a mechanism model layer. The user interface layer is the interaction window between the user and the system, displaying the three-dimensional geometric model of the mechanical device, simulation results, real-time status, operating data, sensor information, and charts showing trends and changes in operating data. The communication and data acquisition layer is responsible for communicating with the mechanical device and collecting operating data. It mainly includes a serial communication module and an OPC UA communication module. The data preprocessing and model self-updating layer detects outliers in the collected data, processes missing values ​​and standardized data, and is also responsible for model self-updating. The data storage and management layer mainly provides two functions: data storage and data management. The data storage is responsible for the integrity and security of the pre-processed data, storing it in the database in the form of data tables, documents, or data points. The data management provides functions for data access, querying, and historical data backtracking. The mechanism model layer is designed as an external component and runs on the MWorks platform. Data can be exchanged between the MWorks platform and the digital twin system. The mechanism model layer mainly runs cross-disciplinary and multi-domain system-level mechanism models of mechanical devices and does not include model self-updating and data communication components. The functional modules are divided into two main modules: the online module and the virtual assembly / disassembly module. The online module is the core module of the mechanical device digital twin system. It collects operational data in real time through sensors and control systems and transmits it to the mechanical device mechanism model and the digital twin system database. The mechanical device mechanism model updates its status using real-time and historical data to ensure that the twin model and the physical object are synchronized in real time. The online module generates early warning information according to preset rules and thresholds to remind users of potential dangers in a three-dimensional visualization manner. The virtual disassembly and assembly module is a supplementary module to the digital twin system. It simulates the disassembly and assembly process of the mechanical device body through virtual interaction and 3D visualization technology to meet the needs of virtual training. It uses a physics engine and collision detection algorithm to detect collisions between parts during the disassembly and assembly process of the mechanical device body and to determine the rationality of the disassembly and assembly process. The online functional module development process is based on the overall framework of the mechanical device digital twin system. The system functions are decomposed into logical modules corresponding to physical entities, virtual models, twin data, and service applications. Based on the Unity3D engine, a project development environment is built, and the physics engine, rendering pipeline, and communication interface with external data sources are configured. In the engine environment, a component-based design pattern is adopted to develop independent functional packages that implement the 3D visualization, online simulation, fault prediction, and collision detection functions. Each functional package is integrated in the Unity project, and the module functions are tested and verified in a virtual environment by injecting the twin data. This establishes the online functional module development process.

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