A 3D Simulation Method for Open-Pit Mine Bucket Wheel Excavator Coal Mining Based on Dynamic Point Cloud Update

Abstract

This invention discloses a three-dimensional simulation method for open-pit mine bucket wheel excavator coal mining based on dynamic point cloud updates. The method includes: acquiring point cloud data of the coal pile on the open-pit mine surface and constructing a coal pile point cloud model in a three-dimensional simulation scene; generating supplementary point clouds within the coal pile point cloud model based on its spatial distribution characteristics; loading a three-dimensional model of the bucket wheel excavator into the three-dimensional simulation scene to determine the spatial movement range of the bucket wheel during the coal mining process; and detecting the spatial positional relationship between the spatial movement range and the coal pile point cloud to characterize the coal mining process of the bucket wheel excavator on the coal pile. This provides more realistic and reliable high-precision three-dimensional simulation support for applications such as open-pit mine coal mining process simulation, operation training, and digital twin mines.

Description

Technical Field

[0001] This invention relates to the field of heavy machinery engineering technology, and in particular to a three-dimensional simulation method for open-pit mine bucket wheel excavators based on dynamic point cloud updates. Background Technology

[0002] As large-scale continuous mining equipment, open-pit bucket wheel excavators are characterized by complex structures, large ranges of motion, and significant dynamic changes in coal pile morphology. Existing open-pit mining simulation systems often use regular geometric models or voxels to model coal piles, resulting in highly static models that fail to reflect the continuous changes in coal pile morphology during actual mining. Furthermore, their excavation animations often employ texture replacement or overall model scaling, lacking realistic local reduction effects and severely compromising simulation realism. In addition, when using point clouds to model coal piles, limitations in scanning technology mean that the resulting models typically only contain surface point clouds. This easily leads to internal hollowing-out phenomena during local reduction simulations, severely impacting the coherence of visual presentation and the rationality of subsequent volume calculations. Therefore, the field of digital mining and industrial simulation urgently needs a simulation method that can combine real-time point cloud data to realistically and stably simulate bucket wheel excavator mining and the dynamic, continuous changes in coal pile morphology within a 3D scene. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a three-dimensional simulation method for open-pit mine bucket wheel excavator coal mining based on dynamic point cloud updates. Specifically, the method includes: acquiring point cloud data of the coal pile on the surface of the open-pit mine and constructing a coal pile point cloud model in a three-dimensional simulation scene; and generating supplementary point clouds within the coal pile point cloud model based on the spatial distribution characteristics of the coal pile point cloud model to construct a coal pile point cloud body with continuous volume characteristics. A 3D model of a bucket wheel excavator is loaded into the 3D simulation scene, and the spatial movement range of the bucket wheel during the coal mining process is determined based on the operating state of the 3D model of the bucket wheel excavator. The spatial positional relationship between the spatial movement range and the coal pile point cloud is detected. If an overlapping area is detected between the spatial movement range and the coal pile point cloud, the point cloud data in the coal pile point cloud located in the overlapping area is updated to characterize the coal mining process of the bucket wheel excavator on the coal pile.

[0004] Furthermore, the acquisition of point cloud data of open-pit coal piles includes: acquiring raw point cloud data through a scanning device; performing coordinate unification processing and noise filtering processing on the raw point cloud data to obtain point cloud data characterizing the surface morphology of the open-pit coal piles.

[0005] Furthermore, the step of generating a supplementary point cloud within the coal pile point cloud model based on the spatial distribution characteristics of the coal pile point cloud model includes: extracting the surface contour features of the coal pile point cloud model; and generating the supplementary point cloud within the internal space enclosed by the coal pile point cloud model based on the surface contour features, so as to avoid internal missing phenomena in the coal pile point cloud body when performing the update process.

[0006] Furthermore, determining the spatial movement range of the bucket wheel during coal mining based on the operating state of the bucket wheel excavator's three-dimensional model includes: acquiring the real-time operating parameters of the bucket wheel excavator's three-dimensional model; calculating the real-time spatial pose of the bucket wheel based on the real-time operating parameters and a preset kinematic model; calculating the bounding box corresponding to the bucket wheel based on the real-time spatial pose; and determining the volume region swept by the bounding box within a set time step as the spatial movement range.

[0007] Furthermore, detecting the spatial positional relationship between the spatial motion range and the coal pile cloud includes: acquiring the coordinate information of each three-dimensional data point in the coal pile cloud; The coordinate information of each of the three-dimensional data points is used to perform spatial intersection detection with the boundary of the spatial movement range; if there are three-dimensional data points located inside the spatial movement range, it is determined that the spatial movement range and the coal pile cloud have an overlapping area.

[0008] Furthermore, the step of updating the point cloud data in the coal pile point cloud body located within the overlapping area includes: deleting the three-dimensional data points located within the overlapping area; and re-rendering the coal pile point cloud body after deleting the three-dimensional data points in the three-dimensional simulation scene to form a local reduction section.

[0009] Furthermore, after deleting the three-dimensional data points located within the overlapping area, the method further includes: exposing the supplementary point cloud located inside the coal pile point cloud body at the local cut-off section, so as to maintain the volume continuity of the coal pile point cloud body in the three-dimensional simulation scene.

[0010] Furthermore, after detecting the spatial positional relationship between the spatial movement range and the coal pile point cloud, the method further includes: if no overlapping area is detected between the spatial movement range and the coal pile point cloud, the coal pile point cloud remains unchanged, and the bucket wheel excavator three-dimensional model continues to move.

[0011] Furthermore, the method also includes: cyclically executing the steps of determining the spatial movement range of the bucket wheel during the coal mining process, detecting the spatial positional relationship between the spatial movement range and the coal pile point cloud, and the update processing, so that the coal pile point cloud is continuously updated with the coal mining process, thereby realizing the dynamic change of the coal pile shape in the three-dimensional simulation scene.

[0012] Furthermore, the method also includes: acquiring real-time point cloud data of the open-pit mine surface coal pile according to a preset sampling period; and globally updating the coal pile point cloud in the three-dimensional simulation scene based on the real-time point cloud data to maintain the fit between the coal pile point cloud and the actual coal pile shape on site.

[0013] In summary, the three-dimensional simulation method for open-pit mine bucket wheel excavator coal mining based on dynamic point cloud updates provided by this invention acquires coal pile point cloud data according to a preset sampling period, enabling the coal pile model in the three-dimensional scene to closely match the real site. Furthermore, addressing the defect of traditional surface point cloud modeling that easily results in internal hollowing during simulation reduction, this invention innovatively generates supplementary point clouds in the direction of the coal pile's interior, constructing a solid coal pile point cloud body with continuous volume characteristics. This effectively avoids the problem of hollowing or faulting of the coal pile during simulation, significantly improving the visual presentation effect and the rationality of subsequent volume calculations. In addition, based on the spatial intersection detection between the bucket wheel's spatial movement range and the coal pile point cloud body, this invention dynamically drives the deletion and updating of point clouds within the target overlapping area. This not only achieves refined and localized coal mining reduction animation effects but also ensures the continuous change of the coal pile shape and the high consistency of the bucket wheel excavator's coal mining actions. Therefore, it provides more realistic and reliable high-precision three-dimensional simulation support for applications such as open-pit mine coal mining process simulation, operation training, and digital twin mines. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 This is a flowchart provided in an exemplary embodiment of the present invention; Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, 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.

[0017] This embodiment provides a three-dimensional simulation method for open-pit mine bucket wheel excavator coal mining based on dynamic point cloud updates, including: Step S10: Obtain point cloud data of the coal pile on the surface of the open-pit mine, and construct a coal pile point cloud model in a three-dimensional simulation scene; based on the spatial distribution characteristics of the coal pile point cloud model, generate supplementary point clouds inside the coal pile point cloud model to construct a coal pile point cloud body with continuous volume characteristics. Step S20: Load the three-dimensional model of the bucket wheel excavator into the three-dimensional simulation scene, and determine the spatial movement range of the bucket wheel during the coal mining process based on the operating state of the three-dimensional model of the bucket wheel excavator; Step S30: Detect the spatial positional relationship between the spatial motion range and the coal pile point cloud; Step S40: If an overlapping area is detected between the spatial motion range and the coal pile point cloud, the point cloud data in the coal pile point cloud located within the overlapping area is updated to characterize the coal mining process of the bucket wheel excavator on the coal pile.

[0018] Specifically, the system acquires raw point cloud data of the open-pit mine operation site using on-site scanning equipment (such as lidar). Since the raw point cloud data typically contains environmental noise and has an independent coordinate system, the system needs to perform coordinate unification and noise filtering on this raw point cloud data to obtain the point cloud data of the coal pile on the open-pit mine surface. Subsequently, the processed surface point cloud data is mapped to the global coordinate system, and an initial coal pile point cloud model is constructed in the 3D simulation scene. Through this method, a 3D dynamic simulation effect that highly aligns the coal mining process with equipment movement is achieved. Simultaneously, an innovative internal point cloud generation mechanism fundamentally solves the problem of internal hollowing that easily occurs in the surface point cloud model during simulation reduction, ensuring the constructed coal pile model has volume continuity and significantly improving the realism and engineering applicability of the coal mining simulation.

[0019] In some embodiments, acquiring point cloud data of open-pit coal piles includes: Raw point cloud data is acquired using a scanning device; The original point cloud data is subjected to coordinate unification processing and noise filtering processing to obtain the point cloud data characterizing the surface morphology of the coal pile in the open-pit mine.

[0020] By unifying the coordinates and filtering the noise from the raw data obtained by scanning, interference noise in the field environment was eliminated, and the data was unified to the global coordinate system, thus providing an accurate, clean, and spatially consistent data foundation for the subsequent construction of a high-precision coal pile point cloud model.

[0021] In some embodiments, generating a supplementary point cloud within the coal pile point cloud model based on the spatial distribution characteristics of the coal pile point cloud model includes: Extract the surface contour features of the coal pile point cloud model; Based on the surface contour features, the supplementary point cloud is generated in the internal space enclosed by the coal pile point cloud model to avoid internal missingness in the coal pile point cloud body when performing the update process.

[0022] In practical applications, due to the limited detection angle of scanning equipment, only surface data is often acquired. To address the issue of missing internal data in coal pile point cloud models due to their surface point cloud composition, this step generates supplementary point clouds within the coal pile based on its spatial distribution characteristics. Specifically, the system extracts the surface contour features of the initial coal pile point cloud model and generates a three-dimensional spatial grid of points within its enclosed space at a preset resolution, serving as supplementary point clouds. This process transforms the coal pile point cloud model into a solid point cloud with continuous volume characteristics, preventing hollow or discontinuous phenomena in the coal pile and effectively avoiding hollow or faulty coal piles during coal mining simulation.

[0023] By fully utilizing the surface contour features of the initial coal pile for internal grid filling, the missing internal data due to limitations in the scanning equipment's field of view was accurately filled in. This mechanism effectively avoids hollow or discontinuous faults in the coal pile during subsequent local reduction simulations, ensuring the integrity of the model's solid structure in three-dimensional space.

[0024] In some embodiments, determining the spatial movement range of the bucket wheel during coal mining based on the operating state of the bucket wheel excavator's three-dimensional model includes: acquiring real-time operating parameters of the bucket wheel excavator's three-dimensional model; calculating the real-time spatial pose of the bucket wheel based on the real-time operating parameters and a preset kinematic model; calculating the bounding box corresponding to the bucket wheel based on the real-time spatial pose; and determining the volume region formed by the bounding box sweeping within a set time step as the spatial movement range.

[0025] A 3D model of a bucket wheel excavator is loaded into the 3D simulation scene. The system acquires the operating parameters of each moving component in the bucket wheel excavator model in real time (such as the slewing angle, cantilever pitch angle, and displacement of the traveling mechanism). The spatial movement range of the bucket wheel during the coal mining process is determined based on the operating status of the bucket wheel excavator. In terms of specific algorithms, the real-time spatial pose of the bucket wheel is calculated based on the forward kinematics model of the bucket wheel excavator, and a bounding box formed by the sweeping of the bucket wheel within a specific time step is generated accordingly. The volume area occupied by this bounding box is determined as the spatial movement range of the bucket wheel. The complex mechanical motions (slewing, pitching, traveling, etc.) of the bucket wheel excavator in the physical world are accurately mapped to the sweeping bounding box in the 3D simulation scene. Through real-time calculation of the forward kinematics model, the precise spatial volume range in which the bucket wheel may physically cut the coal pile at any time is strictly defined, providing a high-precision mathematical calculation benchmark for subsequent collision and update.

[0026] In some embodiments, detecting the spatial positional relationship between the spatial motion range and the coal pile point cloud includes: Obtain the coordinate information of each three-dimensional data point in the coal pile cloud; The coordinate information of each of the three-dimensional data points is used to perform spatial intersection detection with the boundary of the spatial motion range; If any of the three-dimensional data points are located within the spatial movement range, then it is determined that the spatial movement range and the coal pile cloud have an overlapping area.

[0027] In a 3D simulation scenario, the spatial positional relationship between the bucket wheel's spatial motion range and the coal pile point cloud model is obtained. In specific implementation, the system extracts the coordinate information of each 3D data point in the coal pile point cloud and performs bucket wheel-coal pile intersection detection, that is, determines whether these 3D data points fall within the geometric boundary of the bucket wheel's spatial motion range.

[0028] By performing parallel detection of massive amounts of 3D data point coordinates and bounding box boundaries, the specific area actually being cut by the bucket wheel excavator can be quickly located, thereby supporting the realization of refined and localized coal mining animation effects.

[0029] In some embodiments, updating the point cloud data in the coal pile point cloud body located within the overlapping region includes: The three-dimensional data points located within the overlapping area are deleted; In the three-dimensional simulation scene, the coal pile cloud after deleting the three-dimensional data points is re-rendered to form a local reduction section.

[0030] When an overlap is detected, the corresponding coal pile point cloud is updated to represent the coal mining process of the bucket wheel excavator. Specifically, once an intersection is detected, the intersection point is deleted in the 3D scene, that is, the 3D data points located in the overlapping area are hidden or completely removed, and the coal pile model is updated. Since the internal point cloud completion algorithm has been completed in the previous steps, when the surface data points are stripped away, the system will naturally expose the supplementary point cloud located inside, thus forming a realistic local cut-off section and maintaining visual and volumetric continuity. If no overlap is detected, the coal pile point cloud remains unchanged, and the bucket wheel excavator continues to move in the scene.

[0031] By directly performing point cloud data-level deletion and re-rendering within the overlapping area, the physical stripping process of the bucket wheel excavator's cutting teeth cutting the coal pile is realistically reproduced, making the local reduction effect more consistent with actual operation performance.

[0032] In some embodiments, after deleting the three-dimensional data points located within the overlapping region, the method further includes: The supplementary point cloud located inside the coal pile point cloud body at the local cut section is exposed to maintain the volumetric continuity of the coal pile point cloud body in the three-dimensional simulation scene.

[0033] After the surface 3D data points are simulated and removed, the pre-generated supplementary point cloud inside is naturally exposed, forming a local cut-off section with a realistic cross-sectional texture. This maintains a high degree of rationality and continuity in both visual presentation and subsequent volume calculation based on the point cloud.

[0034] In some embodiments, after detecting the spatial positional relationship between the spatial motion range and the coal pile point cloud, the method further includes: If no overlapping area is detected between the spatial movement range and the coal pile point cloud, the coal pile point cloud remains unchanged, and the bucket wheel excavator three-dimensional model continues to move.

[0035] When the bucket wheel excavator is in an idling or relocation state where it is not actually in contact with the coal pile, invalid model update calculations are avoided. This ensures the rigor of the simulation logic while effectively saving the system's computational resources. In some embodiments, the method further includes: The steps of determining the spatial movement range of the bucket wheel during the coal mining process, detecting the spatial positional relationship between the spatial movement range and the coal pile cloud, and updating the process are performed cyclically according to the coal mining process. This allows the coal pile point cloud to be continuously updated during the coal mining process, thereby realizing the dynamic change of the coal pile shape in the three-dimensional simulation scene.

[0036] By performing high-frequency iterative loops at a set time step, discrete single intersection detection and deletion actions are connected into a continuous animation stream on the time axis. This perfectly reproduces the dynamic and continuous change process of the coal pile morphology gradually decreasing with the excavation action during the 3D simulation. In some embodiments, the method further includes: Real-time point cloud data of the open-pit mine surface coal pile is acquired according to a preset sampling period; The point cloud of the coal pile in the three-dimensional simulation scene is globally updated based on the real-time point cloud data to maintain the consistency between the point cloud of the coal pile and the actual shape of the coal pile on site.

[0037] For components that are functionally identical or similar, existing mature devices can be used for replacement, and the implementation method is not limited to the structure shown in this specification.

[0038] The present invention can also be implemented in the form of software, hardware, or a combination of software and hardware; wherein the software can be stored in a computer-readable medium and executed by a processor to perform the corresponding function.

[0039] Applicable computer-readable media include, but are not limited to, hard disks, flash memory, read-only memory (ROM), random access memory (RAM), and other media capable of storing program code.

[0040] The execution order of the steps described in the flowchart or logic block diagram can be adjusted or parallelized as needed, provided that it does not affect the implementation of the function.

[0041] The accompanying drawings referenced in this specification are for illustrative purposes only. Their dimensions, scale, or colors may be adjusted according to actual production needs. The reference numerals in the drawings should not be construed as limiting the scope of protection.

[0042] All the technical features disclosed in this invention can be combined in any way to form an interactive or collaborative structure, as long as the combination does not contradict each other or conflict with the technology.

[0043] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope of protection claimed by the present invention.

Claims

1. A three-dimensional simulation method for open-pit mine bucket wheel excavator coal mining based on dynamic point cloud updates, characterized in that, include: Obtain point cloud data of coal piles on the surface of open-pit mines and construct a point cloud model of the coal piles in a 3D simulation scene; Based on the spatial distribution characteristics of the coal pile point cloud model, a supplementary point cloud is generated inside the coal pile point cloud model to construct a coal pile point cloud body with continuous volume characteristics. A three-dimensional model of a bucket wheel excavator is loaded into the three-dimensional simulation scene, and the spatial movement range of the bucket wheel during the coal mining process is determined based on the operating state of the three-dimensional model of the bucket wheel excavator. Detect the spatial positional relationship between the spatial motion range and the coal pile cloud; If an overlapping area is detected between the spatial motion range and the coal pile point cloud, the point cloud data in the coal pile point cloud located within the overlapping area is updated to characterize the coal mining process of the bucket wheel excavator on the coal pile.

2. The method according to claim 1, characterized in that, The acquisition of point cloud data of open-pit coal piles includes: Raw point cloud data is acquired using a scanning device; The original point cloud data is subjected to coordinate unification processing and noise filtering processing to obtain the point cloud data characterizing the surface morphology of the coal pile in the open-pit mine.

3. The method according to claim 1, characterized in that, The step of generating a supplementary point cloud within the coal pile point cloud model based on the spatial distribution characteristics of the coal pile point cloud model includes: Extract the surface contour features of the coal pile point cloud model; Based on the surface contour features, the supplementary point cloud is generated in the internal space enclosed by the coal pile point cloud model to avoid internal missingness in the coal pile point cloud body when performing the update process.

4. The method according to claim 1, characterized in that, The step of determining the spatial movement range of the bucket wheel during coal mining based on the operating status of the bucket wheel excavator's three-dimensional model includes: acquiring the real-time operating parameters of the bucket wheel excavator's three-dimensional model; calculating the real-time spatial pose of the bucket wheel based on the real-time operating parameters and a preset kinematic model; calculating the bounding box corresponding to the bucket wheel based on the real-time spatial pose; and determining the volume region formed by the bounding box sweeping within a set time step as the spatial movement range.

5. The method according to claim 1, characterized in that, The detection of the spatial positional relationship between the spatial motion range and the coal pile point cloud includes: Obtain the coordinate information of each three-dimensional data point in the coal pile cloud; The coordinate information of each of the three-dimensional data points is used to perform spatial intersection detection with the boundary of the spatial motion range; If any of the three-dimensional data points are located within the spatial motion range, then it is determined that the spatial motion range and the coal pile cloud have an overlapping area.

6. The method according to claim 1 or 5, characterized in that, The step of updating the point cloud data in the coal pile point cloud body located within the overlapping area includes: The three-dimensional data points located within the overlapping area are deleted; In the three-dimensional simulation scene, the coal pile point cloud after deleting the three-dimensional data points is re-rendered to form a local reduction section.

7. The method according to claim 6, characterized in that, After deleting the three-dimensional data points located within the overlapping area, the method further includes: The supplementary point cloud located inside the coal pile point cloud body at the local cut section is exposed to maintain the volumetric continuity of the coal pile point cloud body in the three-dimensional simulation scene.

8. The method according to claim 1, characterized in that, After detecting the spatial positional relationship between the spatial motion range and the coal pile point cloud, the method further includes: If no overlapping area is detected between the spatial movement range and the coal pile point cloud, the coal pile point cloud remains unchanged, and the bucket wheel excavator three-dimensional model continues to move.

9. The method according to claim 1, characterized in that, The method further includes: The steps of determining the spatial movement range of the bucket wheel during the coal mining process, detecting the spatial positional relationship between the spatial movement range and the coal pile cloud, and updating the process are performed cyclically according to the coal mining process. This allows the coal pile point cloud to be continuously updated during the coal mining process, thereby realizing the dynamic change of the coal pile shape in the three-dimensional simulation scene.

10. The method according to claim 1, characterized in that, The method further includes: Real-time point cloud data of the open-pit mine surface coal pile is acquired according to a preset sampling period; The point cloud of the coal pile in the three-dimensional simulation scene is globally updated based on the real-time point cloud data to maintain the consistency between the point cloud of the coal pile and the actual shape of the coal pile on site.

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