CN109635367A - A kind of development machine three-dimensional simulation method, apparatus and system - Google Patents
A kind of development machine three-dimensional simulation method, apparatus and system Download PDFInfo
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Abstract
The present disclosure provides a kind of coal mine development machine three-dimensional simulation methods, apparatus and system, establish the threedimensional model of driving face and tunnel under earth coordinates；According to the own dimensions parameter of development machine, the threedimensional model of development machine is established；The spatial positional information and posture information for obtaining development machine, calculate coordinate of the cutterhead of development machine under earth coordinates；In the threedimensional model of the driving face and tunnel that have built up, according to development machine coordinate, development machine under earth coordinates coordinate under earth coordinates of azimuth, posture information and cutterhead, using the threedimensional model of development machine, the tunneling process of development machine is simulated in real time.
Description
Technical field
This disclosure relates to coal mine machinery field, and in particular to a kind of coal mine development machine three-dimensional simulation method, device and be
System.
Background technique
Development machine is the main construction equipment that coal mine down-hole tunnel carries out headwork, can be to carrying out on the working face of tunnel
Rock and the multiple functions such as the broken of coal cinder, loading, transhipment, and walking and water spray dedusting.
Currently, most of development machine remotely controlled is all based on video to realize, i.e., it is real-time by video camera
It checks driving face field condition, excavation operation is carried out by control development machine, the motion profile control including development machine, appearance
State adjustment, the cutting track control of cutterhead, cutting speed control etc..But due to development machine in tunneling process by dust shadow
It is not visible to ring video camera, causes drivage efficiency low；Simultaneously moved by camera control development machine, it is difficult to determine development machine and
The spatial position of cutterhead, artificial judgment range error are larger.
In conclusion driving face field condition is not visible when remotely controlling for development machine at present, development machine and cuts
The spatial position for cutting head is difficult to the problem of obtaining, still shortage effective solution scheme.
Summary of the invention
Driving face field condition is not visible when remotely controlling for current development machine, space of development machine and cutterhead
Position is difficult to the problem of obtaining, and present disclose provides a kind of coal mine development machine three-dimensional simulation methods, apparatus and system, passes through reality
When detection development machine the parameters such as posture, spatial position, establish threedimensional model simulate in real time driving face field condition and
The spatial position of development machine, cutterhead.
Technical solution used by the disclosure is:
A kind of coal mine development machine three-dimensional simulation method, method includes the following steps:
Establish the threedimensional model of driving face and tunnel under earth coordinates；
According to the own dimensions parameter of development machine, the threedimensional model of development machine is established；
The spatial positional information and posture information for obtaining development machine, calculate the cutterhead of development machine under earth coordinates
Coordinate；
In the threedimensional model of the driving face and tunnel that have built up, according to seat of the development machine under earth coordinates
Mark, the coordinate of the azimuth of development machine, posture information and cutterhead under earth coordinates, utilize the three-dimensional mould of development machine
Type simulates the tunneling process of development machine in real time.
Further, the method for building up of the threedimensional model of the driving face and tunnel under earth coordinates are as follows:
Attribute database and spatial database are established, the borehole data, 3D seismic data and object of driving face are obtained
Data are visited, and are stored into attribute database；Obtain the geographical distribution in physical prospecting area, the geographical location of drilling and lane height, lanewidth etc.
Data are stored into spatial database；
The mining engineering plan of driving face is determined according to the borehole data in attribute database；
Using ArcEngine three-dimensional control, and combine OpenGL technology, with mining engineering plan, attribute database and
Based on spatial database, the threedimensional model of driving face and tunnel under earth coordinates is established.
Further, the method for building up of the threedimensional model of the development machine are as follows:
Obtain the model of development machine, the tunnel of adaptation, main structural components model and each parameters of operating part, rotate angle with
And amplitude of fluctuation information；
It is used using the information of above-mentioned acquisition in conjunction with cutterhead, cantilever, shovel board, the type selecting of scrapper conveyor and arrangement
AutoCAD draws out the body part of development machine, cutting units, shovel board portion, conveying mechanism, walking mechanism and rear support mechanism respectively
Structure chart；
Pick is drawn out respectively using molding surface, solid modelling and the .net two dimension drawing in three-dimensional modeling according to structure chart
Into the three-dimensional entity model of Ji Ge mechanism.
Further, the calculation method of coordinate of the cutterhead of the development machine under earth coordinates are as follows:
Spatial positional information of the development machine in driving face tunnel is obtained, calculates development machine under earth coordinates
Coordinate；
Obtain the stroke information of each oil cylinder of the azimuth of development machine, posture information and development machine；
According to the stroke information of each oil cylinder of the azimuth of development machine, pose and development machine, development machine is calculated
Coordinate of the cutterhead under earth coordinates, and record the cutting track of cutterhead.
Further, further includes:
According to the cutting track of cutterhead, the threedimensional model in real-time update driving face and tunnel realizes that development machine exists
Three-dimensional simulation in driving face and tunnel.
A kind of coal mine development machine three-dimensional simulation device, the device include processor, memory and communication interface, the place
Reason device, the memory are connected with the communication interface communication bus；
The communication interface, for receiving spatial positional information, azimuth information, posture information and each oil of development machine
The stroke information of cylinder；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and executes coal mine as described above and uses
Development machine three-dimensional simulation method.
A kind of coal mine development machine three-dimensional simulation system, including coal mine development machine three-dimensional simulation device and data acquisition dress
It sets；
Coal mine is connect with development machine three-dimensional simulation device with data acquisition device, receives the driving that data acquisition device is sent
The spatial positional information of machine, azimuth, posture information and each oil cylinder stroke information, and execute coal mine as described above and use
Development machine three-dimensional simulation method.
Further, the data acquisition device include controller, positioning device, north finder, double-shaft tilt angle sensor and
The stroke sensor of telescopic oil cylinder is set, and the controller acquires development machine in driving face tunnel by positioning device
Spatial positional information, by north finder acquire development machine azimuth, pass through double-shaft tilt angle sensor acquire development machine position
Appearance information, the stroke information of each oil cylinder is measured by stroke sensor, and is uploaded to coal mine development machine three-dimensional simulation device.
The beneficial effect of the disclosure is:
(1) disclosure can be realized three-dimensional simulation of the development machine in driving face and tunnel, solve current driving
Driving face field condition is not visible when machine remotely controls, the spatial position of development machine and cutterhead is difficult to the problem of obtaining,
It lays a good foundation for the intelligent control of development machine；
(2) disclosure is using the coordinate under earth coordinates of threedimensional model, development machine of development machine, cutterhead in the earth
The azimuth of coordinate and development machine under coordinate system and posture information to simulate the tunneling process of development machine in real time, are dug simultaneously
It is final to realize development machine in heading driver into working face and the threedimensional model in tunnel also according to the cutting track real-time change of cutterhead
Make the three-dimensional simulation in face and tunnel.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is development machine three-dimensional simulation method flow chart；
Fig. 2 is development machine three-dimensional simulation apparatus structure block diagram；
Fig. 3 is development machine three-dimensional simulation system structure diagram.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
One or more embodiments provide a kind of coal mine development machine three-dimensional simulation method, as shown in Figure 1, this method packet
Include following steps:
Step S101 establishes the threedimensional model of driving face and tunnel under earth coordinates.
According to the mining engineering plan of driving face, borehole data, 3D seismic data and state properties, pick is established
Into working face and tunnel based on the threedimensional model under earth coordinates.
Wherein, mining engineering plan be reflection working seam or exploitation be layered in mining operation status and schedule of extraction and development and
The comprehensive drawing of geologic information is most basic most important drawing in coal production construction；Coal mine mining engineering plan is
By the mining operation and geological condition in working seam or its layering, using the principle of projection with heights, ruler is drawn by a certain percentage
Made of drawing.Include interior having on figure: field with "nine squares" technological boundary line, it is in this coal seam and related neighbouring with this coal seam is exploited
Tunnel, back production area, the area Diu Mei or the cancellation area Huo Baosun, the position of permanent traverse point and bench mark explores and shows that coal seam is buried
Data, such as drilling and exploration line area, important digging security document, such as primer sector, pools zone, coal and gas outburst area, ground
Face essential industry building, residential block, railway etc.；Adjacent mine mining operation and geologic information other than the boundary of field with "nine squares" in 1OOm.
The borehole data of driving face treats what production zone was drilled, the borehole data packet of driving face
Include but be not limited to the data such as orientation, inclination angle, aperture or hole depth.The digging of coal mine can be determined according to the borehole data of driving face
Engineering plan.
3D seismic data is that a certain number of excitation points and receiving point are laid on driving face, and in headwork
Carry out what earthquake data acquisition obtained on face.
State properties are to be visited using electromagnetic instrument to the front of driving face, the left and right sides, top plate and bottom plate situation
The data measured.
In the step S101, the method for building up of the threedimensional model of driving face and tunnel under earth coordinates are as follows:
S1011 establishes attribute database and spatial database, obtains borehole data, the 3-D seismics number of driving face
According to and state properties, and store into attribute database；The geographical distribution in acquisition physical prospecting area, the geographical location of drilling and lane height,
The data such as lanewidth are stored into spatial database；
S1012 determines the mining engineering plan of driving face according to the borehole data in attribute database；
S1013 using ArcEngine three-dimensional control, and combines OpenGL technology, with mining engineering plan, attribute number
Based on library and spatial database, the threedimensional model of driving face and tunnel under earth coordinates is established.
S102 establishes the threedimensional model of development machine.
In the threedimensional model in the step S101 driving face having built up and tunnel, according to the own dimensions of development machine
Parameter establishes the threedimensional model of development machine.
The method for building up of the threedimensional model of the development machine are as follows:
The model of development machine, the tunnel of adaptation, main structure member pattern and each parameters of operating part are obtained, angle is rotated
And the information such as amplitude of fluctuation；
It is used using the information of above-mentioned acquisition in conjunction with the type selecting and arrangement of cutterhead, cantilever, shovel board, scrapper conveyor etc.
AutoCAD draws out the body part of development machine, cutting units, shovel board portion, conveying mechanism, walking mechanism and rear support mechanism respectively
Structure chart；
Pick is drawn out respectively using molding surface, solid modelling and the .net two dimension drawing in three-dimensional modeling according to structure chart
Into the three-dimensional entity model of Ji Ge mechanism.
Step S103 obtains the spatial positional information and posture information of development machine, calculates the cutterhead of development machine in the earth
Coordinate under coordinate system.
By the spatial positional information and posture information of real-time detection development machine, to calculate the cutterhead of development machine in the earth
Coordinate under coordinate system.The step S103 is realized in the following ways:
S1031 obtains spatial positional information of the development machine in driving face tunnel, calculates development machine in geodetic coordinates
Coordinate under system.
Spatial position of the development machine in driving face tunnel is accurately positioned by existing positioning device, is come
Obtain the location information of development machine.In at least one embodiment, by installing prism, positioning card, locator on development machine
Etc. modes spatial position of the development machine in driving face tunnel is accurately positioned, tunneling to obtain development machine
Spatial positional information in roadway workface.
According to spatial positional information of the obtained development machine in driving face tunnel, development machine is calculated in geodetic coordinates
Coordinate under system.
S1032 obtains the stroke letter of each oil cylinder of the azimuth of real-time development machine, posture information and development machine
Breath.
In at least one embodiment, the azimuth of development machine is measured by north finder, the azimuth of the development machine is pick
Into the angle of machine middle line and direct north.
In at least one embodiment, the posture information of development machine, the development machine are measured by double-shaft tilt angle sensor
Posture information include the pitch angle of development machine and the roll angle of development machine, wherein front-rear direction is the pitch angle of development machine, left
Right direction is the roll angle of development machine.
In at least one embodiment, the flexible of each oil cylinder is measured by the stroke sensor that oil cylinder each on development machine is installed
Amount.
S1033, according to the stroke information of each oil cylinder of the azimuth of real-time development machine, pose and development machine, meter
Coordinate of the cutterhead of real-time development machine under earth coordinates is calculated, and records the cutting track of cutterhead.
S104 simulates the tunneling process of development machine.
In the threedimensional model of the driving face and tunnel that have built up, according to seat of the development machine under earth coordinates
Mark, the coordinate of the azimuth of development machine, posture information and cutterhead under earth coordinates, utilize the three-dimensional mould of development machine
Type simulates the tunneling process of development machine in real time.
S105, according to the cutting track of cutterhead, the threedimensional model in real-time update driving face and tunnel realizes driving
Three-dimensional simulation of the machine in driving face and tunnel.
The local rock and coal cinder crossed due to cutterhead cutting can be fallen in shovel board of development machine portion, be transported by conveying mechanism
It walks, therefore, according to the cutting track of cutterhead, the threedimensional model in driving face and tunnel will be with variation, in headwork
Remove the rock and coal cinder that cutting is fallen in the threedimensional model in face and tunnel.
The development machine three-dimensional simulation method of coal mine disclosed in the present embodiment can be realized development machine in driving face and lane
Three-dimensional simulation in road solves not visible driving face field condition when current development machine remotely controls, development machine and cuts
The spatial position for cutting head is difficult to the problem of obtaining, and lays a good foundation for the intelligent control of development machine.
A kind of development machine three-dimensional simulation device is also provided in one or more embodiments, as shown in Fig. 2, the device includes
At least one processor 201, memory 202, peripheral device interface 203, input/output subsystem 204 and communication line 205.
In fig 2 it is indicated by arrows that communication and data transmission between can be carried out the constituent element of computer system, and it can benefit
It is realized with high-speed serial bus, parallel bus, storage area network and/or other communication technologys appropriate.
Memory 202 may include operating system 206 and development machine three-dimensional simulation routine 207.For example, memory 202 may include height
Fast random access memory, disk, static random access memory, dynamic random access memory, read-only memory, flash memory or
Non-voltile memory.
Peripheral device interface 203 can be by the input and/or output peripheral equipment of processor 201, also, input/output is sub
System 204 can combine a variety of input/output peripheral equipments with peripheral device interface 203.For example, input/output subsystem
204 may include display, keyboard, mouse, printer or as needed for by peripheral equipments such as positioning device, various sensors
With the controller that peripheral device interface 204 combines.
Communication line 205 can be communicated using at least one interface with other computer systems, such as with remote control system
System is communicated.
Development machine three can be performed by implementing the software module being stored in memory 202 or instruction set architecture in processor 201
Tie up the multiple functions of simulator and processing data.Processor 201 is structured to execute driving described in above method part
Machine three-dimensional simulation method.
A kind of development machine three-dimensional simulation of specific development machine three-dimensional simulation function is also provided in one or more embodiments
System, as shown in figure 3, the development machine cutting control system includes: primary processor 301 and data acquisition device 302.
The primary processor 301 is above-mentioned development machine three-dimensional simulation device, receives the driving that data acquisition device uploads
The spatial positional information of machine, azimuth, posture information and each oil cylinder stroke information, and execute following steps:
Establish the threedimensional model of driving face and tunnel under earth coordinates；
According to the own dimensions parameter of development machine, the threedimensional model of development machine is established；
The spatial positional information and posture information for obtaining development machine, calculate the cutterhead of development machine under earth coordinates
Coordinate；
In the threedimensional model of the driving face and tunnel that have built up, according to seat of the development machine under earth coordinates
Mark, the coordinate of the azimuth of development machine, posture information and cutterhead under earth coordinates, utilize the three-dimensional mould of development machine
Type simulates the tunneling process of development machine in real time.
The data acquisition device 302 includes that controller, positioning device, north finder, double-shaft tilt angle sensor and setting exist
The stroke sensor of telescopic oil cylinder, the controller acquire space of the development machine in driving face tunnel by positioning device
Location information acquires the azimuth of development machine by north finder, and the posture information of development machine is acquired by double-shaft tilt angle sensor,
The stroke information of each oil cylinder is measured by stroke sensor, and coal mine development machine three-dimensional simulation dress is uploaded to by network
It sets.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of coal mine development machine three-dimensional simulation method, characterized in that method includes the following steps:
Establish the threedimensional model of driving face and tunnel under earth coordinates；
According to the own dimensions parameter of development machine, the threedimensional model of development machine is established；
The spatial positional information and posture information for obtaining development machine, calculate seat of the cutterhead of development machine under earth coordinates
Mark；
In the threedimensional model of the driving face and tunnel that have built up, according to coordinate of the development machine under earth coordinates,
Coordinate of azimuth, posture information and the cutterhead of development machine under earth coordinates, it is real using the threedimensional model of development machine
When simulate development machine tunneling process.
2. coal mine according to claim 1 development machine three-dimensional simulation method, characterized in that the driving face and lane
The method for building up of threedimensional model of the road under earth coordinates are as follows:
Attribute database and spatial database are established, the borehole data, 3D seismic data and physical prospecting number of driving face are obtained
According to, and store into attribute database；The geographical distribution in physical prospecting area, the geographical location of drilling and lane height, lanewidth data are obtained, is deposited
It stores up in spatial database；
The mining engineering plan of driving face is determined according to the borehole data in attribute database；
Using ArcEngine three-dimensional control, and OpenGL technology is combined, with mining engineering plan, attribute database and space
Based on database, the threedimensional model of driving face and tunnel under earth coordinates is established.
3. coal mine according to claim 1 development machine three-dimensional simulation method, characterized in that the three-dimensional mould of the development machine
The method for building up of type are as follows:
The model of development machine, the tunnel of adaptation, main structural components model and each parameters of operating part are obtained, angle and pendulum are rotated
Dynamic amplitude information；
It is used using the information of above-mentioned acquisition in conjunction with cutterhead, cantilever, shovel board, the type selecting of scrapper conveyor and arrangement
AutoCAD draws out the body part of development machine, cutting units, shovel board portion, conveying mechanism, walking mechanism and rear support mechanism respectively
Structure chart；
Development machine is drawn out respectively using molding surface, solid modelling and the .net two dimension drawing in three-dimensional modeling according to structure chart
The three-dimensional entity model of each mechanism.
4. coal mine according to claim 1 development machine three-dimensional simulation method, characterized in that the cutterhead of the development machine
The calculation method of coordinate under earth coordinates are as follows:
Spatial positional information of the development machine in driving face tunnel is obtained, seat of the development machine under earth coordinates is calculated
Mark；
Obtain the stroke information of each oil cylinder of the azimuth of development machine, posture information and development machine；
According to the stroke information of each oil cylinder of the azimuth of development machine, pose and development machine, the cutting of development machine is calculated
Coordinate of the head under earth coordinates, and record the cutting track of cutterhead.
5. coal mine according to claim 1 development machine three-dimensional simulation method, characterized in that the simulation development machine is being dug
Include: into the step of tunneling process in working face and tunnel
In the threedimensional model of the driving face and tunnel that have built up, according to coordinate of the development machine under earth coordinates,
Coordinate of azimuth, posture information and the cutterhead of development machine under earth coordinates, it is real using the threedimensional model of development machine
When simulate tunneling process of the development machine in driving face and tunnel.
6. coal mine according to claim 1 development machine three-dimensional simulation method, characterized in that further include:
According to the cutting track of cutterhead, the threedimensional model in real-time update driving face and tunnel realizes that development machine is tunneling
Three-dimensional simulation in working face and tunnel.
7. a kind of coal mine development machine three-dimensional simulation device, characterized in that described including processor, memory and communication interface
Processor, the memory are connected with the communication interface communication bus；
The communication interface, for receiving the spatial positional information of development machine, azimuth information, posture information and each oil cylinder
Stroke information；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and is executed as any in claim 1 to 6
Method described in.
8. a kind of coal mine development machine three-dimensional simulation system, characterized in that including device as claimed in claim 7, further includes: number
According to acquisition device；
Device according to any one of claims 8 is connect with data acquisition device, receives the space for the development machine that data acquisition device is sent
Location information, azimuth, posture information and each oil cylinder stroke information, and execute such as any one of claims 1 to 6 institute
The method stated.
9. coal mine according to claim 8 development machine three-dimensional simulation system, characterized in that the data acquisition device packet
Include controller, positioning device, north finder, double-shaft tilt angle sensor and the stroke sensor that telescopic oil cylinder is set, the control
Device acquires spatial positional information of the development machine in driving face tunnel by positioning device, acquires development machine by north finder
Azimuth, by double-shaft tilt angle sensor acquire development machine posture information, stretching for each oil cylinder is measured by stroke sensor
Contracting amount information, and it is uploaded to coal mine development machine three-dimensional simulation device.
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| CN201811399939.4A CN109635367A (en) | 2018-11-22 | 2018-11-22 | A kind of development machine three-dimensional simulation method, apparatus and system |
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| CN201811399939.4A CN109635367A (en) | 2018-11-22 | 2018-11-22 | A kind of development machine three-dimensional simulation method, apparatus and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110532995A (en) * | 2019-09-04 | 2019-12-03 | 精英数智科技股份有限公司 | Tunnelling monitoring method based on computer vision, apparatus and system |
| CN113722866A (en) * | 2021-07-16 | 2021-11-30 | 陕煤集团神木张家峁矿业有限公司 | Method and device for updating tunneling roadway space topological network model |
| CN114120785A (en) * | 2021-11-02 | 2022-03-01 | 北京龙软科技股份有限公司 | Coupling system of coal mine tunneling equipment, geological model and roadway design model |
| CN115163107A (en) * | 2022-09-05 | 2022-10-11 | 三一重型装备有限公司 | Cutting arm control method and device, heading machine and heading machine control system |
| CN117780346A (en) * | 2024-02-23 | 2024-03-29 | 太原矿机物联科技有限公司 | Remote coal machine control method based on 3D visual model |
| CN118015235A (en) * | 2024-04-08 | 2024-05-10 | 煤炭科学研究总院有限公司 | Digital twinning-based coal wall model updating method and device and electronic equipment |
-
2018
- 2018-11-22 CN CN201811399939.4A patent/CN109635367A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110532995A (en) * | 2019-09-04 | 2019-12-03 | 精英数智科技股份有限公司 | Tunnelling monitoring method based on computer vision, apparatus and system |
| CN113722866A (en) * | 2021-07-16 | 2021-11-30 | 陕煤集团神木张家峁矿业有限公司 | Method and device for updating tunneling roadway space topological network model |
| CN113722866B (en) * | 2021-07-16 | 2024-04-30 | 陕煤集团神木张家峁矿业有限公司 | Method and device for updating tunneling roadway space topology network model |
| CN114120785A (en) * | 2021-11-02 | 2022-03-01 | 北京龙软科技股份有限公司 | Coupling system of coal mine tunneling equipment, geological model and roadway design model |
| CN114120785B (en) * | 2021-11-02 | 2023-08-08 | 北京龙软科技股份有限公司 | Coupling system of coal mine tunneling equipment and geological model and roadway design model |
| CN115163107A (en) * | 2022-09-05 | 2022-10-11 | 三一重型装备有限公司 | Cutting arm control method and device, heading machine and heading machine control system |
| CN117780346A (en) * | 2024-02-23 | 2024-03-29 | 太原矿机物联科技有限公司 | Remote coal machine control method based on 3D visual model |
| CN117780346B (en) * | 2024-02-23 | 2024-05-24 | 太原矿机物联科技有限公司 | Remote coal machine control method based on 3D visual model |
| CN118015235A (en) * | 2024-04-08 | 2024-05-10 | 煤炭科学研究总院有限公司 | Digital twinning-based coal wall model updating method and device and electronic equipment |
| CN118015235B (en) * | 2024-04-08 | 2024-07-19 | 煤炭科学研究总院有限公司 | Digital twinning-based coal wall model updating method and device and electronic equipment |
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