CN116109774A - Simulation method for real-time deformation of coal wall in three-dimensional engine - Google Patents
Simulation method for real-time deformation of coal wall in three-dimensional engine Download PDFInfo
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Abstract
The invention provides a simulation method for real-time deformation of a coal wall in a three-dimensional engine, belonging to the technical field of simulation of deformation of the coal wall; the problems of coarse effect, high computer power consumption and poor simulation effect on the deformation of the fine coal wall existing in the conventional coal mine simulation demonstration or simulation are solved; the method comprises the following steps: scene dynamic loading: comprising the following steps: space division and shielding elimination; simulation of deformation of coal cutting wall of coal cutter: comprising the following steps: sampling a coal cutter roller, sampling data based on an equipment model, and sampling data of direct contact between a coal cutter roller part and a coal wall; sampling the vertices of the coal wall, asynchronously traversing all vertex points of the coal wall for storage when the coal wall is loaded for the first time, searching an interaction area on the coal wall through sampling points of a roller after all sample points are input, and pushing and deforming grids of a contact point according to the gesture of a coal mining machine when the threshold is reached; the invention is applied to the simulation of the coal wall morphology.
Description
Technical Field
The invention provides a simulation method for real-time deformation of a coal wall in a three-dimensional engine, and belongs to the technical field of simulation of deformation of a coal wall of a mine.
Background
At present, animation is mostly adopted in simulation demonstration of coal mines, but in digital twinning, deformation effects generated by coal walls during coal cutting of coal mining machines are mostly demonstrated by directly digging holes on mesh surfaces in the whole working exploitation flow and process demonstration and process backtracking of the coal mines, and the simulation demonstration is relatively coarse. But the relatively fine coal wall deformation effects have not been a relatively sophisticated solution.
At present, the simulation of the digital twin content related to the fully mechanized coal mining face and the deformation of the coal wall is always blank. In the three-dimensional engine Unity3D, the number of models in a resistance source scene with the largest morphological change of the restored coal wall is overlarge, and simultaneously, larger calculation force is consumed for real-time synchronization, rendering and real-time data of the underground state.
The general solution for grid deformation in the current three-dimensional engine is basically to control the movement of the mesh vertexes, and the finer the precision of the grid is, the higher the reduction degree of the deformation effect is. But the number of high precision grids can place a significant computational load. In digital twin simulation of coal mines, high computational effort is occupied by mechanical equipment, rendering of coal wall environments and driving of real-time data, so that optimization efficiency is needed.
Disclosure of Invention
The invention provides a simulation method for real-time deformation of a coal wall in a three-dimensional engine, which aims to solve the problems of rough effect, high computer power consumption and poor simulation effect on the deformation of a fine coal wall in the conventional coal mine simulation demonstration or simulation.
In order to solve the technical problems, the invention adopts the following technical scheme: a simulation method for real-time deformation of a coal wall in a three-dimensional engine comprises the following steps:
s1: scene dynamic loading: comprising the following steps:
s1.1: space division: adopting an octree algorithm, performing space division on the scene based on the view angle when the scene is initially loaded, performing space retrieval according to the octree when the view angle changes, and updating the apparent and hidden states of equipment and the environment in the scene;
s1.2: shielding and removing: adopting a traditional LOD loading scene and removing a view cone;
s2: simulation of deformation of coal cutting wall of coal cutter: comprising the following steps:
s2.1: sampling a coal cutter roller, sampling data based on an equipment model, and sampling data of direct contact between a coal cutter roller part and a coal wall;
s2.2: sampling the vertices of the coal wall, asynchronously traversing all vertex points of the coal wall for storage during initial loading, searching an interaction area on the coal wall through sampling points of a roller after all sample points are recorded, and pushing and deforming grids of the contact point according to the gesture of the coal mining machine when the threshold value is reached.
The grid transition deformation in the step S2.2 comprises two steps of grid intermediate point deformation calculation and grid peripheral point deformation calculation.
The deformation calculation process of the grid peripheral points is as follows:
considering the vertex coordinates (x, y, z) on the triangular mesh as 3 independent scalar fields, each triangular sheet on the mesh has 3 independent gradient fields, the gradient fields change along with the movement of the control point set in the deformation process, and when a user drags the control point set on the mesh, the solving formula of the deformation of the peripheral points of the mesh is as follows:
in the above formula: phi is the coordinate after grid deformation to be solved, w is the gradient field after grid deformation, A is the triangle area, and omega is the definition domain;
according to the variational method, the Poisson equation is minimized, namely solved
The formula of the grid peripheral point deformation calculation can be further expressed as solving a sparse linear equation set:
LΦ＝b；
where L is the laplace operator of the mesh and b is the divergence value of the gradient field w at the mesh vertices.
The deformation calculation process of the grid intermediate points is as follows:
let f be a piecewise linear function, at each triangle { x } of the grid i ，x j ，x k At the vertex of } there is f (x) i )＝f i ，f(x j )＝f j ，f(x k )＝f k The value of f at each point on the triangle by linear interpolation is calculated as:
f(x)＝f i φ i +f j φ j +f k φ k ；
the gradient of f is as follows:
wherein the method comprises the steps of
The expression of (2) is: />
Sequentially calculating
Wherein t represents rotating the vector 90 degrees counterclockwise, a represents the area of the triangular plate;
setting a vector value function w: S-R 3 S represents a grid, R 3 Representing a mapping function of vertices to three-dimensional space, w representingVectors on each triangle, then w is at vertex x i The divergence at this point is defined as:
wherein T (x) i ) Representing vertex x i 1-ring neighborhood triangular plate of A T Representing the area of the triangular plate T;
substituting the gradient operator expression into the divergence operator expression to obtain the vertex x i Laplace operator expression at:
wherein N (x) i ) Representing the contact point x i 1-loop neighborhood point, alpha ij 、β ij And smoothing the grid vertexes for the opposite angles of the ij edges according to the Laplace operator expression at each vertex.
Compared with the prior art, the invention has the following beneficial effects: the method adopts a mode of combining multithreading and octree to make fields for scene resources to make zone rendering for the scenes, so that the rendering mode in a three-dimensional engine is optimized; the coal cutting deformation effect is optimized in a scene by adopting a mode of updating deformation mesh points in real time by using a quadtree, so that a coal wall deformation effect with relatively high simulation degree can be generated; the sampling and storage of the deformed coal wall grids improves the updating efficiency of the deformed coal wall grids.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a schematic diagram of spatial region division according to the present invention.
Detailed Description
1-2, in order to solve the problem of high consumption of computational power in the existing simulation of coal wall morphology by adopting a three-dimensional engine, an octree algorithm is introduced, and batch rendering of scenes is performed according to space region division, so that rendering pressure is reduced; and the coal wall deformation part is used for sampling the vertex vertexes of the coal wall, ignoring the axial value in the advancing direction, storing data according to the quadtree after traversing, updating the pose of the coal mining equipment, and performing deformation processing on the grid vertex list of the deformation part based on the acquisition area of the coal mining equipment.
The simulation method of the destructible terrain in the three-dimensional engine provided by the invention is a simulation effect for simulating deformation of a coal wall when a coal cutter cuts coal, and the flow chart of the method is shown in figure 1, and the main steps are as follows:
01 For rendering of mechanical equipment and environment, splitting into two directions for efficiency optimization. Firstly, traditional LOD loading and view cone rejection are utilized, and secondly, when the scene is initially loaded, space division is carried out on the scene based on the view angle by utilizing an octree algorithm. When the visual angle changes, the display state of the equipment and the environment in the scene is updated according to the octree for space retrieval. The schematic diagram of space region division is shown in fig. 2, white is an object displayed in the view angle region in fig. 2, black is a hidden problem, black outside the triangle region is a view cone removing part, objects inside the view angle region can be highlighted, objects outside or far from the view angle region are subjected to blurring or removing processing, and too much calculation power is not occupied.
02 Simulation of deformation of coal cutting wall of coal cutter
a) Sampling a coal cutter roller, sampling data based on an equipment model, and sampling the data of the coal cutter roller part which is in direct contact with a coal wall;
b) Sampling the vertex of the coal wall, and asynchronously traversing all vertex points of the coal wall for storage during initial loading. The data model of the coal cutter for cutting coal can be simplified to operate and update data in two dimensions. After all sample points are input, the interaction area on the coal wall is searched through the sampling points of the roller, and when the threshold value is reached, namely, the roller is contacted with the coal wall in the coal mining advancing direction, the grid of the contact point is pushed and deformed according to the posture of the coal mining machine.
The calculation of the grid deformation in the invention comprises two parts, namely the deformation calculation of the peripheral points of the grid and the deformation calculation of the middle points of the grid.
Wherein the deformation of the grid peripheral points is calculated as follows: considering the vertex coordinates (x, y, z) on a triangular mesh as 3 independent scalar fields, then there are 3 independent gradient fields per triangle patch on the mesh. The gradient field is a differential property of the mesh, corresponding to a characteristic of the mesh, that changes with the movement of the set of control points during the deformation process. Then when the user drags the set of control points on the grid, the grid deformation problem becomes solved by:
according to the variational method, the poisson equation is minimized, namely solved:
wherein phi is the coordinate of the grid after deformation to be solved, and w is the gradient field of the grid after deformation.
The above can be further expressed as solving a sparse linear system of equations:
LΦ＝b；
where L is the laplace operator of the mesh and b is the divergence value of the gradient field w at the mesh vertices.
The deformation of the mesh intermediate points is calculated as follows: let f be a piecewise linear function, at each triangle { x } of the grid i ，x j ，x k At the vertex of } there is f (x) i )＝f i ，f(x j )＝f j ，f(x k )＝f k The value of f at each point on the triangle can be known by linear interpolation as:
f(x)＝f i φ i +f j φ j +f k φ k ；
the gradient of such f is as follows:
can be obtained by simple calculation
The expression of (2) is:
can also write out
Wherein t represents rotating the vector 90 degrees counterclockwise and a represents the area of the triangular plate.
Setting a vector value function w: S→R3, S represents a mesh, w represents a vector on each triangle, then w is at vertex x i The divergence at a point can be defined as:
wherein T (x) i ) Representing vertex x i 1-ring neighborhood triangular plate of A T The area of the triangular plate T is shown.
Substituting the gradient operator expression into the divergence operator expression to obtain the vertex x i The Laplace operator at this point is of the form:
wherein N (x) i ) Representing the contact point x i 1-loop neighborhood point of (2), smoothing grid vertexes based on the same, alpha ij Representing beta ij Representation of
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. A simulation method for real-time deformation of a coal wall in a three-dimensional engine is characterized by comprising the following steps:
s1: scene dynamic loading: comprising the following steps:
s1.1: space division: adopting an octree algorithm, performing space division on the scene based on the view angle when the scene is initially loaded, performing space retrieval according to the octree when the view angle changes, and updating the apparent and hidden states of equipment and the environment in the scene;
s1.2: shielding and removing: adopting a traditional LOD loading scene and removing a view cone;
s2: simulation of deformation of coal cutting wall of coal cutter: comprising the following steps:
s2.1: sampling a coal cutter roller, sampling data based on an equipment model, and sampling data of direct contact between a coal cutter roller part and a coal wall;
s2.2: sampling the vertices of the coal wall, asynchronously traversing all vertex points of the coal wall for storage during initial loading, searching an interaction area on the coal wall through sampling points of a roller after all sample points are recorded, and pushing and deforming grids of the contact point according to the gesture of the coal mining machine when the threshold value is reached.
2. The simulation method for real-time deformation of a coal wall in a three-dimensional engine according to claim 1, wherein the simulation method comprises the following steps: the grid transition deformation in the step S2.2 comprises two steps of grid intermediate point deformation calculation and grid peripheral point deformation calculation.
3. The simulation method for real-time deformation of a coal wall in a three-dimensional engine according to claim 2, wherein the simulation method comprises the following steps: the deformation calculation process of the grid peripheral points is as follows:
considering the vertex coordinates (x, y, z) on the triangular mesh as 3 independent scalar fields, each triangular sheet on the mesh has 3 independent gradient fields, the gradient fields change along with the movement of the control point set in the deformation process, and when a user drags the control point set on the mesh, the solving formula of the deformation of the peripheral points of the mesh is as follows:
in the above formula: phi is the coordinate after grid deformation to be solved, w is the gradient field after grid deformation, A is the triangle area, and omega is the definition domain;
according to the variational method, the Poisson equation is minimized, namely solved
4. A simulation method for real-time deformation of a coal wall in a three-dimensional engine according to claim 3, wherein: the formula of the grid peripheral point deformation calculation can be further expressed as solving a sparse linear equation set:
LΦ＝b；
where L is the laplace operator of the mesh and b is the divergence value of the gradient field w at the mesh vertices.
5. The simulation method for real-time deformation of a coal wall in a three-dimensional engine according to claim 2, wherein the simulation method comprises the following steps: the deformation calculation process of the grid intermediate points is as follows:
let f be a piecewise linear function, at each triangle { x } of the grid i ，x j ，x k At the vertex of } there is f (x) i )＝f i ，f(x j )＝f j ，f(x k )＝f k The value of f at each point on the triangle by linear interpolation is calculated as:
f(x)＝f i φ i +f j φ j +f k φ k ；
the gradient of f is as follows:
wherein the method comprises the steps of
The expression of (2) is: />
Sequentially calculate->
Wherein t represents rotating the vector 90 degrees counterclockwise, a represents the area of the triangular plate; />
Setting a vector value function w: S-R 3 S represents a grid, R 3 Representing the mapping function of vertices to three-dimensional space, w representing the vector on each triangle, then w is at vertex x i The divergence at this point is defined as:
wherein T (x) i ) Representing vertex x i 1-ring neighborhood triangular plate of A T Representing the area of the triangular plate T;
substituting the gradient operator expression into the divergence operator expression to obtain the vertex x i Laplace operator expression at:
wherein N (x) i ) Representing the contact point x i 1-loop neighborhood point, alpha ij 、β ij For the angle of opposition of the ij edge, according to the above each vertexThe Laplace operator expression performs smoothing on the grid vertices.
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| 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 |
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| 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 |
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