CN117743453B

CN117743453B - Real-time visualization method for underground coal mine moving target

Info

Publication number: CN117743453B
Application number: CN202410190993.7A
Authority: CN
Inventors: 蒋佳明; 郭军; 陈龙; 黄坤; 崔宗帅
Original assignee: Beijing Technology Research Branch Of Tiandi Technology Co ltd; General Coal Research Institute Co Ltd
Current assignee: Beijing Technology Research Branch Of Tiandi Technology Co ltd; General Coal Research Institute Co Ltd
Priority date: 2024-02-21
Filing date: 2024-02-21
Publication date: 2024-05-14
Anticipated expiration: 2044-02-21
Also published as: CN117743453A

Abstract

The disclosure provides a coal mine underground moving target real-time visualization method, which relates to the technical field of visualization, and comprises the following steps: responding to a mobile target information service request sent by a receiving front end, and acquiring mobile target information of a target mobile target, wherein the mobile target information at least comprises position information and a name, and the service request comprises an identification of the target mobile target; updating a data table based on the type of the service request and the moving object information of the target moving object; and based on the data table and the moving object information of the target moving object, the target moving object is visualized in a moving object layer and a path layer at the front end. Therefore, the visual effect of the moving target on the page can be improved, the content displayed on the page is more comprehensive and visual, dynamic information such as the direction and the speed of the moving target can be visually checked, the whole moving route of the moving target is also fixed in the roadway, and the moving process of the moving target on the page is continuous, so that the method meets the reality condition.

Description

Real-time visualization method for underground coal mine moving target

Technical Field

The disclosure relates to the technical field of visualization, in particular to a real-time visualization method for a coal mine underground moving target.

Background

The underground coal mine moving target positioning mainly comprises the steps of installing photoelectric transmitting equipment underground, receiving and reflecting signals through equipment mounted on the moving target body to realize the position determination of the underground moving target, namely the UWB mode, wherein the mode is little affected by environment, the positioning accuracy can reach the decimeter level, and the equipment is convenient to maintain and operate. At present, one of the basic functions of one graph of a coal mine is to integrate accurate positioning information of underground moving targets, monitor real-time positions and basic information of the underground moving targets in real time on a GIS (geographic information system) platform, scientifically perform resource scheduling and scheme implementation, and ensure safety of underground personnel and production safety.

At present, when the moving target position display is performed based on the GIS, the page displays the position information returned by the moving target service interface at the moment, and the moving target update mainly adopts the point position data acquired at the current moment to replace the point position data acquired last time, so that the expression mode is static, the data expressive force is not strong, and the information mining is not deep enough. If the last time point is directly adopted to the currently acquired time point, when a turnout or a roadway is at a corner, the phenomenon of wall penetration is generated, which is inconsistent with the reality. In particular, in a complex coal mine environment, due to uncertainty, the position information of some moving targets may be lost temporarily, when the position of the moving target is lost, if the data coverage is simply performed, the target is lost in a page at the moment, when the target appears, the moving target appears in a place far from the previous position, the whole process is abrupt, and the reality is not met.

Disclosure of Invention

The application provides a coal mine underground moving target real-time visualization method, which aims to solve one of the technical problems in the related technology at least to a certain extent.

The embodiment of the first aspect of the application provides a real-time visualization method for a coal mine underground moving target, which comprises the following steps:

responding to a receiving front-end sent moving target information service request, and obtaining moving target information of a target moving target, wherein the moving target information at least comprises position information and a name, and the service request comprises an identification of the target moving target;

updating a data table based on the type of the service request and the moving target information of the target moving target, wherein the data table is used for recording the moving target information of at least one moving target at different moments;

And based on the data table and the moving object information of the target moving object, visualizing the target moving object in the moving object layer and the path layer at the front end.

An embodiment of a second aspect of the present application provides a real-time visualization device for a moving target under a coal mine, including:

The system comprises an acquisition module, a service request module and a control module, wherein the acquisition module is used for responding to a received moving target information service request sent by a front end and acquiring moving target information of a target moving target, the moving target information at least comprises position information and a name, and the service request comprises an identification of the target moving target;

the updating module is used for updating a data table based on the type of the service request and the moving target information of the target moving target, wherein the data table is used for recording the moving target information of at least one moving target at different moments;

And the visualization module is used for visualizing the target moving target in the moving target layer and the path layer at the front end based on the data table and the moving target information of the target moving target.

An embodiment of a third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, so that the at least one processor can execute the coal mine underground moving target real-time visualization method.

In a fourth aspect, the present application provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method for visualizing a moving target in a coal mine disclosed in the embodiment of the present application.

In the embodiment of the disclosure, firstly, a mobile object information of a target mobile object is obtained in response to a mobile object information service request sent by a receiving front end, wherein the mobile object information at least comprises position information and a name, the service request comprises an identification of the target mobile object, then a data table is updated based on a type of the service request and the mobile object information of the target mobile object, and finally, the target mobile object is visualized in a mobile object layer and a path layer of the front end based on the data table and the mobile object information of the target mobile object. Therefore, the visual effect of the moving target on the page can be improved, the content displayed on the page is more comprehensive and visual, the real situation is more met, the dynamic information such as the direction and the speed of the moving target can be visually checked, and the whole moving route of the moving target is also fixed in the roadway. Meanwhile, when the conditions of signal interference, personnel entering and exiting the well and the like occur, the moving process of the moving target on the page is continuous, and the situation of reality is met.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart of a method for real-time visualization of a moving target downhole in a coal mine provided in accordance with a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a data table of a method for real-time visualization of a moving target downhole in a coal mine provided in accordance with an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a path segment of a coal mine underground moving target real-time visualization method provided in accordance with an embodiment of the present disclosure;

FIG. 4 is a flow chart of a method for real-time visualization of a moving target downhole in a coal mine provided in accordance with a second embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a coal mine downhole moving target real-time visualization device according to a third embodiment of the present disclosure;

FIG. 6 is a block diagram of an electronic device for implementing a method for real-time visualization of a moving target downhole in a coal mine in accordance with an embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present disclosure and are not to be construed as limiting the present disclosure. On the contrary, the embodiments of the disclosure include all alternatives, modifications, and equivalents as may be included within the spirit and scope of the appended claims.

It should be noted that, the execution body of the method for visualizing the underground moving object of the coal mine in real time in this embodiment may be an apparatus for visualizing the underground moving object of the coal mine in real time, which may be implemented in software and/or hardware, and the apparatus may be configured in an electronic device, where the electronic device may include, but is not limited to, a terminal, a server, and the like.

In the embodiment of the disclosure, a method for performing real-time visualization of a coal mine underground moving object by using a back end of a server will be described, and the method is hereinafter referred to as "back end". It should be noted that, the method for visualizing the moving object in the coal mine in real time provided by the embodiment of the disclosure introduces how the rear end interacts with the front end, so that the front end can improve the visualization effect of the moving object on the front end page, so as to solve at least one problem provided in the background art.

Fig. 1 is a flow chart of a method for visualizing a moving target in a coal mine in real time according to an embodiment of the disclosure. As shown in fig. 1, the method includes:

S101: and responding to a received moving target information service request sent by the front end, and acquiring moving target information of a target moving target, wherein the moving target information at least comprises position information and a name, and the service request comprises an identification of the target moving target.

The target moving object may be a moving object that the front end wants to query in the current moving object information service request, that is, a moving object that is currently focused on. It should be noted that there may be a plurality of moving objects, such as A, B, C. If the moving object information service request includes the identifier a, the moving object information of a can be acquired with the target moving object a. The mobile object information service request may also contain 2 or more target mobile objects, for example, B and C may be contained, and then the back end may use both B and C as target mobile objects to obtain mobile object information of B and C.

The moving object may be a person or a device that can move in the coal mine, for example, a person in the coal mine may be used as the moving object, or a moving device in the coal mine may be used as the moving object, which is not limited herein. Wherein the moving object moves in a roadway under the well.

The moving target information service request is used for requesting the rear end to provide relevant information about a target moving target, namely moving target information, to the front end, so that the front end can visually display the target moving target at the front end according to the moving target information of the target moving target, and further the monitoring requirement of a user on the underground state of the moving target is met.

The moving object information of the target moving object may be a Name (Name), an Identification (ID), location information, and other related attribute information of the target moving object, which are not described herein.

The position information is important point element information of the target moving object. For example, if the back end receives the moving object information service request sent by the front end at the time T, the back end may acquire the position of the moving object of the target at the time T, such as (x, y, z), which is not limited herein.

The front end may send the moving target information service request to the back end according to a certain period of time, for example, once every 4 seconds, which is not limited herein.

Optionally, if the moving object layer is in a continuously opened state, the front end activates the timer, and the front end executes the service request function in the timer once according to the designated second time interval, so as to send the service request to the back end, and the back end records the time when the service request sent by the front end is received each time.

It will be appreciated that the front end may start a timer and set the time interval to a specified second time interval, after which the timer triggers, to call a service request function, which sends a service request to the back end. When the rear end receives the service request, the current time stamp is recorded. The time stamp may optionally be stored in an array or log file for later use.

Thus realizing the function that the front end sends the service request to the back end at fixed time and records the moment of each time of receiving the request at the back end

The specified second time interval may be 4s, which is not limited herein.

Optionally, if the service request is that the front end sends the service request for the first time, after the moving object information of the target moving object is obtained, the back end may record a first time corresponding to the first time when the service request is received, and then construct the initial data table based on the first time, the identifier of the target moving object and the position information of the target moving object.

The first time may be a time when the back end first receives the service request sent by the front end. I.e. no service request is received for any moving object before the first moment. For example, if the server starts up and then the front end starts up the moving object layer and then sends a service request to the back end for the first time, the time may be referred to as the first time, and the time may be referred to as the T time, which is not limited herein.

The initial data table is constructed according to the moving object information of the target moving object received at the first moment.

It can be understood that the back end creates a data table structure as an initial data table, the key Value of the table structure is Id of the target moving object, and the corresponding Value (Value) is the coordinate Value (P) returned to the front end by the first request. As indicated by a broken line frame 1 in fig. 2, the horizontal axis represents each time (T time, t+5 time, t+10 time, t+15 time, t+20 time), the vertical axis represents each moving target Id (Id 0, id1, id2, id3, id 4), P0 represents the position of the moving target Id0 at time T, P0-5 represents the position of the moving target Id0 at time t+5 (5 s after T time), and so on.

The initial data table only contains Id (Id 0) of one moving object and position P0 corresponding to Id0 at time T, and then if the back end receives a service request corresponding to another moving object, id and position information P corresponding to another moving object may be added to the initial data table.

S102: the data table is updated based on the type of service request and moving object information of the target moving object.

Optionally, under the condition that the service request is not received for the first time, determining a second time when the service request is received this time and a third time when the history service request is received, wherein the history service request is the last received service request.

For example, if the service request Q4 is the 4 th time of receiving the service request regarding the target moving object ID1 and the service request received this time is Q4, the time when the service request Q4 is received this time may be taken as the second time, the 3 rd time of receiving the service request Q3 regarding the target moving object ID1 may be taken as the history service request corresponding to Q4, and the time when the service request Q3 is received may be taken as the third time, which is not limited herein.

Further, if the time interval between the second time and the third time is greater than the first time interval, determining that the type of the service request is a continuous request, otherwise, determining that the service request is a discontinuous request.

The first time interval may be 5s, which is not limited herein. Wherein the first time interval is greater than the second time interval. It will be appreciated that the time interval between two requests is defined as a continuous request within a fixed time, and the first time interval should be larger than the second time interval of the timer in consideration of delay from the front end to the back end and network instability.

It should be noted that, if the time interval between the second time and the third time is smaller than the first time interval, the type of the service request is determined to be a continuous request, otherwise, the service request is determined to be a discontinuous request.

For example, if the second time is 16s, the third time is 10s, the time interval is 6s, and the time interval is greater than the first time interval by 5s, it is indicated that the service request corresponding to the second time is a discontinuous request. If the third time is 11s, the time interval between the second time and the third time is 5s and is not smaller than the first time interval 5s, and the service request corresponding to the second time is a continuous request.

The data table is used for recording moving object information of at least one moving object at different moments.

Alternatively, in the case where the type of the service request is a discontinuous request, the data associated with the target moving object in the data table may be emptied. Alternatively, in the case where the type of the service request is a continuous request, moving object information of the target moving object may be added to the data table.

Optionally, in a case where the identification of the target moving object included in the service request does not appear in the data table, the data table is updated based on the information of the target moving object, that is, the moving object information of the target moving object is added in the data table.

S103: and based on the data table and the moving object information of the target moving object, the target moving object is visualized in a moving object layer and a path layer at the front end.

The center line of the coal mine tunnel is positioned at the center of the tunnel top plate, and the center line of the real tunnel needs to be moved down by a certain distance to fit the real tunnel center line for the convenience of visualization. The back end acquires service requests once at intervals, data of two requests are located in one roadway under most conditions, partial two results may be located in two crossed roadways, and the situation of a plurality of roadways is few, so that the shortest path is calculated by using the two results based on the center line of the roadway, and the calculated result can represent the path of the moving target moving between the two requests.

It will be appreciated that using the two results for shortest path resolution based on the lane centerline may represent the path that the moving object moves between two requests. For example, the scheme may be: the backend continually receives service requests and records the data and time stamps for each request. Whenever a new service request is received, the requested data is compared with the last requested data and the lane in which they are located is determined. If the data requested by the two times are both in the same lane, the data are used as the starting point and the end point of the path, and the shortest path is calculated. If the data of the two requests is located in two lanes intersecting each other, a suitable algorithm may be used to determine the start and end points of the path, such as selection based on distance or weight. And a shortest path algorithm (such as Dijkstra algorithm) can be used for carrying out path calculation on the roadway between the starting point and the end point to obtain a path of the moving target moving between the two requests, and finally, path data can be returned to the front end for visual display.

It should be noted that the above solution is only an example, and the specific requirements and the data structure may be appropriately adjusted. For example, a roadway network may be represented at the back-end using a suitable data structure (e.g., a graph or matrix) and a suitable shortest path algorithm selected for path computation.

After the front end receives the returned moving target information for the first time, the front end constructs moving target elements based on the returned moving target information, and completes the primary visualization on the front end page, so that the front end displays the moving target information of the target moving target on the moving target layer.

The path layer is a layer overlapped on the moving target layer, and the element type of the path layer is a line segment (LINESTRING), namely the path of the moving target moving between two requests.

Optionally, if the service request is the second service request received by the front end and associated with the target moving object, determining that the service request is the second service request, and taking the service request received by the front end for the first time as the first service request.

For example, if the front end sends a service request Q1 to the back end at time T. The service request Q1 may be the first service request corresponding to the target moving object ID0, if Q1 contains the target moving object ID, and the service request sent by the front end before the time T does not contain the target moving object ID0, or if the front end does not send the service request to the rear end before the time T. If the front end sends a service request Q2 to the back end at time t+5s, where Q2 contains ID0, and Q2 is a second service request that the back end receives the service request associated with the target moving object ID0 sent by the front end for the second time, Q2 may be taken as a second service request corresponding to the target moving object ID 0.

Further, whether the second service request is a continuous request may be determined, and if the second service request is a continuous request, the first location information corresponding to the first service request and the second location information corresponding to the second service request are obtained based on the data table. Then, the moving speed and moving direction of the target moving object may be determined according to the first location information, the second location information, the receiving time of the first service request, and the receiving time of the second service request. Finally, the attribute information of the path segment corresponding to the target moving object can be sent to the front end, so that the front end draws the path segment in the path layer, wherein the attribute information at least comprises a starting point and an ending point corresponding to the path segment, and the moving speed and the moving direction of the target moving object.

Alternatively, moving object information of the target moving object may be noted in the moving object layer.

The start point of the path segment is the first position information of the target moving target corresponding to the first service request, and the end point of the path segment is the second position information corresponding to the second service request.

The first location information may be location information of a target moving object acquired by the back end at a time when the first service request is received. The second location information may be location information of the target moving object acquired by the back end at a time when the second service request is received.

Specifically, the moving time of the target moving object can be determined according to the receiving time of the first service request and the receiving time of the second service request, the moving distance of the target moving object can be determined according to the first position information and the second position information, the moving speed can be further determined according to the moving distance and the moving time, the moving direction can be further determined according to the first position information and the second position information, and the visualization of the target moving object can be further completed on the path map layer.

Specifically, a network can be constructed by using a tunnel center line, shortest path calculation is performed by using the recorded two coordinate arrays as a starting point and an ending point, a line segment formed by a series of point coordinates of the starting point, the tunnel center line point and the ending point can be obtained, and corresponding moving speed can be obtained according to the length of the line segment and the request interval. Further, element information of the line segment and corresponding moving speed information and related attributes (Id, name, others) may be returned to the front end.

As shown in fig. 2, the values shown by the dashed box 2 form an array comprising two coordinates. Taking the dashed box 2 as an example, the dashed box 2 contains coordinates corresponding to the moving objects Id0, id1, id2, id3, and Id4 at the time T and the time t+5, respectively. The dashed box 2 includes a plurality of arrays, such as arrays [ P0, P0-5] corresponding to the moving object Id0, arrays [ P1, P1-5] corresponding to the moving object Id1, arrays [ P2, P2-5] corresponding to the moving object Id2, arrays [ P3, P3-5] corresponding to the moving object Id3, and arrays [ P4, P4-5] corresponding to the moving object Id 4.

It can be understood that taking the target moving target as Id0 as an example, after the front end receives the returned moving target information for the second time, the position of each frame of moving target of the page can be obtained according to the obtained starting point and speed of the line segment, meanwhile, line segment elements are newly added in the path layer, the corresponding moving target position can be matched to the target moving target through identification, when each frame of the page changes, the corresponding moving target position is modified, coordinate points corresponding to the moving target are added in the newly added line elements, so that dynamic change of the moving target and dynamic generation of the path are formed at the front end, the effect graph is shown in fig. 3, the broken line represents the path of the transmitted line segment and is not drawn at the front end, the solid line represents the path of the moving target, and the frame-by-frame drawing is performed at the front end. When moving target personnel move to the route end point frame by frame, the front end can carry out the next (third) moving target position data service request, and the rear end firstly judges whether the request is a continuous request or not, if the request is a continuous request. The corresponding dashed box, i.e., dashed box 3 in fig. 2, may be determined from the data table and the array [ P0-5, P0-10] corresponding to the target moving object Id0 may be determined from the dashed box 3. The coordinate value of the target moving object Id0 at the time (T+10) is P0-5, and the coordinate value of the target moving object Id0 at the time (T+5) may be P0-5 at the time (T+5) as a start point and the coordinate value of the target moving object Id0 at the time (T+10) as an end point.

Optionally, after the current end receives the returned moving target information for the third time, the position of the moving target of each frame of the page can be obtained according to the obtained starting point and speed of the line segment, meanwhile, the path drawn in the data is cleared, line segment elements are newly added in the path layer, the moving target can be matched through Id, the corresponding moving target position is modified when each frame of the page changes, coordinate points corresponding to the moving target are added in the newly added line elements, and therefore dynamic change of the moving target and dynamic generation of the path are formed at the front end.

Similarly, when the moving target personnel moves to the end point of the path frame by frame, the front end can carry out repeated assignment and calculation operation when the front end carries out the next moving target position data service request. Meanwhile, the front end receives the information returned by the rear end and then performs drawing operation. When the back end judges that the request is not a continuous request, namely the difference between the time of the current request and the time of the last request is larger than a first time interval, the back end clears the recorded data table structure of the target moving target.

In the embodiment of the disclosure, firstly, a mobile object information of a target mobile object is obtained in response to a mobile object information service request sent by a receiving front end, wherein the mobile object information at least comprises position information and a name, the service request comprises an identification of the target mobile object, then a data table is updated based on a type of the service request and the mobile object information of the target mobile object, and finally, the target mobile object is visualized in a mobile object layer and a path layer of the front end based on the data table and the mobile object information of the target mobile object. Therefore, the visual effect of the moving target on the page can be improved, the content displayed on the page is more comprehensive and visual, the real situation is more met, the dynamic information such as the direction and the speed of the moving target can be visually checked, and the whole moving route of the moving target is also fixed in the roadway. Meanwhile, when the conditions of signal interference, personnel entering and exiting the well and the like occur, the moving process of the moving target on the page is continuous, and the situation completely accords with the actual situation. The real-time position and basic information of the underground moving target can be monitored in real time on the GIS platform, resource scheduling and scheme implementation can be scientifically carried out, and the safety of underground personnel and production safety are ensured. The page not only has the process of the path dynamically passed by the moving target, but also can intuitively judge the information such as the advancing path, the direction, the action speed and the like of all the moving targets. The moving target action paths in the page are continuous and fixed in the roadway, so that the conditions of jumping, wall penetration and the like are avoided.

Fig. 4 is a flow chart of a method for visualizing a moving target in a coal mine in real time according to two embodiments of the disclosure. As shown in fig. 4, the method includes:

S201: and responding to a received moving target information service request sent by the front end, and acquiring moving target information of a target moving target, wherein the moving target information at least comprises position information and a name, and the service request comprises an identification of the target moving target.

It should be noted that, the specific implementation manner of step S201 may refer to the above embodiment, and will not be described herein.

S202: if the type of the service request of the mth target moving object is a continuous request, m is an integer greater than 1, and if the moving object information of the target moving object is not acquired, the moving object information of the mth-1 th target moving object is returned to the front end, and the first count value is increased by one.

In the embodiment of the present disclosure, the first count value is denoted by getNoDataIdn for explanation.

Wherein m may be 2, 3, 4, 5.

If the mth service request about the target moving object is a continuous request and the rear end does not acquire the data of the target moving object, the moving object information of the mth-1 th target moving object can be returned to the front end.

For example, if the return result corresponding to the m-1 th service request is a, if the type of the service request of the mth target moving object is a continuous request and the moving object information of the target moving object is not acquired, the front end returns a and records getNoDataIdn +1 once.

S203: if the type of the service request of the (m+1) -th time target moving object is a continuous request and moving object information of the target moving object is obtained, determining a target line segment according to the moving object information of the target moving object.

Alternatively, if the type of the service request of the (m+1) -th target moving object is a continuous request and moving object information of the target moving object is acquired, the target line segment may be determined based on the moving object information of the target moving object. The starting point of the target line segment is the position information corresponding to the target moving target when the service request of the target moving target is received for the first time. The end point of the target line segment is the final reaching position of the target moving target. When the m+1th request is a continuous request, if the moving target has a numerical value, network calculation is performed normally, the line segment result is divided into two parts at 1-1/(getNoDataIdn +1) from the starting point, and two line segment data and auxiliary information are returned to the front end. And getNoDataIdn is assigned 0.

S204: and dividing the target line segment into a first line segment and a second line segment according to the first count value, wherein the first line segment represents the already-passed path information, and the second line segment represents the path information to be walked.

The first line segment may be a path that the moving target has passed through at present, and the second line segment is a path that the moving target has not passed through.

S205: and returning the data of the first line segment and the second line segment to the front end, and assigning the first count value to be 0.

If the front end receives the position information of a single point, it does not operate the target moving object, and if the front end receives the data of the first line segment and the second line segment, it draws the travel path of the target moving object on the path map layer.

S206: if the type of the service request of the (m+1) -th target moving object is a continuous request and the moving object information of the target moving object is not acquired, sending a return result of the service request of the (m) -th target moving object to the front end, and adding one to the first count value.

It should be noted that, for a specific implementation of step S206, reference may be made to step S202 described above.

S207: if the type of the service request of the (m+1) -th target moving target is a discontinuous request, the first count value is marked as 0.

S208: if the first count value reaches the preset value, determining that the moving object information of the target moving object is not obtained continuously in a specified time period, enabling the moving object to be in a lifting state, clearing data of the target moving object in the data table, and not returning the moving object information of the target moving object to the front end.

It will be appreciated that if the first time interval is 5s, if the first count value reaches a preset value, for example, 12 (getNoDataIdn > =12), it indicates that there are 60s, that is, 1 minute, when no data of the target moving object is collected, the moving object may default to have been lifted, the data recorded by Idn is cleared in the data table, and the moving object data is not returned to the front end.

If the front end receives moving object information of an empty target moving object, the front end prompts that the target moving object is put into the well on a page, and deletes the moving object information of the target moving object in a moving object layer.

In the embodiment of the disclosure, firstly, mobile object information of a target mobile object is acquired in response to a mobile object information service request sent by a receiving front end, wherein the mobile object information at least comprises position information and a name, and the service request comprises an identification of the target mobile object. If the type of the service request of the mth target moving object is a continuous request, m is an integer greater than 1, and when the moving object information of the target moving object is acquired, the moving object information of the mth-1 th target moving object is returned to the front end, and the first count value is added by one. If the type of the service request of the (m+1) -th time target moving target is a continuous request and moving target information of the target moving target is obtained, determining a target line segment according to the moving target information of the target moving target, dividing the target line segment according to a first count value to divide the target line segment into a first line segment and a second line segment, wherein the first line segment represents the path information which has already passed, the second line segment represents the path information to be walked, returning data of the first line segment and the second line segment to the front end, and assigning the first count value to be 0. If the type of the service request of the (m+1) -th target moving object is a continuous request and the moving object information of the target moving object is not acquired, sending a return result of the service request of the (m) -th target moving object to the front end, and adding one to the first count value. If the type of the service request of the (m+1) -th target moving target is a discontinuous request, the first count value is marked as 0. If the first count value reaches the preset value, determining that the moving object information of the target moving object is not obtained continuously in a specified time period, enabling the moving object to be in a lifting state, clearing data of the target moving object in the data table, and not returning the moving object information of the target moving object to the front end. Therefore, the page not only has the process of the path dynamically passed by the moving target, but also can intuitively judge the information such as the advancing path, the direction, the action speed and the like of all the moving targets. The moving target action paths in the page are continuous and fixed in the roadway, so that the conditions of jumping, wall penetration and the like are avoided.

Fig. 5 is a schematic diagram of a coal mine underground moving target real-time visualization device according to another embodiment of the disclosure. As shown in fig. 5, the coal mine underground moving object real-time visualization apparatus 500 includes:

An obtaining module 510, configured to obtain moving object information of a target moving object in response to a receiving a moving object information service request sent by a front end, where the moving object information at least includes location information and a name, and the service request includes an identifier of the target moving object;

an updating module 520, configured to update a data table based on the type of the service request and moving object information of the target moving object, where the data table is used to record moving object information of at least one moving object at different moments;

and a visualization module 530, configured to visualize the target moving object in the front-end moving object layer and path layer based on the data table and the moving object information of the target moving object.

Optionally, if the service request is that the front end transmission is received for the first time, the obtaining module is further configured to:

Recording a first moment corresponding to the service request received for the first time;

and constructing an initial data table based on the first moment, the identification of the target moving object and the position information of the target moving object.

Optionally, the updating module is further configured to:

Under the condition that the service request is not received for the first time, determining a second moment when the service request is received at this time and a third moment when a historical service request is received, wherein the historical service request is the last received service request;

If the time interval between the second time and the third time is smaller than the first time interval, determining that the type of the service request is a continuous request, otherwise, a discontinuous request,

Optionally, the updating module is specifically configured to:

When the service request is of a discontinuous request type, clearing data associated with a target moving target in the data table;

and adding moving object information of the target moving object in the data table when the service request is a continuous request.

Optionally, the device further includes:

a data table updating module, configured to update the data table based on information of the target moving object when the identification of the target moving object included in the service request does not appear in the data table;

if the moving target layer is in a continuous starting state, the front end activates a timer, and the front end executes a service request function in the timer once according to a specified second time interval so as to send the service request to the rear end, wherein the first time interval is larger than the second time interval;

And the back end records the moment when the service request sent by the front end is received each time.

Optionally, the visualization module 630 is specifically configured to:

If the service request is a second service request, determining the service request as a second service request, and taking the service request received for the first time as the first service request, wherein the service request is associated with the target moving target and is sent by the front end;

Judging whether the second service request is a continuous request or not, if the second service request is a continuous request, acquiring first position information corresponding to the first service request and second position information corresponding to the second service request based on the data table;

determining the moving speed and the moving direction of the target moving object according to the first position information, the second position information, the receiving time of the first service request and the receiving time of the second service request;

And sending attribute information of a path segment corresponding to the target moving object to the front end so that the front end draws the path segment in the path layer, wherein the attribute information at least comprises a starting point and an ending point corresponding to the path segment, and a moving speed and a moving direction of the target moving object, and the first position information represents the starting point and the second position information represents the ending point.

Optionally, the device further includes:

The first return module is used for returning the moving object information of the target moving object for the m-1 th time to the front end if the type of the service request of the target moving object for the m-th time is a continuous request and m is an integer larger than 1 and the moving object information of the target moving object is not acquired, and adding one to the first count value;

The second return module is configured to send a return result of the service request of the mth target moving object to the front end and increment the first count value by one if the type of the service request of the mth+1th target moving object is a continuous request and the moving object information of the target moving object is not acquired;

the first processing module is used for marking the first count value as 0 if the type of the service request of the (m+1) -th target moving target is a discontinuous request;

A second processing module, configured to determine that moving object information of the target moving object is not obtained continuously in a specified time period if the first count value reaches a preset value, and clear data of the target moving object in the data table, and not return moving object information of the target moving object to the front end,

And if the front end receives the moving object information of the empty moving object, prompting that the moving object of the target is put into the well on a page, and deleting the moving object information of the moving object of the target in the moving object layer.

Optionally, the device further includes:

The determining module is used for determining a target line segment according to the moving target information of the target moving target under the condition that the type of the service request of the (m+1) th target moving target is a continuous request and the moving target information of the target moving target is acquired;

The dividing module is used for dividing the target line segment according to the first count value so as to divide the target line segment into a first line segment and a second line segment, wherein the first line segment represents the path information which has already passed, and the second line segment represents the path information to be walked;

And the third return module is used for returning the data of the first line segment and the second line segment to the front end and assigning the first count value to be 0.

Optionally, the front end does not operate the target moving object under the condition that the front end receives the position information of the single point, and draws the walking path of the target moving object on the path map layer under the condition that the front end receives the data of the first line segment and the second line segment.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

FIG. 6 illustrates a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present application. The computer device 12 shown in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.

As shown in FIG. 6, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry Standard architecture (Industry Standard Architecture; hereinafter ISA) bus, micro channel architecture (Micro Channel Architecture; hereinafter MAC) bus, enhanced ISA bus, video electronics standards Association (Video Electronics Standards Association; hereinafter VESA) local bus, and peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECTION; hereinafter PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory; hereinafter: RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive").

Although not shown in fig. 6, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable nonvolatile optical disk (e.g., a compact disk read only memory (Compact Disc Read Only Memory; hereinafter CD-ROM), digital versatile read only optical disk (Digital Video Disc Read Only Memory; hereinafter DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the application.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, the computer device 12 may also communicate with one or more networks such as a local area network (Local Area Network; hereinafter: LAN), a wide area network (Wide Area Network; hereinafter: WAN) and/or a public network such as the Internet via the network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the coal mine underground moving object real-time visualization method mentioned in the foregoing embodiment.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

It should be noted that in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. The real-time visualization method for the underground moving target of the coal mine is characterized by comprising the following steps of:

Based on the data table and the moving object information of the target moving object, the target moving object is visualized in a moving object layer and a path layer of the front end;

The step of visualizing the target moving object in the moving object layer and the path layer at the front end based on the data table and the moving object information of the target moving object comprises the following steps:

If the service request is a second service request, determining the service request as a second service request and taking the service request received for the first time as a first service request under the condition that the service request which is sent by the front end and is associated with the target moving object is received for the second time;

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

If the service request is that the front end sends the service request to the front end, the method further includes, after the obtaining the moving object information of the target moving object:

3. The method of claim 1, further comprising, prior to updating the data table based on the type of service request and the moving object information of the target moving object:

And if the time interval between the second time and the third time is smaller than the first time interval, determining that the type of the service request is a continuous request, otherwise, determining that the service request is a discontinuous request.

4. The method of claim 3, wherein updating the data table based on the type of the service request and the moving object information of the target moving object comprises:

5. The method as recited in claim 4, further comprising:

updating the data table based on the information of the target moving target in the case that the identification of the target moving target contained in the service request is not present in the data table;

6. The method as recited in claim 1, further comprising:

if the type of the service request of the mth target moving object is a continuous request, m is an integer greater than 1, and if the moving object information of the target moving object is not acquired, returning the moving object information of the target moving object for the mth-1 time to the front end, and adding one to the first count value;

If the type of the service request of the (m+1) -th target moving target is a continuous request and the moving target information of the target moving target is not acquired, sending a return result of the service request of the (m) -th target moving target to the front end, and adding one to the first count value;

If the type of the service request of the (m+1) -th target moving target is a discontinuous request, marking the first count value as 0;

If the first count value reaches the preset value, determining that the moving object information of the target moving object is not obtained continuously in a specified time period, enabling the moving object to be in a lifting state, clearing the data of the target moving object in the data table, not returning the moving object information of the target moving object to the front end,

7. The method as recited in claim 6, further comprising:

If the type of the service request of the (m+1) -th target moving target is a continuous request and moving target information of the target moving target is acquired, determining a target line segment according to the moving target information of the target moving target;

dividing the target line segment according to the first count value to be divided into a first line segment and a second line segment, wherein the first line segment represents the path information which has already been passed, and the second line segment represents the path information to be walked;

And returning the data of the first line segment and the second line segment to the front end, and assigning the first count value to be 0.

8. The method of claim 7, wherein,

And under the condition that the front end receives the data of the first line segment and the second line segment, drawing a walking path of the target moving target on the path map layer.

9. The utility model provides a colliery moving object real-time visualization device in pit which characterized in that includes:

The visualization module is used for visualizing the target moving target in the moving target layer and the path layer at the front end based on the data table and the moving target information of the target moving target;

The visualization module is configured to determine that the service request is a second service request and take the service request received for the first time as a first service request if the service request is the service request associated with the target moving object and sent by the front end for the second time;