CN118015235B - Digital twinning-based coal wall model updating method and device and electronic equipment - Google Patents
Digital twinning-based coal wall model updating method and device and electronic equipment Download PDFInfo
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Abstract
The application provides a method and a device for updating a coal wall model based on digital twinning and electronic equipment, wherein the method comprises the following steps: obtaining geometric parameters of a coal wall to be treated, and generating a coal wall grid model according to the geometric parameters of the coal wall to be treated, wherein the geometric parameters comprise positions, orientations, widths and heights; acquiring the size of coal cutting equipment, and determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment; according to the updating area, the updated coal wall grid model is updated to generate the updated coal wall grid model, and the updating area of the coal wall grid model is determined according to the size of the coal mining cutting equipment, and the coal wall grid model is updated according to the updating area, so that the updating time of the coal wall grid model is shortened, the updating efficiency of the coal wall grid model is improved, and the visual credibility of the coal wall cutting surface simulation based on digital twinning is ensured.
Description
Technical Field
The application relates to the technical field of coal mining, in particular to a method and a device for updating a coal wall model based on digital twinning and electronic equipment.
Background
Along with continuous pushing of a tunneling working face and a fully-mechanized mining face, continuous appearance change can be caused to a coal wall by coal mining cutting equipment, in the related art, cyclic traversal is often carried out on all vertexes in a coal wall model to update the coal wall model, so that a great deal of calculation time is spent, and the visual credibility of the digital twin-based coal wall cutting face simulation is low, so that how to update the coal wall model by an efficient method and ensure the visual credibility of the digital twin-based coal wall cutting face simulation becomes a problem to be solved urgently.
Disclosure of Invention
The application provides a digital twin-based coal wall model updating method, a digital twin-based coal wall model updating device and electronic equipment, which are used for determining an updating area of a coal wall grid model through the size of coal mining cutting equipment, updating the coal wall grid model according to the updating area, shortening the updating time of the coal wall grid model, improving the updating efficiency of the coal wall grid model and ensuring the visual credibility of the digital twin-based coal wall cutting surface simulation.
According to a first aspect of the present application, there is provided a method for updating a digital twin-based coal wall model, comprising: obtaining geometric parameters of a coal wall to be treated, and generating a coal wall grid model according to the geometric parameters of the coal wall to be treated, wherein the geometric parameters comprise positions, orientations, widths and heights; acquiring the size of coal cutting equipment, and determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment; and updating the coal wall grid model according to the updating area to generate an updated coal wall grid model.
According to a second aspect of the present application, there is provided a digital twinning-based coal wall model updating apparatus comprising: the generation module is used for acquiring the geometric parameters of the coal wall to be processed and generating a coal wall grid model according to the geometric parameters of the coal wall to be processed, wherein the geometric parameters comprise positions, orientations, widths and heights; the determining module is used for obtaining the size of the coal cutting equipment, and determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment; and the updating module is used for updating the coal wall grid model according to the updating area so as to generate an updated coal wall grid model.
In order to achieve the above object, an embodiment of the third aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the foregoing method for updating a coal wall model based on digital twinning when executing the program.
In order to achieve the above object, a fourth aspect of the present application provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the foregoing method for updating a digital twin-based coal wall model.
In order to achieve the above object, a fifth aspect of the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a method of updating a digital twin based coal wall model as described above.
The technical scheme provided by the embodiment of the application at least comprises the following beneficial effects:
The application provides a digital twinning-based coal wall model updating method, which comprises the steps of generating a coal wall grid model according to geometric parameters of a coal wall to be processed by acquiring the geometric parameters of the coal wall to be processed, wherein the geometric parameters comprise position, orientation, width and height, acquiring the size of coal cutting equipment, determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment, updating the coal wall grid model according to the updating area to generate an updated coal wall grid model, determining the updating area of the coal wall grid model according to the size of the coal cutting equipment, updating the coal wall grid model according to the updating area, shortening the updating time of the coal wall grid model, improving the updating efficiency of the coal wall grid model and ensuring the visual reliability of the coal wall cutting surface simulation based on digital twinning.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:
FIG. 1 is a schematic flow chart of a method for updating a coal wall model based on digital twinning according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an updated coal wall mesh model provided by an embodiment of the present application;
FIG. 3 is a schematic flow chart of another method for updating a digital twin-based coal wall model according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a coal wall mesh model provided by an embodiment of the present application;
FIG. 5 is a schematic flow chart of another method for updating a digital twin-based coal wall model according to an embodiment of the present application;
FIG. 6 is a schematic diagram of an update area of a coal wall mesh model provided by an embodiment of the present application;
FIG. 7 is a schematic structural diagram of another digital twinning-based coal wall model updating device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The method, the device and the electronic equipment for updating the digital twin-based coal wall model are described in detail by adopting the embodiment.
Fig. 1 is a schematic flow chart of a method for updating a coal wall model based on digital twinning according to an embodiment of the present application. It should be noted that, the main execution body of the method for updating a coal wall model based on digital twin in this embodiment is an updating device for updating a coal wall model based on digital twin, and the updating device for updating a coal wall model based on digital twin may be specifically a hardware device, or software in a hardware device, etc. Wherein the hardware devices such as terminal devices, servers, etc.
As shown in fig. 1, the method for updating a digital twin-based coal wall model provided in the embodiment includes the following steps:
s101, acquiring geometric parameters of a coal wall to be processed, and generating a coal wall grid model according to the geometric parameters of the coal wall to be processed, wherein the geometric parameters comprise position, orientation, width and height.
Optionally, after the coal wall to be treated is determined, measurements may be made of the coal wall to be treated to obtain the geometric parameters (position, orientation, width and height) of the coal wall to be treated.
In the embodiment of the application, after the geometric parameters of the coal wall to be treated are obtained, a coal wall grid model can be generated according to the geometric parameters of the coal wall to be treated.
Optionally, the position and the orientation of the axis point of the coal wall to be processed may be determined based on the position and the orientation, the width direction of the coal wall to be processed is taken as a horizontal axis and the height direction is taken as a vertical axis, the coal wall model is generated according to the width and the height, the width interval is determined according to the width and the preset first division number, the height interval is determined according to the height and the preset second division number, and the coal wall model is subjected to grid division along the horizontal axis according to the width interval and the height interval along the vertical axis, so as to generate the coal wall grid model.
Further, after the coal wall grid model is obtained, the width number of each grid vertex in the coal wall grid model can be obtained according to the first number of the width intervals, the height number of each grid vertex in the coal wall grid model can be obtained according to the second number of the height intervals, and the number of each grid vertex in the coal wall grid model is determined based on the width number and the height number.
S102, acquiring the size of coal cutting equipment, and determining an updating area of a coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment.
It should be noted that the type of the coal mining cutting device is not limited, and the coal mining cutting device can be selected according to actual conditions.
Alternatively, the coal cutting apparatus may be a shearer; alternatively, the coal cutting apparatus may be a heading machine.
For example, if the coal cutting apparatus is a shearer, the size of the coal cutting apparatus is the radius of the shearer drum; if the coal cutting equipment is a heading machine, the heading machine cutting head can be considered as an ellipsoid, and the size of the coal cutting equipment is the minor axis radius of the ellipsoid.
The application can determine the updating area of the coal wall grid model through the size of the coal cutting equipment without circulating and traversing all points in the coal wall to be processed, shortens the updating time of the coal wall grid model, and the updating area of the coal wall grid model is only related to the size of the coal cutting equipment and is irrelevant to the area of the coal wall to be processed.
In the embodiment of the application, after the size of the coal mining cutting equipment is obtained, the width offset number of the target grid vertex can be determined according to the size and the width interval of the coal mining cutting equipment, the height offset number of the target grid vertex is determined according to the size and the height interval of the coal mining cutting equipment, the width numbers of the target grid vertex are respectively offset left and right according to the width offset number, and the height numbers of the target grid vertex are respectively offset up and down according to the height offset number, so that the updating area of the coal wall grid model is determined.
And S103, updating the coal wall grid model according to the updating area to generate an updated coal wall grid model.
In the embodiment of the application, after the updated area of the coal wall grid model is obtained, the coal wall grid model can be updated according to the updated area to generate an updated coal wall grid model.
Optionally, taking the point in the updating area as a point to be offset, and performing offset operation on the point to be offset according to the depth of the cutting part of the coal mining cutting equipment cutting the coal wall to be processed so as to generate an updated coal wall grid model.
For example, as shown in fig. 2, a three-dimensional engine may be used to take a point in the update area (area formed by BCDE) as a point to be offset, and the point to be offset is offset according to the depth of the cutting portion of the coal mining cutting device cutting into the coal wall to be processed, so as to generate an updated coal wall grid model.
The application provides a digital twinning-based coal wall model updating method, which comprises the steps of generating a coal wall grid model according to geometric parameters of a coal wall to be processed by acquiring the geometric parameters of the coal wall to be processed, wherein the geometric parameters comprise position, orientation, width and height, acquiring the size of coal cutting equipment, determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment, updating the coal wall grid model according to the updating area to generate an updated coal wall grid model, determining the updating area of the coal wall grid model according to the size of the coal cutting equipment, updating the coal wall grid model according to the updating area, shortening the updating time of the coal wall grid model, improving the updating efficiency of the coal wall grid model and ensuring the visual reliability of the coal wall cutting surface simulation based on digital twinning.
As a possible implementation manner, as shown in fig. 3, on the basis of the foregoing embodiment, the specific process of generating the coal wall mesh model according to the geometric parameters of the coal wall to be processed in the foregoing step S101 includes the following steps:
S301, determining the position and the orientation of an axis point of the coal wall to be processed based on the position and the orientation, taking the width direction of the coal wall to be processed as a horizontal axis and the height direction as a vertical axis, and generating a coal wall model according to the width and the height.
In the embodiment of the application, after the position and the orientation of the coal wall to be treated are determined, the position and the orientation of the axis point of the coal wall to be treated can be determined.
Alternatively, three-dimensional software can be utilized to generate a coal wall model according to the width and height of the coal wall to be treated, with the width direction of the coal wall to be treated being the horizontal axis and the height direction being the vertical axis.
S302, determining a width interval according to the width and a preset first division number, and determining a height interval according to the height and a preset second division number.
The first division number and the second division number may be the same or different.
It should be noted that, the setting of the first division number and the second division number is not limited in the present application, and may be selected according to actual situations.
Alternatively, the first number of division sections may be set to 20 and the second number of division sections may be set to 50.
For example, if the width of the coal wall to be treated is 2m and the number of first division is 20, the width pitch is 10cm, and if the height of the coal wall to be treated is 5m and the number of second division is 50, the height pitch is 10cm.
S303, carrying out grid division on the coal wall model along the transverse axis according to the width interval and the vertical axis according to the height interval so as to generate a coal wall grid model.
In the embodiment of the application, after the width interval and the height interval are obtained, the coal wall model can be subjected to grid division along the transverse axis according to the width interval and along the longitudinal axis according to the height interval so as to generate the coal wall grid model.
For example, as shown in fig. 4, the coal wall model may be grid-partitioned by a three-dimensional engine along a lateral axis by a width pitch and along a longitudinal axis by a height pitch to generate a coal wall grid model.
In the embodiment of the application, after the coal wall grid model is generated, the coal wall grid model can be numbered, and the number of each grid vertex in the coal wall grid model is obtained.
Optionally, the width number of each grid vertex in the coal wall grid model is obtained according to the first number of the width intervals, the height number of each grid vertex in the coal wall grid model is obtained according to the second number of the height intervals, and the number of each grid vertex in the coal wall grid model is determined based on the width number and the height number.
For example, for grid vertex a, the first number of width pitches is n, then the width number of grid vertex a is n, the second number of height pitches is m, then the width number of grid vertex a is m, then the number of grid vertex a in the coal wall grid model is (n, m).
As a possible implementation manner, as shown in fig. 5, on the basis of the above embodiment, the specific process of determining the updated area of the coal wall mesh model in the step S102 according to the size of the coal mining cutting device includes the following steps:
S501, acquiring a width number and a height number of a target grid vertex of coal cutting equipment on a coal wall grid model.
In the embodiment of the application, the axis coordinates of the coal wall and the coordinates of the coal cutting equipment can be obtained, the target vector of the coal wall, which points to the coal cutting equipment, is determined according to the axis coordinates of the coal wall and the coordinates of the coal cutting equipment, the first projection length of the target vector in the transverse axis direction and the second projection length of the target vector in the longitudinal axis direction are obtained, the width number of the vertex of the target grid is determined according to the first projection length and the width interval, and the height number of the vertex of the target grid is determined according to the second projection length and the height interval.
For example, if the width direction of the coal wall to be processed is consistent with the X-axis direction of the world coordinate, the axis coordinate of the coal wall to be processed is (10,0,15), the coordinates of the shearer drum is (92,8,20), the target vector of the coal wall axis direction of the shearer cutting device is (92,8,20) - (10,0,15) = (82,8,5), the first projection length of the target vector in the transverse axis direction is 82, and the width spacing is 10cm, the quotient (82/10) between the first projection length and the width spacing can be obtained, the quotient is rounded to obtain the width number of the target grid vertex 8, the process of obtaining the height number of the target grid vertex is the same as the process of obtaining the width number of the target grid vertex, and the description is omitted here
In the embodiment of the application, the number of each grid vertex in the coal wall grid model is predetermined, and after the width number and the height number of the target grid vertex are obtained, the position of the target grid vertex in the coal wall grid model can be determined.
S502, determining the width offset number of the vertex of the target grid according to the size and the width interval of the coal cutting equipment, and determining the height offset number of the vertex of the target grid according to the size and the height interval of the coal cutting equipment.
Alternatively, a quotient between the size and the width pitch of the coal cutting apparatus may be obtained, the width offset number of the target mesh vertex may be determined according to the quotient between the size and the width pitch of the coal cutting apparatus, a quotient between the size and the height pitch of the coal cutting apparatus may be obtained, and the height offset number of the target mesh vertex may be determined according to the quotient between the size and the height pitch of the coal cutting apparatus.
For example, for the width offset number of the target mesh vertex, if the coal cutter is a coal cutter, the radius of the drum of the coal cutter is 58cm, and the width interval is 10cm, the quotient (58/10) between the size and the width interval of the coal cutter can be obtained, and the quotient is rounded to obtain the width offset number of the target mesh vertex of 6, and the process of obtaining the height offset number of the target mesh vertex is the same as the process of obtaining the width offset number of the target mesh vertex, which is not described herein.
S503, respectively shifting the width numbers of the target grid vertexes leftwards and rightwards according to the width shift numbers, and respectively shifting the height numbers of the target grid vertexes upwards and downwards according to the height shift numbers so as to determine the updating area of the coal wall grid model.
For example, if the width number of the target mesh vertex is 8 and the width offset number is 6, the width number of the target mesh vertex is offset to the left according to the width offset number, and then the width number of the leftmost mesh vertex is 8-6=2, the width number of the target mesh vertex is offset to the right according to the width offset number, and then the width number of the rightmost mesh vertex is 8+6=14, and the process of respectively offsetting the height number of the target mesh vertex up and down according to the height offset number is the same as the process of respectively offsetting the width number of the target mesh vertex to the left and right according to the width offset number, which is not repeated here.
Optionally, in order to ensure accuracy of the updated coal wall grid model, based on the width number of the leftmost grid vertex and the width number of the rightmost grid vertex, the width number of the leftmost grid vertex may be further shifted leftwards by one number, so as to obtain the width number of the leftmost grid vertex as 8-6-1=1, and the width number of the rightmost grid vertex may be further shifted rightwards by one number, so as to obtain the width number of the rightmost grid vertex as 8+6+1=15.
For example, as shown in fig. 6, after the width numbers of the target mesh vertices a are respectively shifted to the left and right in terms of the width shift numbers and the height numbers of the target mesh vertices are respectively shifted up and down in terms of the height shift numbers, the vertical lines (BD) corresponding to the width numbers of the leftmost mesh vertices and the vertical lines (CE) corresponding to the width numbers of the rightmost mesh vertices, the horizontal lines (BC) corresponding to the height numbers of the uppermost mesh vertices and the horizontal lines (DE) corresponding to the height numbers of the lowermost mesh vertices can be obtained, and the area surrounded by the vertical lines and the horizontal lines is defined as the update area (BCDE) of the coal wall mesh model.
In the embodiment of the application, after the updated area of the coal wall grid model is obtained, the points in the updated area can be used as the points to be offset, and the points to be offset are offset according to the depth of the cutting part of the coal mining cutting equipment cutting the coal wall to be processed, so as to generate the updated coal wall grid model.
In summary, the application provides a method for updating a coal wall model based on digital twinning, which constructs a finer coal wall grid model, determines an updating area of the coal wall grid model according to the size of coal mining cutting equipment, and uses points in the updating area as points to be offset, so that the points to be offset which need to be updated can be quickly determined without circulating and traversing all the points in the coal wall to be processed, thereby shortening the updating time of the coal wall grid model, and the updating area of the coal wall grid model is only related to the size of the coal mining cutting equipment, is irrelevant to the area of the coal wall to be processed, and performs offset operation according to the depth of a cutting part of the coal mining cutting equipment into the points to be offset, so as to generate an updated coal wall grid model, improve the updating efficiency of the coal wall grid model, and ensure the visual reliability of the coal wall cutting surface simulation based on digital twinning.
In order to implement the above embodiment, the present embodiment provides a device for updating a coal wall model based on digital twinning, and fig. 7 is a schematic structural diagram of the device for updating a coal wall model based on digital twinning according to the embodiment of the present application.
As shown in fig. 7, the updating device 1000 based on the digital twin coal wall model includes: a generation module 110, a determination module 120, and a determination module 130. Wherein,
A generating module 110, configured to obtain a geometric parameter of a coal wall to be processed, and generate a coal wall grid model according to the geometric parameter of the coal wall to be processed, where the geometric parameter includes a position, an orientation, a width, and a height;
a determining module 120, configured to obtain a size of a coal cutting device, and determine an update area of the coal wall grid model according to the size of the coal cutting device in a process of cutting a coal wall by the coal cutting device;
And the updating module 130 is configured to update the coal wall grid model according to the updating area to generate an updated coal wall grid model.
According to an embodiment of the present application, the generating module 110 is further configured to: determining the position and the orientation of an axis point of the coal wall to be treated based on the position and the orientation, and generating a coal wall model according to the width and the height by taking the width direction of the coal wall to be treated as a transverse axis and the height direction as a longitudinal axis; determining a width interval according to the width and a preset first division number, and determining a height interval according to the height and a preset second division number; and carrying out grid division on the coal wall model along the transverse axis according to the width interval and the longitudinal axis according to the height interval so as to generate the coal wall grid model.
According to one embodiment of the application, the apparatus 1000 is further configured to: acquiring the width number of each grid vertex in the coal wall grid model according to the first number of the width intervals, and acquiring the height number of each grid vertex in the coal wall grid model according to the second number of the height intervals; and determining the number of each grid vertex in the coal wall grid model based on the width number and the height number.
According to an embodiment of the present application, the determining module 120 is further configured to: acquiring a width number and a height number of a target grid vertex of the coal wall grid model of the coal mining cutting equipment; determining a width offset number of the target grid vertex according to the size of the coal cutting equipment and the width interval, and determining a height offset number of the target grid vertex according to the size of the coal cutting equipment and the height interval; and respectively shifting the width numbers of the target grid vertexes leftwards and rightwards according to the width shift numbers, and respectively shifting the height numbers of the target grid vertexes upwards and downwards according to the height shift numbers so as to determine the updating area of the coal wall grid model.
According to an embodiment of the present application, the determining module 120 is further configured to: acquiring a coal wall axis coordinate and the coal mining cutting equipment coordinate, and determining a target vector of the coal wall axis pointing to the coal mining cutting equipment according to the coal wall axis coordinate and the coal mining cutting equipment coordinate; acquiring a first projection length of the target vector in the horizontal axis direction and a second projection length of the target vector in the vertical axis direction; and determining the width number of the vertex of the target grid according to the first projection length and the width interval, and determining the height number of the vertex of the target grid according to the second projection length and the height interval.
According to an embodiment of the present application, the update module 130 is further configured to: and taking the points in the updating area as points to be offset, and performing offset operation on the points to be offset according to the depth of the cutting part of the coal mining cutting equipment cutting the coal wall to be processed so as to generate an updated coal wall grid model.
According to the updating device of the coal wall model based on the digital twin, the coal wall grid model is generated according to the geometric parameters of the coal wall to be processed by acquiring the geometric parameters of the coal wall to be processed, wherein the geometric parameters comprise the position, the orientation, the width and the height, the size of coal cutting equipment is acquired, in the process of cutting the coal wall by the coal cutting equipment, the updating area of the coal wall grid model is determined according to the size of the coal cutting equipment, the coal wall grid model is updated according to the updating area to generate the updated coal wall grid model, and the updating area of the coal wall grid model is determined according to the size of the coal cutting equipment, so that the updating time of the coal wall grid model is shortened, the updating efficiency of the coal wall grid model is improved, and the visual credibility of the coal wall cutting surface simulation based on the digital twin is ensured.
In order to implement the above embodiment, the present application further provides an electronic device 2000, as shown in fig. 8, including a memory 210, a processor 220, and a computer program stored in the memory 210 and capable of running on the processor 220, where the processor implements the foregoing method for updating the digital twin-based coal wall model when executing the program.
In order to achieve the above embodiments, the present application also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the aforementioned method of updating a digital twin-based coal wall model.
In order to achieve the above embodiments, the present application also proposes a computer program product comprising a computer program which, when executed by a processor, implements a method of updating a digital twinning based coal wall model as described above.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution disclosed in the present application can be achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (9)
1. A method for updating a digital twinning-based coal wall model, the method comprising:
Obtaining geometric parameters of a coal wall to be treated, and generating a coal wall grid model according to the geometric parameters of the coal wall to be treated, wherein the geometric parameters comprise positions, orientations, widths and heights;
acquiring the size of coal cutting equipment, and determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment;
updating the coal wall grid model according to the updating area to generate an updated coal wall grid model;
the method for determining the updating area of the coal wall grid model according to the size of the coal mining cutting equipment comprises the following steps:
acquiring a width number and a height number of a target grid vertex of the coal wall grid model of the coal mining cutting equipment;
Determining the width offset number of the vertex of the target grid according to the size and the width interval of the coal cutting equipment, and determining the height offset number of the vertex of the target grid according to the size and the height interval of the coal cutting equipment;
And respectively shifting the width numbers of the target grid vertexes leftwards and rightwards according to the width shift numbers, and respectively shifting the height numbers of the target grid vertexes upwards and downwards according to the height shift numbers so as to determine the updating area of the coal wall grid model.
2. The method of claim 1, wherein the generating a coal wall mesh model from the geometric parameters of the coal wall to be treated comprises:
determining the position and the orientation of an axis point of the coal wall to be treated based on the position and the orientation, and generating a coal wall model according to the width and the height by taking the width direction of the coal wall to be treated as a transverse axis and the height direction as a longitudinal axis;
Determining a width interval according to the width and a preset first division number, and determining a height interval according to the height and a preset second division number;
and carrying out grid division on the coal wall model along the transverse axis according to the width interval and the longitudinal axis according to the height interval so as to generate the coal wall grid model.
3. The method according to claim 2, characterized in that the method further comprises:
acquiring the width number of each grid vertex in the coal wall grid model according to the first number of the width intervals, and acquiring the height number of each grid vertex in the coal wall grid model according to the second number of the height intervals;
and determining the number of each grid vertex in the coal wall grid model based on the width number and the height number.
4. The method of claim 1, wherein the obtaining the width number and the height number of the target mesh vertices of the coal cutting apparatus on the coal wall mesh model comprises:
acquiring a coal wall axis coordinate and the coal mining cutting equipment coordinate, and determining a target vector of the coal wall axis pointing to the coal mining cutting equipment according to the coal wall axis coordinate and the coal mining cutting equipment coordinate;
acquiring a first projection length of the target vector in the horizontal axis direction and a second projection length of the target vector in the vertical axis direction;
and determining the width number of the vertex of the target grid according to the first projection length and the width interval, and determining the height number of the vertex of the target grid according to the second projection length and the height interval.
5. The method of claim 1, wherein updating the coal wall mesh model according to the update region to generate an updated coal wall mesh model comprises:
And taking the points in the updating area as points to be offset, and performing offset operation on the points to be offset according to the depth of the cutting part of the coal mining cutting equipment cutting the coal wall to be processed so as to generate an updated coal wall grid model.
6. A digital twinning-based coal wall model updating device, the device comprising:
The generation module is used for acquiring the geometric parameters of the coal wall to be processed and generating a coal wall grid model according to the geometric parameters of the coal wall to be processed, wherein the geometric parameters comprise positions, orientations, widths and heights;
the determining module is used for obtaining the size of the coal cutting equipment, and determining an updating area of the coal wall grid model according to the size of the coal cutting equipment in the process of cutting the coal wall by the coal cutting equipment;
The updating module is used for updating the coal wall grid model according to the updating area so as to generate an updated coal wall grid model;
The determining module is further used for obtaining the width number and the height number of the target grid vertex of the coal wall grid model of the coal mining cutting equipment;
Determining a width offset number of the target grid vertex according to the size of the coal cutting equipment and the width interval, and determining a height offset number of the target grid vertex according to the size of the coal cutting equipment and the height interval;
And respectively shifting the width numbers of the target grid vertexes leftwards and rightwards according to the width shift numbers, and respectively shifting the height numbers of the target grid vertexes upwards and downwards according to the height shift numbers so as to determine the updating area of the coal wall grid model.
7. An electronic device, comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
8. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.
9. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-5.
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| CN117830586A (en) * | 2024-03-05 | 2024-04-05 | 煤炭科学研究总院有限公司 | Method and system for updating three-dimensional modeling increment of roadway |
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| CN116109774A (en) * | 2023-02-17 | 2023-05-12 | 太原向明智控科技有限公司 | Simulation method for real-time deformation of coal wall in three-dimensional engine |
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| CN117830586A (en) * | 2024-03-05 | 2024-04-05 | 煤炭科学研究总院有限公司 | Method and system for updating three-dimensional modeling increment of roadway |
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