CN115640707A - Tunneling monitoring system and method, electronic equipment and storage medium - Google Patents
Tunneling monitoring system and method, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a tunneling monitoring system, a tunneling monitoring method, electronic equipment and a storage medium. The system comprises: the data acquisition module is used for acquiring tunneling data of the current tunneling space; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment; the data processing module is in communication connection with the data acquisition module and is used for processing the tunneling data of the current tunneling space; the digital twinning module is in communication connection with the data processing module and is used for performing digital twinning processing on the basis of point cloud data of a current tunneling roadway, point cloud data of tunneling equipment, attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to a current tunneling space; the data display module is in communication connection with the digital twin module and used for updating and displaying the digital twin model in the data display interface based on the current digital twin data so as to realize real-time monitoring of the tunneling process.
Description
Technical Field
The invention relates to the technical field of digital twinning, in particular to a tunneling monitoring system, a tunneling monitoring method, electronic equipment and a storage medium.
Background
With the development of artificial intelligence, artificial intelligence technology is applied in many fields, and intelligent mining of mining industry is the main direction of future development.
The existing tunneling monitoring system adopts a structure of underground equipment, an upper computer, a server and a client, mainly looks up sensor data from single equipment based on traditional configuration software and a human-computer interaction interface, and has the problems of poor real-time performance, low visualization and intelligent degree and the like.
Disclosure of Invention
The invention provides a tunneling monitoring system, a tunneling monitoring method, electronic equipment and a storage medium, and aims to solve the problems that an existing tunneling monitoring system is poor in instantaneity and low in visualization and intelligentization degree.
According to an aspect of the present invention, there is provided a tunneling monitoring system, comprising: the device comprises a data acquisition module, a data processing module, a digital twin module and a data display module;
the data acquisition module is used for acquiring tunneling data of the current tunneling space; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment;
the data processing module is in communication connection with the data acquisition module and is used for processing the tunneling data of the current tunneling space; wherein the data processing comprises one or more of data classification, data filtering, data analysis, and data processing;
the digital twinning module is in communication connection with the data processing module and is used for performing digital twinning processing on the basis of the point cloud data of the current tunneling roadway, the point cloud data of the tunneling equipment, the attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to the current tunneling space;
the data display module is in communication connection with the digital twin module and is used for updating and displaying a visual digital twin model in a data display interface based on the current digital twin data so as to monitor the tunneling process.
According to another aspect of the present invention, there is provided a tunneling monitoring method, comprising:
acquiring tunneling data of a current tunneling space, and performing data processing on the tunneling data; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment; the data processing comprises one or more of data classification, data filtering, data analysis and data processing;
performing digital twinning processing based on the point cloud data of the current tunneling roadway, the point cloud data of the tunneling equipment, the attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to the current tunneling space;
and updating and displaying the visual digital twin model in the data display interface based on the current digital twin data so as to monitor the tunneling process.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of headway monitoring according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium having stored thereon computer instructions for causing a processor to execute a method of monitoring a heading as described in any one of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the tunneling data in the current tunneling space is collected in real time, the digital twins processing is carried out on the digital twins model based on the tunneling data, the digital twins data corresponding to the current tunneling space is obtained, and the digital twins model in the data display interface is updated and displayed based on the digital twins data, so that the problems of poor real-time performance and low visualization and intelligentization degrees of the existing tunneling monitoring system are solved, the real-time monitoring of the tunneling process is realized, and the visualization and intelligentization of the tunneling monitoring are improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a tunneling monitoring system according to an embodiment of the present invention;
fig. 2 is a flowchart of a tunneling monitoring method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first danger warning information", "second danger warning information", and the like in the description and the claims of the present invention and the above-mentioned drawings are used for distinguishing similar objects, and are not necessarily used for describing a specific order or sequence. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a schematic structural diagram of a tunneling monitoring system according to an embodiment of the present invention, where the embodiment is applicable to monitoring a mining process of a mineral product such as a coal mine, and the tunneling monitoring system may be configured in an architecture of a downhole device, an upper computer, a server, and a client. As shown in fig. 1, the system includes: the system comprises a data acquisition module 110, a data processing module 120, a digital twin module 130 and a data display module 140;
the data acquisition module 110 is used for acquiring tunneling data of a current tunneling space; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment.
The current tunneling space is the underground space where the tunneling equipment is located currently, and the current tunneling space is continuously changed along with the tunneling progress; specifically, the current excavation space includes a current excavation roadway, excavation equipment, data acquisition equipment, and the like, where the excavation equipment includes, but is not limited to, a boom-type excavator, and is not limited herein. In this embodiment, the data acquisition module 110 acquires the tunneling data in the current tunneling space through each data acquisition device; specifically, the data acquisition device includes, but is not limited to, a point cloud scanning device, an oil cylinder stroke sensor, an inclination sensor, and the like, and is not limited herein; correspondingly, the tunneling data of the current tunneling space comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment, attitude data of the tunneling equipment and the like; the attitude data of the heading device includes, but is not limited to, heading device attitude data, vehicle-front distance, pitch angle, roll angle, and the like, which is not limited herein.
On the basis of the above embodiment, optionally, the data acquisition module 110 further includes an environmental information acquisition unit, a video information acquisition unit, and a positioning information acquisition unit; the environment information acquisition unit is used for acquiring environment data in the tunneling space; the video information acquisition unit is used for acquiring monitoring video data in the tunneling process; the positioning information acquisition unit is used for acquiring positioning data of the tunneling equipment and/or workers.
The environmental data refers to environmental data in a current tunneling space, and specifically, the environmental data includes, but is not limited to, gas concentration, dust concentration, oxygen content, carbon monoxide concentration, temperature, and the like in the current tunneling space, which is not limited herein. In this embodiment, the environmental information collection unit collects environmental data in the heading space through data collection devices such as a gas sensor, an air velocity sensor, a dust sensor, a carbon monoxide sensor, an oxygen sensor, and a temperature sensor.
The monitoring video data refers to video data acquired by image acquisition equipment in the tunneling process, and specifically, the image acquisition equipment can be arranged in a cab of the tunneling equipment and is used for acquiring operation video data of a driver; the image acquisition equipment can also be arranged on the machine body of the tunneling equipment and is used for acquiring tunneling work video data. In this embodiment, the information acquisition unit acquires the monitoring video data in the tunneling process through an image acquisition device, where the image acquisition device may be a network camera, and is not limited herein.
In some embodiments, the identity information of the driver may be verified by an image capture device disposed within the cockpit.
The positioning data refers to positioning data of tunneling equipment and workers. In this embodiment, the positioning information acquisition unit acquires positioning data of the tunneling device and the worker through a positioning device, where the positioning device may be a UWB positioning device, and is not limited herein.
It should be noted that the tunneling data collected by the data collection module 110 is transmitted to the data processing module 120 through an industrial ethernet, a serial port, and the like.
The data processing module 120 is in communication connection with the data acquisition module 110, and is configured to perform data processing on the tunneling data of the current tunneling space; wherein the data processing comprises one or more of data classification, data filtering, data analysis, and data processing.
In this embodiment, the data processing module 120 receives the tunneling data of the current tunneling space sent by the data acquisition module 110, performs data processing such as data classification, data filtering, data analysis, and data processing on the tunneling data, and sends the processed tunneling data to the digital twin module 130.
The digital twinning module 130 is in communication connection with the data processing module 120, and is configured to perform digital twinning processing based on the point cloud data of the current excavation roadway, the point cloud data of the excavation equipment, the attitude data of the excavation equipment, and a pre-constructed digital twinning model, so as to obtain current digital twinning data corresponding to the current excavation space.
The construction method of the digital twin model comprises the following steps:
1. carrying out 3D modeling on physical entities (including tunneling equipment, a tunneling roadway and the like) in a tunneling space to obtain a three-dimensional visual model, and solving structural parameters, geometric parameters, material parameters, state parameters and boundary conditions of the three-dimensional model by adopting a finite element analysis method;
2. rendering the three-dimensional model obtained in the step (1) by using a three-dimensional rendering tool, and repairing and optimizing the edge part of the three-dimensional model;
3. and (3) introducing the rendered three-dimensional model into a virtual reality simulation engine (namely a Robot Operating System), and constructing a digital twin model of the tunneling space by using a built-in physical engine.
In the embodiment, point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment are input into a virtual simulation engine (ROS), and digital twinning processing is carried out on a pre-constructed digital twinning model by means of a SLAM algorithm and rigid body transformation to obtain current digital twinning data; the current digital twin data refers to data for adjusting the digital twin model.
The data display module 140 is in communication connection with the digital twin module 130, and is configured to update and display a visual digital twin model in a data display interface based on the current digital twin data, so as to monitor a tunneling process.
The digital twin model refers to a digital twin model visually displayed in a data display interface of the data display module 140. In this embodiment, the data display module 140 receives the current digital twin data, and updates and displays the digital twin model in the data display interface based on the current digital twin data to obtain the digital twin model corresponding to the current tunneling space, so that the digital twin model can reflect the state of each physical entity in the current tunneling space in real time to monitor the tunneling process.
According to the technical scheme of the embodiment, the tunneling data in the current tunneling space is collected in real time, the digital twinning model is subjected to digital twinning processing based on the tunneling data, the digital twinning data corresponding to the current tunneling space is obtained, the digital twinning model in the data display interface is updated and displayed based on the digital twinning data, the problems that an existing tunneling monitoring system is poor in real-time performance and low in visualization and intelligentization degrees are solved, the real-time monitoring of the tunneling process is achieved, and the visualization and intelligentization of the tunneling monitoring are improved.
On the basis of the above embodiment, optionally, the system further includes a database; the database is in communication connection with the data acquisition module 110, the data processing module 120 and the data display module 140, and is used for storing the tunneling data acquired by the data acquisition module 110 in the tunneling process; and/or, store the data processed by the data processing module 120; and/or store display data of the data display module 140.
In this embodiment, the database is in communication connection with the data acquisition module 110, the data processing module 120, and the data display module 140, specifically, the database can receive the tunneling data acquired by the data acquisition module 110 through each data acquisition device, and store the tunneling data; the database may also receive data processed by the data processing module 120, and store the data processed by the data processing module; the database can also receive the display data of the data display module 140 and store the display data; in the embodiment, various types of data in the tunneling monitoring process are stored, so that the external equipment can conveniently access various types of data in the system. It will be appreciated that the database provides a uniform access interface to external devices through internal middleware.
On the basis of the above embodiment, optionally, the system further includes a video monitoring module; the video monitoring module is in communication connection with the data acquisition module 110 and the data display module 140, and is configured to receive a monitoring video query instruction sent by the data display module 140, determine corresponding monitoring video data based on the monitoring video query instruction, and send the monitoring video data to the data display module 140; the data display module 140 is further configured to receive the monitoring video data and display the monitoring video data in a video display area of the data display interface.
In this embodiment, the video monitoring module obtains the monitoring video data of the video information acquisition unit, determines the corresponding monitoring video data according to the monitoring video query instruction when receiving the monitoring video query instruction sent by the data display module 140, and sends the corresponding monitoring video data to the data display module 140; the data display module 140 receives the data monitoring video data and displays the monitoring video data in a video display area of the data display interface, so that video monitoring personnel can monitor the tunneling process through the monitoring video. In the embodiment, the monitoring video data are displayed in the video display area of the data display interface, so that the tunneling process is monitored in a monitoring video mode, the accuracy of tunneling monitoring is further ensured, and the safety of tunneling is further ensured.
In some embodiments, the video monitoring module may further send the monitoring video data to the data processing module 120, so that the data processing module 120 performs AI intelligent recognition on the monitoring video data to determine the driving state of the driver.
On the basis of the above embodiment, optionally, the system further includes a danger warning module; the alarm module is in communication connection with the data acquisition module 110 and the data display module 140, and is configured to perform security detection based on the positioning data and the preset dangerous area range to obtain a security detection result; sending first danger warning information to the data display module 140 under the condition that the safety detection result meets a first danger warning condition; the data display module 140 is further configured to receive the first danger warning information, and display the first danger warning information in a first danger warning area of the data display interface.
The preset dangerous area range refers to an area range where danger exists during tunneling operation, specifically, the dangerous area includes, but is not limited to, a power-off blocking area of tunneling equipment, an early warning area during tunneling operation, and the like, and the area range of the dangerous area is set by a person skilled in the art according to experience, and is not limited herein. In this embodiment, the danger warning module determines a current dangerous area based on the positioning data of the tunneling device and a preset dangerous area range, performs safety detection based on the current dangerous area and the positioning data of the worker, determines that the worker is in a dangerous state when the positioning data of the worker is in the current dangerous area, and sends first danger warning information to the data display module 140; the data display module 140 receives the first danger information, displays the first danger information in a first danger area of the data display interface, and gives an alarm to the monitoring personnel, so that the monitoring personnel send alarm information to the staff in the roadway. It will be appreciated that the current danger zone varies with the progress of the excavation. This embodiment carries out real-time safety inspection through the positioning data to the staff to protection staff's safety.
On the basis of the above embodiment, optionally, the hazard warning module is further configured to perform environment detection based on the environment data and a corresponding preset safety threshold range, so as to obtain an environment detection result; sending second danger warning information to the data display module 140 under the condition that the environment detection result meets a second danger warning condition; the data display module 140 is further configured to receive the second danger warning information, and display the second danger warning information in a second danger warning area of the data display interface.
The preset safety threshold range refers to a safety threshold range of each environmental data, and specifically, the preset safety threshold range includes a safety threshold range not limited to a gas concentration, a carbon monoxide concentration safety threshold range, a temperature safety threshold range, and the like, which is not limited herein. In this embodiment, the hazard warning module performs environment detection based on each environmental data and a preset safety threshold range corresponding to each environmental data, determines that an environment in the roadway is in a hazardous state when any environmental data exceeds the preset safety threshold range, and sends second hazard warning information to the data display module 140; the data display module 140 receives the second danger warning information and displays the second danger warning information in a second danger warning area of the data display interface. The embodiment can ensure the safety of the tunneling environment by carrying out real-time environment detection on the environment data in the tunneling space.
On the basis of the above embodiment, optionally, the system further includes an intelligent tunneling substation, which is arranged in the tunneling space and is used for storing the tunneling data acquired by the data acquisition module 110.
In this embodiment, since the data transmission is performed between the data acquisition module 110 and the data processing module 120, between the database, between the video monitoring module and the hazard warning module through the industrial ethernet, through the fieldbus and through the communication protocol, the data transmission is unstable, and the acquired data cannot be transmitted to each module in real time. In the embodiment, the intelligent tunneling substation is arranged in the tunneling space, the tunneling data collected by the data collection module 110 is stored, and when the data transmission is recovered stably, the tunneling data stored in the intelligent tunneling substation and the tunneling data in the intelligent tunneling substation are transmitted to each module, so that the monitoring stability is ensured.
Example two
Fig. 2 is a flowchart of a tunneling monitoring method according to a second embodiment of the present invention. As shown in fig. 2, the method includes:
s210, acquiring tunneling data of a current tunneling space, and performing data processing on the tunneling data; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment; the data processing comprises one or more of data classification, data filtering, data analysis and data processing;
s220, performing digital twinning processing based on the point cloud data of the current tunneling roadway, the point cloud data of the tunneling equipment, the attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to the current tunneling space;
and S230, updating and displaying the visual digital twin model in the data display interface based on the current digital twin data so as to monitor the tunneling process.
According to the technical scheme of the embodiment, the tunneling data in the current tunneling space is collected in real time, the digital twins model is subjected to digital twins processing based on the tunneling data, the digital twins data corresponding to the current tunneling space are obtained, the digital twins model in the data display interface is updated and displayed based on the digital twins data, the problems that an existing tunneling monitoring system is poor in real-time performance and low in visualization and intelligentization degree are solved, the real-time monitoring of the tunneling process is achieved, and the visualization and intelligentization of the tunneling monitoring are improved.
On the basis of the foregoing embodiment, optionally, the acquiring tunneling data of the current tunneling space further includes: collecting environmental data in a tunneling space; and/or, collecting monitoring video data in the tunneling process; and/or collecting positioning data of the heading equipment and/or workers.
On the basis of the foregoing embodiment, optionally, the method further includes: responding to a monitoring video query instruction, determining corresponding monitoring video data based on the monitoring video query instruction, and displaying the monitoring video data in a video display area of the data display interface.
On the basis of the foregoing embodiment, optionally, the method further includes: performing safety detection based on the positioning data and a preset dangerous area range to obtain a safety detection result; and under the condition that the safety detection result meets a first danger alarm condition, generating first danger alarm information, and displaying the first danger alarm information in a first danger alarm area of the data display interface.
On the basis of the above embodiment, optionally, performing environment detection based on the environment data and the corresponding preset safety threshold range to obtain an environment detection result; and generating second danger alarm information under the condition that the environment detection result meets a second danger alarm condition, and displaying the second danger alarm information in a second danger alarm area of the data display interface.
The tunneling monitoring method provided by the embodiment of the invention can be executed by the tunneling monitoring system provided by any embodiment of the invention, and has the beneficial effects of each functional module of the tunneling monitoring system.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as the tunneling monitoring method.
In some embodiments, the tunneling monitoring method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by the processor 11, one or more steps of the tunnelling monitoring method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the tunnelling monitoring method in any other suitable manner (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the tunnelling monitoring method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
Example four
The fourth embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute a tunneling monitoring method, where the method includes:
acquiring tunneling data of a current tunneling space, and performing data processing on the tunneling data; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment; the data processing comprises one or more of data classification, data filtering, data analysis and data processing; performing digital twinning treatment based on the point cloud data of the current tunneling roadway, the point cloud data of tunneling equipment, the attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to the current tunneling space; and updating and displaying the visual digital twin model in the data display interface based on the current digital twin data so as to monitor the tunneling process.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A tunneling monitoring system, comprising: the device comprises a data acquisition module, a data processing module, a digital twin module and a data display module;
the data acquisition module is used for acquiring tunneling data of the current tunneling space; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment;
the data processing module is in communication connection with the data acquisition module and is used for processing the tunneling data of the current tunneling space; wherein the data processing comprises one or more of data classification, data filtering, data analysis, and data processing;
the digital twinning module is in communication connection with the data processing module and is used for performing digital twinning processing on the basis of the point cloud data of the current tunneling roadway, the point cloud data of the tunneling equipment, the attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to the current tunneling space;
the data display module is in communication connection with the digital twin module and is used for updating and displaying a visual digital twin model in a data display interface based on the current digital twin data so as to monitor the tunneling process.
2. The tunneling monitoring system according to claim 1, wherein the data acquisition module further comprises an environmental information acquisition unit, a video information acquisition unit and a positioning information acquisition unit;
the environment information acquisition unit is used for acquiring environment data in the tunneling space;
the video information acquisition unit is used for acquiring monitoring video data in the tunneling process;
the positioning information acquisition unit is used for acquiring positioning data of the tunneling equipment and/or workers.
3. The excavation monitoring system of claim 1, wherein the system further comprises a database;
the database is in communication connection with the data acquisition module, the data processing module and the data display module and is used for storing the tunneling data acquired by the data acquisition module in the tunneling process;
and/or, storing the data processed by the data processing module;
and/or storing the display data of the data display module.
4. The excavation monitoring system of claim 2, wherein the system further comprises a video monitoring module;
the video monitoring module is in communication connection with the data acquisition module and the data display module and is used for receiving a monitoring video query instruction sent by the data display module, determining corresponding monitoring video data based on the monitoring video query instruction and sending the monitoring video data to the data display module;
the data display module is further used for receiving the monitoring video data and displaying the monitoring video data in a video display area of the data display interface.
5. The excavation monitoring system of claim 2, wherein the system further comprises a hazard warning module;
the alarm module is in communication connection with the data acquisition module and the data display module and is used for carrying out safety detection based on the positioning data and a preset dangerous area range to obtain a safety detection result; sending first danger warning information to the data display module under the condition that the safety detection result meets a first danger warning condition;
the data display module is further used for receiving the first danger warning information and displaying the first danger warning information in a first danger warning area of the data display interface.
6. The tunneling monitoring system according to claim 5, wherein the hazard warning module is further configured to perform environmental detection based on the environmental data and a corresponding preset safety threshold range to obtain an environmental detection result; sending second danger alarm information to the data display module under the condition that the environment detection result meets a second danger alarm condition;
and the data display module is also used for receiving the second danger warning information and displaying the second danger warning information in a second danger warning area of the data display interface.
7. The tunneling monitoring system according to claim 1, further comprising an intelligent tunneling substation disposed in the tunneling space and configured to store the tunneling data collected by the data collection module.
8. A tunneling monitoring method is characterized by comprising the following steps:
acquiring tunneling data of a current tunneling space, and performing data processing on the tunneling data; the tunneling data comprises point cloud data of a current tunneling roadway, point cloud data of tunneling equipment and attitude data of the tunneling equipment; the data processing comprises one or more of data classification, data filtering, data analysis and data processing;
performing digital twinning processing based on the point cloud data of the current tunneling roadway, the point cloud data of the tunneling equipment, the attitude data of the tunneling equipment and a pre-constructed digital twinning model to obtain current digital twinning data corresponding to the current tunneling space;
and updating and displaying the visual digital twin model in the data display interface based on the current digital twin data so as to monitor the tunneling process.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the tunnelling monitoring method as claimed in claim 8.
10. A computer readable storage medium having stored thereon computer instructions for causing a processor to execute the method of claim 8.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116503042A (en) * | 2023-03-15 | 2023-07-28 | 上海天方夜谭网络科技有限公司 | Method and platform for processing training data of maintenance personnel |
| CN116503042B (en) * | 2023-03-15 | 2023-12-19 | 上海天方夜谭网络科技有限公司 | Method and system suitable for processing training data of inspection and maintenance personnel |
| CN116227090A (en) * | 2023-05-08 | 2023-06-06 | 山东大学 | TBM advanced geological prediction and tunneling performance prediction digital twin system and method |
| CN116227090B (en) * | 2023-05-08 | 2023-09-01 | 山东大学 | TBM advanced geological prediction and tunneling performance prediction digital twin system and method |
| CN117576294A (en) * | 2024-01-16 | 2024-02-20 | 太原理工大学 | Data transmission parameter optimization method of digital twin system of mining equipment |
| CN117576294B (en) * | 2024-01-16 | 2024-03-26 | 太原理工大学 | Data transmission parameter optimization method of digital twin system of mining equipment |
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