A real-scene three-dimensional geological recording method and system

Abstract

The present invention relates to the field of geological cataloging technology, and in particular to a real-scene three-dimensional geological cataloging method and system, the system comprising a shooting module, a repeating module, a processing module and a cataloging module; the method comprises: allowing the shooting module to shoot multiple tunnel images along the tunnel axis direction; the repeating module on the shooting module collects change information during the shooting process, and maintains the overlap between the multiple tunnel images according to the change information, and the repeating module sends a shooting prompt to the shooting module; the tunnel image is obtained by the processing module and sequentially adds sequence marks, and the tunnel image with the sequence marks added is sent to the cataloging module; the tunnel image is cataloged by the cataloging module to obtain a cataloging result map. The present invention can reduce the error of tunnel cataloging.

Description

Technical Field

[0001] The present invention relates to the technical field of geological recording, and in particular to a real-scene three-dimensional geological recording method and system. Background Art

[0002] In the mining activities of the mine, it is necessary to dig in advance to form tunnels with preset functions, such as serving a mining area or more than one mining face, equipment transportation and coal transportation. Due to the high frequency of passage in the tunnel, during the mining process, it is usually necessary to set up safety nets or other device structures on the inner wall of the tunnel to protect the safety of people or moving objects in the tunnel because spraying will affect the passing personnel or moving objects. During the tunnel excavation process, when geological changes are found, such as when faults are found, rough and simple records are usually made for the geological changes. For example, the recording method for geological changes is generally to measure once every 10 meters (or more) and connect the elevations, which has a large error.

[0003] Since the tunnel is not completely straight and has a certain slope and bend, the existing rough and simple recording method is likely to cause huge errors in the subsequent analysis of geological conditions based on the recorded tunnel geological information. Also, due to support, accurate measurement and recording cannot be carried out again, and the geological information during tunnel excavation cannot be traced. Summary of the invention

[0004] The present invention is intended to provide a real-scene three-dimensional geological logging system to solve the problem of large errors in tunnel logging.

[0005] The real-scene three-dimensional geological logging system in this scheme includes a shooting module;

[0006] It also includes a repeat module, a processing module, and a cataloging module;

[0007] A shooting module, used for shooting a plurality of laneway images along the forward direction of the tunnel axis of the laneway in a fixed shooting state, and sending the laneway images to the processing module;

[0008] A repeat module, located on the shooting module, is used to collect change information during the shooting process, and identify the repeated position and repetition rate between the shot images according to the change information. The repeat module determines whether the repeated position is the same as the preset position and whether the repetition rate is within a preset range. When the repeated position is the same as the preset position and the repetition rate is within the preset range, the repeat module sends a shooting prompt;

[0009] A processing module, which obtains the lane image and adds a sequence mark according to the shooting order, and sends the lane image with the added sequence mark to the cataloging module, and the processing module obtains the cataloging result map after the cataloging module catalogs it for output display;

[0010] The cataloging module is used to obtain tunnel images for geological cataloging to obtain cataloging result maps.

[0011] The beneficial effects of this program are:

[0012] Before the tunnel is excavated and the support is installed, the change information during the forward movement is collected through the repetition module on the shooting module, and the repetition position and repetition rate between the tunnel images are determined based on the change information. After the repetition position and repetition rate reach the preset requirements, the shooting module shoots the tunnel image along the forward direction of the tunnel axis to keep the repetition between the multiple tunnel images the same. The three-dimensional graphics of the tunnel can be accurately recorded at the bends or slopes of the tunnel to prevent confusion in the subsequent cataloging of the tunnel images. Finally, the cataloging module catalogs the tunnel images after adding sequential identification, which can reduce the error of tunnel cataloging.

[0013] Further, the cataloging module includes a solving unit and a cataloging unit;

[0014] A solution unit is used to calculate the posture information of the tunnel image, establish the posture image of the tunnel image in the three-dimensional coordinate system according to the posture information and perform three-dimensional analysis, establish a three-dimensional model of the tunnel, and perform orientation solution on the three-dimensional model of the tunnel;

[0015] The cataloging unit is used to obtain the three-dimensional model of the tunnel and add geological information to obtain the cataloging result map.

[0016] The beneficial effect is: the posture information of the tunnel image is calculated and three-dimensionally analyzed by the solution unit, and then a three-dimensional model is established and directional solution is performed. The cataloging unit adds geological information to obtain a cataloging result map. The solution part and the cataloging are performed separately to avoid confusion.

[0017] Further, the repetition module includes a camera unit, a control unit and a prompt unit, the change information includes a change image, the camera unit and the shooting module have the same shooting direction and are parallel to the shooting center axis, the shooting time point of the camera unit precedes the shooting module, the camera unit shoots the change image and sends it to the control unit, the control unit identifies the repetition position and repetition rate on the change image, the control unit determines whether the repetition position is the same as the preset position, and determines whether the repetition rate is within a preset range, when the repetition position is the same as the preset position and the repetition rate is within the preset range, the control unit sends prompt information to the prompt unit to shoot the prompt information.

[0018] The beneficial effect is: the changing image is coaxially and directionally photographed by the camera unit on the shooting module, and the camera unit first shoots with the shooting module, and then the repeated position and repetition rate on the changing image are identified and judged, that is, the shooting position is judged before shooting the tunnel image, and the repeated position and repetition rate are judged directly through the image, which is more intuitive, reduces redundant images that are re-shot due to unqualified after directly shooting the tunnel image for repetition rate judgment, and improves the accuracy of overlapping between tunnel images according to the same repeated position and the same repetition rate.

[0019] Further, when the repetition rate is outside a preset range, the change information includes slope information, and the repetition module also includes a slope sensing unit. The slope sensing unit detects the slope information when the shooting module is shooting and sends it to the control unit. The slope information includes a slope value and a slope direction. The control unit determines whether the slope value is greater than a slope threshold. When the slope value is greater than the slope threshold, the control unit sends correction prompt information to the prompt unit according to the slope direction.

[0020] The beneficial effect is: when the repetition rate is outside the preset range, the slope information is obtained, and it is determined whether the slope value is greater than the slope threshold, that is, whether the slope of the lane will affect the shooting of the lane image, and then correction prompts are given according to the slope direction, abnormal repetition rate situations are discovered in time, and the speed of accurately shooting lane images is improved.

[0021] Further, the control unit identifies part of the lane contour in the radial direction of the lane in the changing image and adds the radial contour line of the lane. The control unit determines whether the radial contour line coincides with the radial contour line on the changing image taken at the previous moment. When they do not coincide, the control unit determines that the repeated position is the same as the preset position.

[0022] The beneficial effect is: since the camera unit is located on the shooting module, if the shooting module is to capture the complete lane image, the camera unit cannot fully capture the complete lane image, so the partial lane contour on the changing image is identified and radial contour lines are added, and then it is determined whether the radial contour lines on the changing images taken twice overlap. Because the radial contour lines at different positions in the lane cannot be exactly the same, whether the repeated position is the preset position can be determined by whether the radial contour lines overlap, and whether the repeated position is accurate can be automatically determined, thereby improving accuracy.

[0023] Further, when the radial contour lines do not overlap, the control unit calculates the distance value between the radial contour line and the top, left and right sides of the tunnel, and the control unit subtracts the distance value from the threshold to obtain a difference. The control unit determines whether the difference is within an error range. When the difference is within the error range, the control unit determines that the repetition rate is within a preset range.

[0024] The beneficial effect is that when the position of the radial profile is determined to be the position of the lane to be collected, it is then determined whether the repetition rate is within a preset range, thereby improving the accuracy of the overlapping part before the lane image is captured.

[0025] Furthermore, it also includes a drawing output module, which obtains the cataloging result map and generates a tunnel profile map based on geological information.

[0026] The beneficial effect is that a tunnel cross-section diagram is output according to the cataloging result diagram after the cataloging is completed, and various parameters of the tunnel can be directly displayed, making the cataloging result more intuitive.

[0027] Furthermore, it also includes a real-scene module, which is used to generate a real-scene display model from the tunnel image in sequence according to equal time lengths. The processing module determines whether the geological information is the preset geology. When the geological information is the preset geology, the processing module adds the real-scene display model to the tunnel section.

[0028] The beneficial effect is that by generating a real-life display model from a tunnel image, when the preset geology is judged, the real-life display model is added to the tunnel profile to prompt the display relevance.

[0029] The real-scene three-dimensional geological logging method includes the following contents:

[0030] Content 1: Let the shooting module shoot multiple tunnel images along the tunnel axis direction;

[0031] Content 2: The repeat module on the shooting module collects change information during the shooting process, and identifies the repeated position and repetition rate between the captured images according to the change information, determines whether the repeated position is the same as the preset position, and determines whether the repetition rate is within the preset range. When the repeated position is the same as the preset position and the repetition rate is within the preset range, the repeat module sends a shooting prompt to the shooting module;

[0032] Content three, obtaining the lane image through the processing module and adding sequence marks in sequence, and sending the lane image with the added sequence marks to the cataloging module;

[0033] Content 4: Calculate the posture information of the tunnel image through the cataloging module, establish the posture image of the tunnel image in the three-dimensional coordinate system according to the posture information and perform three-dimensional analysis, establish the three-dimensional model of the tunnel, and perform directional solution on the three-dimensional model of the tunnel, add geological information to the three-dimensional model of the tunnel to obtain the cataloging result map.

[0034] The beneficial effects of this program are:

[0035] By taking multiple tunnel images on the tunnel axis, and then determining the repeated positions and repetition rates between the tunnel images, and taking multiple tunnel images continuously after the corresponding conditions are met, the tunnel images can be continuously and completely collected, making the geological cataloging of the tunnel more accurate. At the same time, when on the slopes or bends of the tunnel, continuous image collection with the same degree of overlap can be performed to avoid confusion during tunnel image cataloging. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic block diagram of a real-scene three-dimensional geological logging system according to Embodiment 1 of the present invention;

[0037] Figure 2 This is a flowchart of the real-scene three-dimensional geological logging method according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following is further explained in detail through specific implementation methods.

[0039] Embodiment 1

[0040] Real-time 3D geological logging system, such as Figure 1 As shown: it includes shooting module, repetition module, processing module and cataloging module.

[0041] The shooting module is used to shoot multiple tunnel images along the forward direction of the tunnel axis in a fixed shooting state, and send the tunnel images to the processing module. The tunnel images can be stored in the existing memory and then acquired by the processing module. The shooting module can use the existing mine photography equipment.

[0042] The repetition module is fixedly installed on the shooting module. The repetition module is used to collect change information during the shooting process, and identify the repeated position and repetition rate between the shot images based on the change information. The repetition module determines whether the repeated position is the same as the preset position and whether the repetition rate is within the preset range. When the repeated position is the same as the preset position and the repetition rate is within the preset range, the repetition module sends a shooting prompt. That is: the repetition module includes a camera unit, a control unit and a prompt unit, the change information includes a change image, the camera unit and the shooting module have the same shooting direction and are parallel to the shooting center axis, the camera unit shoots the change image before the shooting module, the camera unit shoots the change image and sends it to the control unit; the control unit identifies the repetition position and repetition rate on the change image, the control unit identifies part of the lane contour in the lane radial direction in the change image and adds the radial contour line of the lane, the control unit can use the existing SOC chip, the lane contour is identified by the existing Canny contour detector, the control unit determines whether the radial contour line coincides with the radial contour line on the change image taken at the previous moment, when not coincident, the control unit determines that the repetition position is the same as the preset position; when the radial contour line does not coincide, the control unit calculates the distance value between the radial contour line and the top, left and right sides of the lane, the control unit subtracts the distance value from the threshold to obtain the difference, the control unit determines whether the difference is within the error range, when the difference is within the error range, the control unit determines that the repetition rate is within the preset range.

[0043] The control unit determines whether the repeated position is the same as the preset position and whether the repetition rate is within the preset range. When the repeated position is the same as the preset position and the repetition rate is within the preset range, the control unit sends a prompt message to the prompt unit to shoot the prompt message; when the repetition rate is outside the preset range, the change information includes slope information; the repetition module also includes a slope sensing unit. The slope sensing unit can use an existing sensor, such as a sensor of the ZCT800ML-S215 model. The slope sensing unit detects the slope information when the shooting module shoots and sends it to the control unit. The slope information includes a slope value and a slope direction. The control unit determines whether the slope value is greater than a slope threshold. When the slope value is greater than the slope threshold, the control unit sends a correction prompt message to the prompt unit according to the slope direction, so that the staff can correct the shooting position of the camera unit.

[0044] The processing module obtains the lane image and adds a sequence mark according to the shooting order, and sends the lane image with the added sequence mark to the cataloging module. The sequence mark can be represented by numbers or letters, etc. The processing module obtains the cataloging result map after cataloging by the cataloging module for output display.

[0045] The cataloging module is used to obtain the tunnel image for geological cataloging to obtain the cataloging result map. The cataloging module includes a solving unit and a cataloging unit. The solving unit is used to calculate the posture information of the tunnel image through the aerial triangulation solution method. The posture information is the position and posture. The solving unit establishes the posture image of the tunnel image in the three-dimensional coordinate system according to the posture information and performs three-dimensional analysis. The three-dimensional analysis is performed based on the external orientation elements, establishes a three-dimensional model of the tunnel, and performs directional solution on the three-dimensional model of the tunnel. The directional solution can be performed using existing software; the cataloging unit is used to obtain the three-dimensional model of the tunnel and add geological information to obtain the cataloging result map. The addition of geological information can be performed through GeoLogy3D software, and parameters such as geological structure surface / line, geological attribute input, tunnel height and coal thickness are added. The cataloging technology is an existing technology and will not be repeated here.

[0046] The real-scene three-dimensional geological logging method uses the real-scene three-dimensional geological logging system, such as Figure 2 As shown, including the following:

[0047] Content 1: Let the shooting module take multiple tunnel images along the direction of the tunnel axis. The movement of the shooting module can be carried out by the staff. Due to the generally uneven ground during tunnel excavation and the limitation of the tunnel size itself, the movement of the shooting module is generally carried by the staff.

[0048] Content 2: The repeating module on the shooting module collects the change information during the shooting process, the camera unit in the repeating module shoots the change image as the change information, the control unit on the repeating module obtains the change image as the change information, and identifies the repeated position and repetition rate between the captured images according to the change information. The control unit first identifies the radial contour line of the lane on the change image, and determines whether the radial contour line coincides with the radial contour line on the change image shot at the previous moment. When they do not coincide, the control unit determines that the repeated position is the same as the preset position, and calculates the distance value between the radial contour line and the top, left and right sides of the lane through the control unit. The distance value is the actual distance on the change image, and the control unit subtracts the distance value from the threshold to obtain the difference, and determines whether the difference is within the error range. When the difference is within the error range, the control unit determines that the repetition rate is within the preset range, that is, the repeating module finally determines whether the repeated position is the same as the preset position and whether the repetition rate is within the preset range. When the repeated position is the same as the preset position and the repetition rate is within the preset range, the repeating module sends a shooting prompt to the shooting module.

[0049] Content three, the lane image is acquired through the processing module and sequential identification is added in sequence, and the lane image with the sequential identification added is sent to the cataloging module.

[0050] Content 4: Calculate the posture information of the tunnel image through the solution unit of the cataloging module, establish the posture image of the tunnel image in the three-dimensional coordinate system according to the posture information and perform three-dimensional analysis, establish the three-dimensional model of the tunnel, and perform directional solution on the three-dimensional model of the tunnel, add geological information to the three-dimensional model of the tunnel to obtain the cataloging result map.

[0051] When shooting the tunnel image, the first embodiment of the present invention determines the repeated position and repetition rate between the tunnel images. When the repeated position and repetition rate reach the preset requirements, the shooting module shoots the tunnel image along the forward direction of the tunnel hole axis to keep the repetition between the multiple tunnel images shot the same. The three-dimensional graphics of the tunnel can be accurately recorded at the bends or slopes of the tunnel to prevent confusion in the subsequent cataloging of the tunnel images. Finally, the cataloging module catalogs the tunnel images after adding sequential identification, which can reduce the error of tunnel cataloging.

[0052] Embodiment 2

[0053] The difference from the first embodiment is that the real-scene three-dimensional geological cataloging system also includes a drawing output module, which obtains the cataloging result map and generates a tunnel profile map according to the geological information. The drawing output module generates the tunnel profile map through the existing AutoCAD software.

[0054] It also includes a real-scene module, which is used to generate a real-scene display model from the tunnel images in sequence according to equal time lengths. The real-scene display model is realized through the existing three-dimensional roaming technology. The processing module determines whether the geological information is the preset geology. When the geological information is the preset geology, the processing module adds the real-scene display model to the tunnel section.

[0055] The real-scene three-dimensional geological logging method also includes the following contents:

[0056] Content 5: Obtain the cataloging result map through the output module and generate the tunnel profile map based on the geological information.

[0057] Content six, the real-scene module generates a real-scene display model from the tunnel images in sequence according to equal time lengths, and then the processing module determines whether the geological information is the preset geology. When the geological information is the preset geology, the real-scene display model is added to the tunnel section through the processing module.

[0058] The second embodiment of the present invention outputs a tunnel profile diagram according to the cataloging result diagram after the cataloging is completed. Various parameters of the tunnel can be directly displayed, and a real-life display model is generated by converting the tunnel image. When the preset geology is judged, the real-life display model is added to the tunnel profile diagram, and the display correlation is prompted to make the cataloging result more intuitive.

[0059] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A real-scene three-dimensional geological cataloging system, comprising a shooting module; characterized in that: It also includes a repeat module, a processing module, and a cataloging module; A shooting module, used for shooting a plurality of laneway images along the forward direction of the tunnel axis of the laneway in a fixed shooting state, and sending the laneway images to the processing module; A repeat module, located on the shooting module, is used to collect change information during the shooting process, and identify the repeated position and repetition rate between the shot images according to the change information. The repeat module determines whether the repeated position is the same as the preset position and whether the repetition rate is within a preset range. When the repeated position is the same as the preset position and the repetition rate is within the preset range, the repeat module sends a shooting prompt; The repetition module includes a camera unit, a control unit and a prompt unit, the change information includes a change image, the camera unit has the same shooting direction as the shooting module and is parallel to the shooting center axis, the shooting time point of the camera unit precedes the shooting module, the camera unit shoots the change image and sends it to the control unit, the control unit identifies the repetition position and repetition rate on the change image, the control unit determines whether the repetition position is the same as the preset position, and determines whether the repetition rate is within the preset range, when the repetition position is the same as the preset position and the repetition rate is within the preset range, the control unit sends prompt information to the prompt unit to shoot the prompt information; When the repetition rate is outside the preset range, the change information includes slope information, the repetition module further includes a slope sensing unit, the slope sensing unit detects the slope information when the shooting module shoots and sends it to the control unit, the slope information includes a slope value and a slope direction, the control unit determines whether the slope value is greater than a slope threshold, and when the slope value is greater than the slope threshold, the control unit sends correction prompt information to the prompt unit according to the slope direction; A processing module, which obtains the lane image and adds a sequence mark according to the shooting order, and sends the lane image with the added sequence mark to the cataloging module, and the processing module obtains the cataloging result map after the cataloging module catalogs it for output display; The cataloging module is used to obtain tunnel images for geological cataloging to obtain cataloging result maps.

2. The real-scene three-dimensional geological logging system according to claim 1, characterized in that: The cataloging module includes a solving unit and a cataloging unit; A solution unit is used to calculate the posture information of the tunnel image, establish the posture image of the tunnel image in the three-dimensional coordinate system according to the posture information and perform three-dimensional analysis, establish a three-dimensional model of the tunnel, and perform orientation solution on the three-dimensional model of the tunnel; The cataloging unit is used to obtain the three-dimensional model of the tunnel and add geological information to obtain the cataloging result map.

3. The real-scene three-dimensional geological logging system according to claim 1, characterized in that: The control unit identifies part of the lane contour in the radial direction of the lane in the changing image and adds the radial contour line of the lane. The control unit determines whether the radial contour line coincides with the radial contour line on the changing image taken at the previous moment. When they do not coincide, the control unit determines that the repeated position is the same as the preset position.

4. The real-scene three-dimensional geological logging system according to claim 3 is characterized in that: When the radial contour lines do not overlap, the control unit calculates the distance value between the radial contour line and the top, left and right sides of the tunnel, and subtracts the distance value from the threshold to obtain a difference. The control unit determines whether the difference is within an error range. When the difference is within the error range, the control unit determines that the repetition rate is within a preset range.

5. The real-scene three-dimensional geological logging system according to claim 1, characterized in that: It also includes a drawing output module, which obtains the cataloging result map and generates a tunnel profile map based on geological information.

6. The real-scene three-dimensional geological logging system according to claim 5, characterized in that: It also includes a real-scene module, which is used to generate a real-scene display model from the tunnel image in sequence according to equal time lengths. The processing module determines whether the geological information is the preset geology. When the geological information is the preset geology, the processing module adds the real-scene display model to the tunnel section.

7. A real-scene three-dimensional geological logging method, characterized in that: Includes the following: Content 1: Let the shooting module shoot multiple tunnel images along the tunnel axis direction; Content 2: The repeating module on the shooting module collects change information during the shooting process, the camera unit in the repeating module shoots the change image as the change information, the control unit on the repeating module obtains the change image as the change information, and identifies the repeated position and the repetition rate between the shot images according to the change information, the control unit determines whether the repeated position is the same as the preset position, and determines whether the repetition rate is within the preset range, when the repeated position is the same as the preset position and the repetition rate is within the preset range, the repeating module sends a shooting prompt to the shooting module; When the repetition rate is outside the preset range, the change information includes slope information. The slope sensing unit detects the slope information when the shooting module shoots and sends it to the control unit. The slope information includes the slope value and the slope direction. The control unit determines whether the slope value is greater than the slope threshold. When the slope value is greater than the slope threshold, the control unit sends correction prompt information to the prompt unit according to the slope direction, so that the staff can correct the shooting position of the camera unit. Content three, obtaining the lane image through the processing module and adding sequence marks in sequence, and sending the lane image with the added sequence marks to the cataloging module; Content 4: Calculate the posture information of the tunnel image through the cataloging module, establish the posture image of the tunnel image in the three-dimensional coordinate system according to the posture information and perform three-dimensional analysis, establish the three-dimensional model of the tunnel, and perform directional solution on the three-dimensional model of the tunnel, add geological information to the three-dimensional model of the tunnel to obtain the cataloging result map.

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