Mine photogrammetry geological image compilation method and system

Abstract

The present invention relates to the field of photogrammetry technology of mines, and specifically to a method and system for cataloging geological images of mine photogrammetry, wherein the system comprises a marking and calibration module, a photographing module, a processing module, a geological identification module, a first cataloging module, and a second cataloging module; the method comprises: photographing a head-on image with a scale during mine excavation, cataloging the head-on image to obtain a head-on geological map, identifying geological condition information on the head-on geological map, obtaining a tunnel image of the photographing module after obtaining the geological condition information, forming a processing signal according to the geological condition information, recording the tunnel image according to the processing signal to obtain a tunnel recording map or cataloging the tunnel image to obtain a tunnel geological map, and adding the head-on geological map to the tunnel geological map. The present invention catalogs geological conditions in a timely and accurate manner, and facilitates the subsequent inference of geological information according to the cataloged geological conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of mine photogrammetry, and in particular to a mine photogrammetry geological image cataloging method and system thereof. Background Art

[0002] A mine is a general term for the shafts, chambers, equipment, ground buildings and structures that form an underground coal mine production system. Before mining, it is necessary to dig and form shafts to detect the coal seam conditions and prepare for the excavation and transportation of subsequent mining work. In order to smoothly carry out the subsequent coal seam mining work, it is necessary to conduct geological cataloging of the mine.

[0003] At present, the geological cataloging of mines is carried out separately for the head face, mining working face and tunnel in different work processes. For example, the head face is cataloged when excavating the tunnel, the tunnel is cataloged after the tunnel is formed but before the support is installed, and the mining working face is cataloged when mining coal.

[0004] When using the existing mine geological logging method, changes in geological information can only be discovered when mining work is carried out at a certain location. Some geological information is difficult to accurately speculate and judge in advance. For example, it is impossible to speculate the geological direction during the mining process based on the logging results at different locations after the geological logging of the head surface or the tunnel, which leads to restrictions or impacts on mining work. Summary of the invention

[0005] The present invention is intended to provide a mine photogrammetry geological image recording system to solve the problem that the existing geological recording is difficult to accurately infer and judge geological information.

[0006] The mine photogrammetry geological image cataloging system in this solution includes a marking and calibration module and a photography module;

[0007] The identification calibration module is used as a scale ruler for photogrammetry;

[0008] A photography module is used to take head-on images or tunnel images with a scale during the mine excavation process;

[0009] Also includes a processing module, a geological identification module, a first cataloging module and a second cataloging module;

[0010] A first cataloging module is used to catalog the head-on image to obtain a head-on geological map;

[0011] Geological identification module, used to identify geological condition information on the head-on geological map;

[0012] A second cataloging module is used to perform a lane record on the lane image according to the processed signal to obtain a lane record map or to perform a lane cataloging to obtain a lane geological map;

[0013] The processing module obtains the head-on image of the photographic module and sends it to the first cataloging module for head-on geological cataloging, and obtains the head-on geological map cataloged by the first cataloging module and sends it to the geological identification module; the processing module obtains the tunnel image of the photographic module, the processing module obtains the geological condition information of the geological identification module, and sends the processing signal and the tunnel image to the second cataloging module according to the geological condition information; the processing module obtains the tunnel geological map and the head-on geological map, and adds the head-on geological map to the tunnel geological map.

[0014] The beneficial effects of this program are:

[0015] During the excavation of the mine, the photography module takes the head-on image of the head-on face and the tunnel image of the tunnel. Since the acquisition of the head-on image will precede the acquisition of the tunnel image during the excavation process, the processing module obtains the head-on image and sends it to the first cataloging module for head-on geological cataloging. Then the geological identification module identifies the geological condition information on the head-on geological map, and the processing module sends a processing signal to the second cataloging module according to the geological condition information. The second cataloging module performs cataloging operations of different degrees and requirements for the tunnel image according to the processing signal. Finally, the overall geological map of the tunnel and the head is obtained. It can timely catalog important geological conditions discovered during excavation, which is convenient for subsequent corresponding speculation based on the cataloging information.

[0016] Furthermore, the geological condition information includes a stable state and a changing state. The processing module sends recording information as a processing signal to the second cataloging module according to the stable state, and sends cataloging information as a processing signal to the second cataloging module according to the changing state.

[0017] The beneficial effect is that different geological conditions can be recorded and catalogued without causing confusion or redundancy in catalogued data.

[0018] Furthermore, the first cataloging module performs image processing, aerial triangulation solution of shooting posture and three-dimensional analysis on the head-on image in sequence, then generates a head-on three-dimensional model based on the shooting posture and three-dimensional analysis, and adds geological data to the head-on three-dimensional model to obtain a head-on geological map.

[0019] The beneficial effect is that by processing and cataloguing the head-on images, the geological conditions of the head-on working face during the excavation process can be accurately recorded.

[0020] Furthermore, the second cataloging module performs image processing, aerial triangulation shooting posture and three-dimensional analysis on the tunnel image in sequence, then generates a three-dimensional model of the tunnel based on the shooting posture and three-dimensional analysis, and adds geological data to the three-dimensional model of the tunnel to obtain a geological map of the tunnel.

[0021] The beneficial effect is that by processing and cataloging the tunnel images, important geological information of the tunnel during the excavation process can be accurately and timely recorded, providing an accurate reference for subsequent speculation on coal seam distribution.

[0022] Furthermore, it also includes a third cataloging module, the photography module captures the coal wall image during mining work, the processing module obtains the coal wall image and sends it to the third cataloging module, the third cataloging module catalogs the coal wall image to obtain a mining geological map, the processing module forms a tunnel profile map according to the tunnel geological map, and the processing module adds the mining geological map to the preset mining position of the tunnel profile map.

[0023] The beneficial effect is that by combining the tunnel geological map with the mining geological map, the geological speculation can be verified through the structural distribution in the actual environment formed by the tunnel and each mining working face, thereby improving the consistency between the geological speculation and the actual geological type.

[0024] Furthermore, the processing module acquires the coal wall image and adds period information, and the third cataloging module performs image processing on the coal wall image according to the period information and then performs cataloging processing, the image processing includes image correction, image mosaicking and image measurement, and the cataloging processing includes structural line drawing, occurrence calculation and attribute coding.

[0025] The beneficial effect is that since the image acquisition of the mining face is carried out after a certain distance of mining, the period information is added to the coal wall image to avoid confusion and maintain the order of subsequent cataloging.

[0026] Furthermore, it also includes a calculation module and a prompt module, the processing module marks the preset excavation contour line of the head-on surface on the head-on image, and sends the head-on image marked with the excavation contour line to the calculation module, the calculation module calculates the over-excavation area of ​​the head-on area outside the excavation contour line on the head-on image, and sends it to the processing module, the processing module compares the over-excavation area with the preset area, when the over-excavation area is larger than the preset area, the processing module sends the head-on image with the excavation contour line added to the geological identification module, the geological identification module identifies the geological condition information within the excavation contour line, the geological identification module identifies the geological type outside the excavation contour line, the processing module obtains the geological type, and determines whether the geological type is a coal seam, when the geological type is a coal seam, the processing module determines whether the over-excavation area continues to be excavated and sends a continue excavation information to the prompt module, when the geological type is a non-coal seam, the processing module determines whether the over-excavation area stops excavation and sends a stop excavation information to the prompt module.

[0027] The beneficial effects are: calculating the over-excavation area on the head-on image, and when the over-excavation area exceeds a certain value, identifying the geological type of the over-excavation area, and judging whether the geological type is a coal seam, that is, whether the over-excavation exceeds the preset degree is a coal seam or other. If it is a coal seam, a prompt is given to continue excavating beyond the preset degree. If it is not a coal seam, the prompt to stop excavating beyond the preset degree is given to avoid wasting work by continuing to excavate non-coal seam mountains.

[0028] The method for compiling geological images of mine photogrammetry includes the following steps:

[0029] Step 1: photographing a head-on image with a scale during the mine excavation process by using a photography module;

[0030] Step 2: The processing module obtains the head-on image and sends it to the first cataloging module, so that the first cataloging module catalogs the head-on image to obtain a head-on geological map;

[0031] Step 3, the processing module obtains the head-on geological map and sends it to the geological identification module, so that the geological identification module identifies the geological condition information on the head-on geological map;

[0032] Step 4: The processing module obtains the tunnel image of the photography module after obtaining the geological condition information, and sends the processing signal and the tunnel image to the second cataloging module according to the geological condition information, so that the second cataloging module records the tunnel image according to the processing signal to obtain a tunnel record map or catalogs the tunnel image to obtain a tunnel geological map. The processing module obtains the tunnel geological map and the head geological map, and adds the head geological map to the tunnel geological map.

[0033] The beneficial effects of this program are:

[0034] Carry out geological logging of the front face during the excavation process, and judge the geological condition information based on the logging results. Record or log the tunnels formed by the excavation based on the geological information. Log the geological conditions in a timely and accurate manner to facilitate the subsequent speculation of geological information based on the logged geological conditions. Failure to fully log the tunnels will not increase the logging workload and delay the excavation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic block diagram of a mine photogrammetry geological image compilation system according to an embodiment of the present invention;

[0036] Figure 2 This is a flowchart of a method for compiling geological images using photogrammetry of a mine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following is further explained in detail through specific implementation methods.

[0038] Embodiment 1

[0039] Mine photogrammetry geological image recording system, such as Figure 1 As shown: it includes an identification module, a photography module, a processing module, a geological identification module, a first cataloging module, a second cataloging module and a third cataloging module.

[0040] The identification and calibration module is used as a scale for photogrammetry. The identification and calibration module can be a marker pole or a marking line drawn on the inner wall of a mine. The photography module is used to capture head-on images or tunnel images with a scale during mine excavation. The photography module can use an existing intrinsically safe camera used for mine photogrammetry, such as ZHS2420.

[0041] The processing module obtains the head-on image from the photography module and sends it to the first cataloging module for head-on geological cataloging. The first cataloging module is used to catalog the head-on image to obtain a head-on geological map. The first cataloging module performs image processing, aerial triangulation shooting posture and three-dimensional analysis on the head-on image in sequence, and then generates a head-on three-dimensional model according to the shooting posture and three-dimensional analysis. Geological data is added to the head-on three-dimensional model to obtain a head-on geological map, geological data such as coal seam thickness, absolute coordinate position, etc., wherein image processing can be performed using the existing Sift feature matching algorithm, aerial triangulation shooting posture uses existing principles, and three-dimensional analysis is performed through GeoLog3D software.

[0042] The processing module obtains the head-on geological map after being cataloged by the first cataloging module and sends it to the geological identification module. The geological identification module is used to identify the geological condition information on the head-on geological map. The identification of the geological condition information detects the geological edge of the coal seam through the existing edge detection operator, and then judges the law of geological change of the coal seam according to the obtained geological edge of the coal seam, and forms the geological condition information according to the law. The geological condition information includes a stable state and a changing state. For example, the law of geological change is a stable state when there are similar inclinations and continuous faults, and the law of geological change is a changing state when there are faults and folds. The processing module sends the recording information to the second cataloging module as a processing signal according to the stable state, and the processing module sends the cataloging information to the second cataloging module as a processing signal according to the changing state.

[0043] The processing module obtains the tunnel image of the photography module, the processing module obtains the geological condition information of the geological identification module, and sends the processing signal and the tunnel image to the second cataloging module according to the geological condition information; the second cataloging module is used to record the tunnel image according to the processing signal to obtain a tunnel record map or to catalog the tunnel to obtain a tunnel geological map, that is, the tunnel cataloging is performed when the processing signal is the cataloging information, the second cataloging module performs image processing, aerial triangulation shooting posture and three-dimensional analysis on the tunnel image in sequence, and then generates a three-dimensional model of the tunnel according to the shooting posture and three-dimensional analysis, and adds geological data to the three-dimensional model of the tunnel to obtain the tunnel geological map. The image processing, aerial triangulation and three-dimensional analysis are performed using the methods used for head-on cataloging.

[0044] The processing module obtains the tunnel geological map and the head geological map, and adds the head geological map to the tunnel geological map, and adds the head geological map to the tunnel geological map through the absolute coordinate position.

[0045] The photography module captures the coal wall image during mining, the processing module obtains the coal wall image and adds period information, the processing module obtains the coal wall image and sends it to the third cataloging module, the third cataloging module catalogs the coal wall image to obtain the mining geological map, the third cataloging module performs image processing on the coal wall image according to the period information and then performs cataloging processing, the image processing includes image correction, image mosaicking and image measurement, the cataloging processing includes structural line drawing, occurrence calculation and attribute coding, and the above-mentioned existing method is used in the cataloging process.

[0046] The mine photogrammetry geological image recording method applies the above mine photogrammetry geological image recording system, such as Figure 2 As shown, the following steps are included:

[0047] Step one: first set a marker pole or marker in a plumb state with a known length at the head surface, use the marker pole or marker as a scale, and use a photography module to capture a head image of the head surface with a scale during mine excavation, use a photography module to capture an image of the tunnel formed after mine excavation, and use a photography module to capture an image of the coal wall during mining after the tunnel is formed.

[0048] Step two, the processing module obtains the head-on image and sends it to the first cataloging module, allowing the first cataloging module to catalog the head-on image to obtain a head-on geological map, that is, the first cataloging module performs image processing, aerial triangulation solution of the shooting posture and three-dimensional analysis on the head-on image, and then generates a catalog of the head-on three-dimensional model based on the shooting posture and three-dimensional analysis.

[0049] Step three, the processing module obtains the head-on geological map and sends it to the geological identification module, allowing the geological identification module to identify the geological condition information on the head-on geological map, detect the geological edge of the coal seam with the edge detection operator, and then judge the law of coal seam geological changes based on the continuity of the obtained coal seam geological edge, and form geological condition information based on the law, such as geological condition information that is in a stable state when there are similar inclinations and continuous faults, and geological condition information that is in a changing state when there are multiple different geological conditions.

[0050] Step 4: The processing module obtains the geological condition information and then obtains the tunnel image of the photography module, and sends the processing signal and the tunnel image to the second cataloging module according to the geological condition information. When the geological condition information is in a stable state, the processing signal is the recording information, and when the geological condition information is in a changing state, the processing signal is the cataloging information. The second cataloging module records the tunnel image according to the processing signal to obtain a tunnel recording map or catalogs the tunnel image to obtain a tunnel geological map. That is, when the processing signal is the recording information, the tunnel image is recorded. The record of the tunnel image can be the record of information such as the thickness and inclination angle of the coal seam. When the processing signal is the cataloging information, the tunnel image is cataloged. The processing module obtains the tunnel geological map and the head geological map, and adds the head geological map to the tunnel geological map.

[0051] Step five, the processing module obtains the coal wall image of the photographic module and adds the period information, and sends it to the third cataloging module. The third cataloging module performs image processing on the coal wall image according to the period information and then performs cataloging processing to obtain the mining geological map. The processing module forms a tunnel profile map according to the tunnel geological map, and the processing module adds the mining geological map to the preset mining position of the tunnel profile map.

[0052] In the first embodiment of the present invention, during the initial stage of excavation in the mine, since the head face always exists and the tunnel will not be formed until a certain amount of excavation work has been carried out, the head face is first geologically cataloged, and the geological condition information is identified based on the cataloging of the head face. Based on the geological condition information, it is determined whether to carry out detailed tunnel cataloging, so that important geological conditions discovered during excavation can be cataloged in time, which is convenient for subsequent corresponding speculation based on the cataloging information; and during the mining work after the tunnel is formed, the tunnel geological map is combined with the mining geological map, and the geological speculation can be verified through the structural distribution in the actual environment formed by the tunnel and each mining face, thereby improving the degree of conformity between the geological speculation and the actual geological type.

[0053] Embodiment 2

[0054] The difference from the first embodiment is that the mine photogrammetry geological image cataloging system also includes a calculation module and a prompt module. The processing module marks the preset excavation contour line of the head-on surface on the head-on image, and sends the head-on image marked with the excavation contour line to the calculation module. The excavation contour line can be identified by the existing Canny function; the calculation module calculates the over-excavation area of ​​the head-on area outside the excavation contour line on the head-on image by grid comparison, and the calculation module sends the over-excavation area to the processing module. The processing module compares the over-excavation area with the preset area, and the preset area can be set according to actual needs; when the over-excavation area is greater than When the area is preset, the processing module sends the head-on image with the excavation contour added to the geological identification module. The geological identification module identifies the geological condition information within the excavation contour. The geological identification module identifies the geological type outside the excavation contour. The geological types include coal seams and non-coal seams. The geological types can be distinguished by the shape and color of the coal seam distribution. The processing module obtains the geological type and determines whether the geological type is a coal seam. When the geological type is a coal seam, the processing module determines that the over-excavation area continues to be excavated and sends a continue excavation information to the prompt module. When the geological type is a non-coal seam, the processing module determines that the over-excavation area stops excavation and sends a stop excavation information to the prompt module.

[0055] The method for compiling geological images of mine photogrammetry also includes step 6, marking a preset excavation contour line of the head-on surface on the head-on image by the processing module, and sending the head-on image marked with the excavation contour line to the calculation module, so that the calculation module calculates the over-excavation area of ​​the head-on area outside the excavation contour line on the head-on image;

[0056] The over-excavation area is compared with the preset area through the processing module. When the over-excavation area is larger than the preset area, the processing module sends the head-on image with the excavation contour added to the geological identification module, so that the geological identification module identifies the geological condition information within the excavation contour and identifies the geological type outside the excavation contour. The processing module obtains the geological type and determines whether the geological type is a coal seam. When the geological type is a coal seam, the processing module determines whether the over-excavation area continues to be excavated and sends a continue excavation information to the prompt module. When the geological type is not a coal seam, the processing module determines whether the over-excavation area stops excavation and sends a stop excavation information to the prompt module.

[0057] In the process of cataloging geological information, the second embodiment of the present invention determines whether the excavation work exceeds a certain amount and whether the excavation is coal seams or other materials after exceeding the preset degree. If it is a coal seam, a prompt is given to continue excavating beyond the preset degree. If it is not a coal seam, the prompt to continue excavating beyond the preset degree is stopped to avoid wasting work by continuing to excavate non-coal seam mountains.

[0058] 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. Mine photogrammetry geological image cataloging system, including identification and calibration module and photography module; The identification calibration module is used as a scale ruler for photogrammetry; A photography module is used to take head-on images or tunnel images with a scale during the mine excavation process; Features: Also includes a processing module, a geological identification module, a first cataloging module and a second cataloging module; A first cataloging module is used to catalog the head-on image to obtain a head-on geological map; Geological identification module, used to identify geological condition information on the head-on geological map; A second cataloging module is used to perform a lane record on the lane image according to the processed signal to obtain a lane record map or to perform a lane cataloging to obtain a lane geological map; The processing module obtains the head-on image of the photographic module and sends it to the first cataloging module for head-on geological cataloging, and obtains the head-on geological map cataloged by the first cataloging module and sends it to the geological identification module; the processing module obtains the tunnel image of the photographic module, the processing module obtains the geological condition information of the geological identification module, and sends the processing signal and the tunnel image to the second cataloging module according to the geological condition information; the processing module obtains the tunnel geological map and the head-on geological map, and adds the head-on geological map to the tunnel geological map.

2. The mine photogrammetry geological image recording system according to claim 1, characterized in that: The geological condition information includes a stable state and a changing state. The processing module sends recording information as a processing signal to the second cataloging module according to the stable state, and sends cataloging information as a processing signal to the second cataloging module according to the changing state.

3. The mine photogrammetry geological image compilation system according to claim 2, characterized in that: The first cataloging module performs image processing, aerial triangulation, shooting posture and three-dimensional analysis on the head-on image in sequence, then generates a head-on three-dimensional model based on the shooting posture and three-dimensional analysis, and adds geological data to the head-on three-dimensional model to obtain a head-on geological map.

4. The mine photogrammetry geological image recording system according to claim 3, characterized in that: The second cataloging module performs image processing, aerial triangulation, shooting posture and three-dimensional analysis on the tunnel image in sequence, then generates a three-dimensional model of the tunnel based on the shooting posture and three-dimensional analysis, and adds geological data to the three-dimensional model of the tunnel to obtain a geological map of the tunnel.

5. The mine photogrammetry geological image recording system according to claim 4, characterized in that: It also includes a third cataloging module, the photography module captures the coal wall image during mining, the processing module obtains the coal wall image and sends it to the third cataloging module, the third cataloging module catalogs the coal wall image to obtain a mining geological map, the processing module forms a tunnel profile map based on the tunnel geological map, and the processing module adds the mining geological map to the preset mining position of the tunnel profile map.

6. The mine photogrammetry geological image recording system according to claim 5, characterized in that: The processing module acquires the coal wall image and adds phase information, and the third cataloging module performs image processing on the coal wall image according to the phase information and then performs cataloging processing, the image processing includes image correction, image mosaicking and image measurement, and the cataloging processing includes structural line drawing, occurrence calculation and attribute coding.

7. The mine photogrammetry geological image recording system according to claim 5, characterized in that: It also includes a calculation module and a prompt module. The processing module marks the preset excavation contour line of the head-on surface on the head-on image, and sends the head-on image marked with the excavation contour line to the calculation module. The calculation module calculates the over-excavation area of ​​the head-on area outside the excavation contour line on the head-on image, and sends it to the processing module. The processing module compares the over-excavation area with the preset area. When the over-excavation area is larger than the preset area, the processing module sends the head-on image with the excavation contour line added to the geological identification module. The geological identification module identifies the geological condition information within the excavation contour line. The geological identification module identifies the geological type outside the excavation contour line. The processing module obtains the geological type and determines whether the geological type is a coal seam. When the geological type is a coal seam, the processing module determines whether the over-excavation area continues to be excavated and sends a continue excavation information to the prompt module. When the geological type is a non-coal seam, the processing module determines whether the over-excavation area stops being excavated and sends a stop excavation information to the prompt module.

8. A method for compiling geological images by photogrammetry of mines, characterized in that: The mine photogrammetry geological image recording system according to any one of claims 1 to 7 is applied, comprising the following steps: Step 1: photographing a head-on image with a scale during the mine excavation process by using a photography module; Step 2: The processing module obtains the head-on image and sends it to the first cataloging module, so that the first cataloging module catalogs the head-on image to obtain a head-on geological map; Step 3, the processing module obtains the head-on geological map and sends it to the geological identification module, so that the geological identification module identifies the geological condition information on the head-on geological map; Step 4: The processing module obtains the tunnel image of the photography module after obtaining the geological condition information, and sends the processing signal and the tunnel image to the second cataloging module according to the geological condition information, so that the second cataloging module records the tunnel image according to the processing signal to obtain a tunnel record map or catalogs the tunnel image to obtain a tunnel geological map. The processing module obtains the tunnel geological map and the head geological map, and adds the head geological map to the tunnel geological map.

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