A method and system for obtaining a three-dimensional spatial structure of fractures in a mining area

Abstract

This disclosure provides a method and system for acquiring the three-dimensional spatial structure of fractures in a mining area, relating to the field of mining geological technology. The method includes: determining the exploration range of surface fractures in the mining area and planning the exploration path; creating waypoints and continuously acquiring and recording the coordinates of feature points around the fractures according to the planned path; performing continuous laser scanning along the fractures on the path to acquire digital point cloud data, performing multiple consecutive scans during the scanning process to obtain multiple overlapping areas, and stitching the overlapping areas together; connecting the acquired coordinates of feature points around the fractures to obtain a distribution map of the fracture area; before stitching the overlapping areas together, converting the coordinate values ​​built into the feature points of the overlapping areas into geodetic coordinates and elevation, ultimately forming a three-dimensional digital image of the fractures in geodetic coordinates; and fitting the distribution map of the fracture area and the three-dimensional image of the fractures together and drawing the result. This disclosure can quickly acquire spatial distribution information of fractures.

Description

Technical Field

[0001] This disclosure relates to the field of mining geological technology, specifically to a method and system for obtaining the three-dimensional spatial structure of fractures in mining areas. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] Coal resources play a crucial role in socio-economic development. However, the continuous mining of coal resources also severely impacts the surface of mining areas, creating numerous surface fissures and triggering geological disasters such as landslides and soil collapses. Surface fissures arise because, at a certain stage of coal seam mining, the movement of rock strata causes an imbalance in the amount of movement on the surface, leading to deformation. When this deformation exceeds a certain value, fissures will form.

[0004] Therefore, when mining coal energy in mining areas, it is especially important to study and pay attention to the characteristics of surface cracks, identify the classification of surface cracks, and reveal the relationship between the generation and movement deformation of surface cracks.

[0005] Existing research methods for fractures in mining areas mainly utilize mathematical simulations to establish a series of fracture distribution and prediction models, with a relatively large research scale. While existing methods effectively demonstrate the propagation patterns and controlling factors of fractures at different structural locations or strata, exhibiting strong statistical regularities, theoretical analysis, empirical formulas, physical simulations, and numerical simulations all indirectly obtain fracture zone distributions, resulting in significant errors. These methods are no longer sufficient to meet the needs of accurate fracture modeling in mining areas. Summary of the Invention

[0006] To address the aforementioned issues, this disclosure proposes a method and system for acquiring the three-dimensional spatial structure of fractures in mining areas. By obtaining the specific distribution location of fractures and drawing a geographical distribution map of the fractures, the geographical distribution and spatial structure information of the fractures can be quickly and non-destructively obtained from the three-dimensional images of the fractures.

[0007] According to some embodiments, the present disclosure adopts the following technical solutions:

[0008] A method for obtaining the three-dimensional spatial structure of fractures in a mining area, comprising:

[0009] Determine the scope of surface fissure exploration in the mining area and plan the exploration route;

[0010] Determine the starting point for surface crack exploration in the mining area, create waypoints, and continuously acquire and record the coordinates of feature points around the cracks according to the planned path;

[0011] Continuous laser scanning is performed along the cracks in the path to obtain digital point cloud data. During the scanning process, multiple consecutive scans are performed to obtain multiple overlapping areas, and the overlapping areas are stitched together.

[0012] The coordinates of the feature points around the crack are connected to obtain a distribution map of the crack area. Before stitching the overlapping areas, the coordinate values ​​of the feature points in the overlapping areas are converted into geodetic coordinates and elevations to form a three-dimensional digital image of the crack in geodetic coordinates. The distribution map of the crack area and the three-dimensional image of the crack are then fitted and drawn.

[0013] According to some embodiments, the present disclosure adopts the following technical solutions:

[0014] A system for acquiring the three-dimensional spatial structure of fractures in a mining area, comprising:

[0015] The data acquisition module is used to determine the exploration range of surface fractures in the mining area and plan the exploration route;

[0016] Determine the starting point for surface crack exploration in the mining area, create waypoints, and continuously acquire and record the coordinates of feature points around the cracks according to the planned path;

[0017] Continuous laser scanning is performed along the cracks in the path to obtain digital point cloud data. During the scanning process, multiple consecutive scans are performed to obtain multiple overlapping areas, and the overlapping areas are stitched together.

[0018] The data processing module is used to connect the coordinates of the feature points around the crack to obtain a distribution map of the crack area. Before stitching the overlapping areas, the module converts the built-in coordinate values ​​of the feature points in the overlapping areas into geodetic coordinates and elevation, and finally forms a three-dimensional digital image of the crack in geodetic coordinates. The module then fits the distribution map of the crack area and the three-dimensional image of the crack and draws the image.

[0019] According to some embodiments, the present disclosure adopts the following technical solutions:

[0020] A non-transitory computer-readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the method for obtaining the three-dimensional spatial structure of fractures in a mining area.

[0021] According to some embodiments, the present disclosure adopts the following technical solutions:

[0022] An apparatus includes a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to perform the method for obtaining the three-dimensional spatial structure of fractures in a mining area.

[0023] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0024] This disclosure utilizes portable equipment for on-site measurement to quickly obtain information on surface cracks. By acquiring and recording crack data, it can provide data support for revealing the relationship between the generation and movement deformation of surface cracks.

[0025] This disclosure is convenient and quick, enabling rapid and non-destructive acquisition of information such as the geographical distribution and spatial structure of cracks, saving manpower and resources and reducing the cost of ecological restoration. Attached Figure Description

[0026] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0027] Figure 1 This is a schematic diagram of the method flow of an embodiment of the present disclosure. Detailed implementation method:

[0028] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] Example 1

[0032] One embodiment of this disclosure provides a method for obtaining the three-dimensional spatial structure of fractures in a mining area, including:

[0033] Step 1: Determine the scope of the surface fissure exploration in the mining area and plan the exploration route; determine the starting point of the surface fissure exploration in the mining area, create waypoints, and continuously acquire and record the coordinates of the location of feature points around the fissures according to the planned route;

[0034] Continuous laser scanning is performed along the cracks in the path to obtain digital point cloud data. During the scanning process, multiple consecutive scans are performed to obtain multiple overlapping areas, and the overlapping areas are stitched together.

[0035] Step 2: Connect the coordinates of the feature points around the crack to obtain a distribution map of the crack area. Before stitching the overlapping areas, convert the coordinate values ​​of the feature points in the overlapping areas into geodetic coordinates and elevations to form a three-dimensional digital image of the crack in geodetic coordinates. Fit the distribution map of the crack area and the three-dimensional image of the crack and draw them.

[0036] The purpose of this disclosure is to propose a method for rapidly obtaining the three-dimensional spatial structure of fractures in mining areas, which can quickly and conveniently map the distribution and spatial structure of fractures in mining areas, providing data support for the ecological restoration of mining areas.

[0037] This disclosure has the following characteristics in terms of its technical solution:

[0038] 1. Use handheld positioning devices to investigate the specific locations of cracks and draw a geographical distribution map of the cracks;

[0039] 2. Use a handheld 3D scanner to scan the cracks, obtain the spatial distribution information of the cracks, and process it to obtain a 3D image of the cracks;

[0040] 3. Using portable equipment is convenient and quick, and can rapidly and non-destructively obtain information such as the geographical distribution and spatial structure of cracks, saving manpower and resources and reducing the cost of ecological restoration.

[0041] As one example, the specific implementation process for obtaining the three-dimensional spatial structure of fractures in a mining area is as follows:

[0042] In step one, the scope of the surface fissures in the mining area is determined, and the exploration route is planned.

[0043] After arriving at the starting point of the surface fracture survey area in the mining area, turn on the handheld GPS and set the starting point of the exploration route on the map. Use the waypoint function of the handheld GPS to create multiple waypoints within the fracture survey area, ensuring that the waypoint range covers the entire survey area. The direction of the waypoints is the exploration path. Then, use the handheld GPS to continuously record and save the coordinates of the location of feature points around the fracture. These feature points are the locations where the fracture's direction, depth, width, and other phenotypic changes.

[0044] Using a portable 3D laser scanner, continuous scanning is performed along the cracks in the path to acquire digital point cloud data.

[0045] During the data scanning process, multi-directional and multi-angle full-coverage scanning was adopted, while ensuring that there was sufficient overlap (10% to 30%) between two consecutive scans for stitching.

[0046] Laser point cloud data, consisting of a spatially distributed series of points, cannot directly reflect the distribution of cracks. It is still necessary to acquire high-resolution digital images from the same viewpoint near the instrument. The location and number of cracks can be determined from these high-resolution digital images, and then crack trajectories can be extracted from the point cloud data. By comparing the results with manual measurements, cracks of different sizes can be accurately identified.

[0047] By connecting the waypoints recorded and saved by the GPS on the map, the geographical distribution of the cracks in the survey area can be obtained. At the same time, the length and area of ​​the measured cracks can be obtained according to the scale.

[0048] After the data acquisition is completed, the raw data is first analyzed using 3D data point cloud software, and three-dimensional visualization is performed to obtain the three-dimensional spatial coordinates (X,Y,Z) of each data point.

[0049] In step two, the multi-station data is stitched, smoothed, and edited to remove some useless excitation points, such as low weeds and fallen rocks. Before stitching the data from two stations, the coordinate values ​​of the feature points in the overlapping area need to be converted into geodetic coordinates (latitude and longitude) and elevation (geodetic height). The coordinate conversion can be performed using the software GpsTool.exe. Input the three-dimensional spatial coordinates (XY,Z) into the software, and set the parameters according to the local latitude and longitude information collected by the handheld positioning device. The software can automatically convert the coordinates into geodetic coordinates and elevation. The 3D data point cloud software can automatically identify and extract the geodetic coordinates of the point cloud data, and stitch together the excitation points with adjacent coordinates according to the geodetic coordinates. Then, the size and angle of the stitched image are adjusted in the 3D view to minimize the stitching error, and finally a complete 3D digital image located in the geodetic coordinate system is formed. The generated point cloud 3D image is the spatial structure inside the crack.

[0050] By overlaying the geographical distribution map of the cracks and the 3D image of the cracks in 3D data point cloud software according to geodetic coordinates and elevation, and then drawing and labeling them on a map, data on the crack zone can be obtained, including the geographical location, actual length, area of ​​the cracks, and the corresponding 3D image of the cracks, providing data for ecological protection and restoration.

[0051] Example 2

[0052] One embodiment of this disclosure provides a system for obtaining the three-dimensional spatial structure of fractures in a mining area, comprising:

[0053] The data acquisition module is used to determine the exploration range of surface fractures in the mining area and plan the exploration route;

[0054] Determine the starting point for surface crack exploration in the mining area, create waypoints, and continuously acquire and record the coordinates of feature points around the cracks according to the planned path;

[0055] Continuous laser scanning is performed along the cracks in the path to obtain digital point cloud data. During the scanning process, multiple consecutive scans are performed to obtain multiple overlapping areas, and the overlapping areas are stitched together.

[0056] The data processing module is used to connect the coordinates of the feature points around the crack to obtain a distribution map of the crack area. Before stitching the overlapping areas, the module converts the built-in coordinate values ​​of the feature points in the overlapping areas into geodetic coordinates and elevation, and finally forms a three-dimensional digital image of the crack in geodetic coordinates. The module then fits the distribution map of the crack area and the three-dimensional image of the crack and draws the image.

[0057] The method flow executed in the above system is as follows:

[0058] Determine the scope of the surface fissures in the mining area and plan the exploration route.

[0059] After arriving at the starting point of the surface crack survey area in the mining area, turn on the handheld GPS device, create waypoints, and continuously record and save the coordinates of the location of feature points around the cracks according to the planned path.

[0060] Using a portable 3D laser scanner, continuous scanning is performed along the cracks in the path to acquire digital point cloud data.

[0061] During the data scanning process, multi-directional and multi-angle full-coverage scanning was adopted, while ensuring that there was sufficient overlap (10% to 30%) between two consecutive scans for stitching.

[0062] Laser point cloud data consists of a series of points distributed in space, which cannot directly reflect the distribution of cracks. It is still necessary to collect high-resolution digital images from the same perspective near the instrument for reference in the later interpretation process. This process can be achieved through a digital camera.

[0063] By connecting the waypoints recorded and saved by the GPS on the map, the geographical distribution of the cracks in the survey area can be obtained. At the same time, the length and area of ​​the measured cracks can be obtained according to the scale.

[0064] After the data collection is completed, the raw data is first analyzed using 3D data point cloud software for three-dimensional visualization browsing.

[0065] The data from multiple stations are stitched, smoothed, and edited to remove useless excitation points, such as low-lying weeds and fallen rocks. Before stitching the data from two stations, the coordinate values ​​of the feature points in the overlapping area need to be converted into geodetic coordinates and elevations before stitching. Simultaneously, optimization processing is performed to minimize stitching errors, ultimately forming a complete three-dimensional digital image within the geodetic coordinate system.

[0066] By fitting the geographical distribution map of the cracks with the 3D image of the cracks, and then drawing and labeling them on the map, data on the crack zone can be obtained, including the geographical location, actual length, area of ​​the cracks, and the corresponding 3D image of the cracks, providing data for ecological protection and restoration.

[0067] Example 3

[0068] One embodiment of this disclosure provides a non-transitory computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the method for obtaining the three-dimensional spatial structure of fractures in a mining area.

[0069] Example 4

[0070] One embodiment of this disclosure provides a device including a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to perform a method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in this claim.

[0071] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0073] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A method for obtaining the three-dimensional spatial structure of fractures in a mining area, characterized in that, include: Determine the scope of surface fissure exploration in the mining area and plan the exploration route; The starting point for surface fracture exploration in the mining area is determined, waypoints are created, and the coordinates of the location of feature points around the fracture are continuously acquired and recorded according to the planned path. The waypoints are created using a handheld GPS device, and the coordinates of the location of feature points around the fracture are continuously recorded and saved according to the planned path. The feature points around the fracture are the locations where the fracture direction, depth, and width change. Continuous laser scanning is performed along the cracks in the path to obtain digital point cloud data. During the scanning process, multiple consecutive scans are performed to obtain multiple overlapping areas, and the overlapping areas are stitched together. The coordinates of the feature points around the crack are connected to obtain the distribution map of the crack area. Before stitching the overlapping areas, the coordinate values ​​of the feature points in the overlapping areas are converted into geodetic coordinates and elevation, and finally a three-dimensional digital image of the crack in geodetic coordinates is formed. The distribution map of the crack area and the three-dimensional image of the crack are fitted and drawn. The fitting process involves overlaying the crack distribution location map and the crack 3D image in 3D data point cloud software according to geodetic coordinates and elevation, and then drawing and labeling them on a map.

2. The method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in claim 1, characterized in that, The crack length and crack area are calculated based on the coordinates of the feature points around the crack obtained from the records.

3. The method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in claim 1, characterized in that, A 3D laser scanner is used to continuously scan along the cracks in the path to obtain digital point cloud data. During the data acquisition process, multi-directional and multi-angle full-coverage scanning is performed to ensure that two consecutive scans have multiple overlapping areas for stitching.

4. The method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in claim 3, characterized in that, While acquiring digital point cloud data using a 3D laser scanner, high-resolution digital images from the same viewpoint are also collected as a reference for determining the location of crack distribution.

5. The method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in claim 3, characterized in that, After acquiring the digital point cloud data, the data is analyzed, 3D visualization is performed, and multiple data sets are stitched, smoothed, and edited to remove useless excitation points.

6. The method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in claim 1, characterized in that, When stitching overlapping areas, the stitching process is optimized to minimize stitching errors, ultimately forming a three-dimensional digital image in a geodetic coordinate system. The crack location distribution map and the crack three-dimensional image are fitted together and drawn and labeled on the map. The drawn and labeled content includes the geographical location, actual length, area of ​​the crack, and the corresponding crack three-dimensional image.

7. A system for acquiring the three-dimensional spatial structure of fractures in a mining area, characterized in that, include: The data acquisition module is used to determine the exploration range of surface fractures in the mining area and plan the exploration route; Determine the starting point for surface fracture exploration in the mining area, create waypoints, and continuously acquire and record the coordinates of feature points around the fractures according to the planned path; the feature points around the fractures are the locations where the fracture direction, depth, and width change. Continuous laser scanning is performed along the cracks in the path to obtain digital point cloud data. During the scanning process, multiple consecutive scans are performed to obtain multiple overlapping areas, and the overlapping areas are stitched together. The data processing module is used to connect the coordinates of the feature points around the crack to obtain a distribution map of the crack area. Before stitching the overlapping areas, the module converts the coordinate values ​​of the feature points in the overlapping areas into geodetic coordinates and elevation, and finally forms a three-dimensional digital image of the crack in geodetic coordinates. The module then fits the distribution map of the crack area and the three-dimensional image of the crack and draws the image. The fitting process involves overlaying the crack distribution location map and the crack 3D image in 3D data point cloud software according to geodetic coordinates and elevation, and then drawing and labeling them on a map.

8. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium is used to store computer instructions, which, when executed by a processor, implement a method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in any one of claims 1-6.

9. A device, characterized in that, include: The device includes a processor, a memory, and a computer program, wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to perform a method for obtaining the three-dimensional spatial structure of fractures in a mining area as described in any one of claims 1-6.

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