A three-dimensional filling design method, device and storage medium for a void subsequent filling method

Abstract

The present invention discloses a three-dimensional filling design method for a void subsequent filling method, comprising the steps of: using three-dimensional laser scanning and SLAM technology to construct a three-dimensional solid model of the area to be filled, automatically arranging filling holes, automatically generating retaining walls and outputting material consumption and two-dimensional construction drawings, constructing a layered filling body model and automatically calculating the layered filling amount, and automatically generating a two-dimensional filling construction guidance drawing. Based on the construction of a three-dimensional solid model, the present invention can automatically arrange economically reasonable filling holes and parameterized retaining walls through model transformation and simple processing, as well as relevant parameter input, and automatically generate material consumption of retaining walls and filling bodies and corresponding two-dimensional construction drawings, greatly reducing the workload of field surveying, calculation, and drawing. It has the characteristics of simple and convenient design, short cycle, high degree of visualization, high design accuracy, and high construction guidance value, greatly improving the work efficiency of filling design and reducing construction errors, effectively saving production costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of digital mine simulation, and particularly relates to a three-dimensional filling design method for an empty field subsequent filling method, as well as an electronic device for executing the method and a computer-readable storage medium for storing and implementing the method. Background Art

[0002] Backfill design for the staged-open-hole and subsequent-fill mining method involves selecting a reasonable backfill plan based on factors such as the mine's geological conditions, mining methods, and backfill materials. This process is directly related to the mine's safe production and economic benefits. Traditional staged-open-hole and subsequent-fill mining methods often use original hand-drawn drawings, which are labor-intensive, low-precision, and difficult to store, making them difficult to achieve modern, efficient work. With the widespread adoption of computer technology, two-dimensional CAD (Computer Aided Design) drafting technology has been developed, enabling digital drawing and design within computers. However, this method is limited by the two-dimensional plane and cannot be used by draftspeople to design in three-dimensional space. Design parameters are relatively simple, and visualization and intuitiveness are still limited. Furthermore, design accuracy is difficult to effectively guarantee, making it of limited value for guiding actual construction. Summary of the Invention

[0003] The purpose of the present invention is to propose a three-dimensional filling design method for the empty space subsequent filling method and its device and storage medium, so as to solve the problems of insufficient accuracy, low design efficiency, lack of visualization and intuitiveness, and difficulty in multi-disciplinary collaborative design of traditional filling design methods.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention proposes a three-dimensional filling design method of a void subsequent filling method, comprising the following steps:

[0006] S1, constructing a 3D solid model of the area to be filled, including constructing a goaf model and a shaft and tunnel engineering model, and cutting the model according to the design scope;

[0007] S2, automatic placement of filling holes: The shaft and tunnel engineering model is oriented uniformly and the shaft and tunnel engineering floor surface is extracted as the hole constraint surface for the filling holes. All vertex data of the goaf model are traversed, and the vertex with the largest elevation value is selected as the bottom position of the filling hole. Under the premise that the filling hole inclination angle range is 50° to 90° and does not penetrate other shaft and tunnel engineering and goaf, the shortest path from the hole bottom position to the hole constraint surface is iteratively solved as the filling trajectory. The intersection of this filling trajectory and the hole constraint surface is used as the final hole position to complete the design of the filling hole.

[0008] S3, automatic production of retaining walls: The boundary line vertices of the tunnel floor in the tunnel engineering floor surface are picked as the spatial layout position of the retaining wall in the tunnel engineering. The retaining wall size parameters, wall drainage pipe layout parameters, and column layout parameters are input. The cross-section method is used to automatically generate a 3D retaining wall model based on the spatial layout position of the retaining wall and the tunnel engineering cross-section information. The retaining wall plan is generated based on the cross-section of the 3D retaining wall model as a construction guide drawing, and the consumption of various materials is output based on the input parameters and the 3D model.

[0009] S4, filling volume calculation: Construct a filling model using the surface equidistant uniform sampling method and the AlphaShape algorithm. Calculate the horizontal splitting plane equation based on the layered filling elevations. Segment the filling model by traversing the spatial relationship between the filling model patches and the horizontal splitting plane equation to form a layered filling model. Input filling material parameters, calculate the filling volume index for each layer based on the volume of the layered filling model, and output a filling volume index table.

[0010] S5, parametric drawing: Based on the 3D model and its data, define the drawing parameters of the construction guidance drawing respectively; formulate the drawing parameter templates of the horizontal layout and section layout, traverse the horizontal layout and section layout positions of the 3D model to output the 2D drawing objects, modify the 2D drawing objects, and generate the final 2D construction guidance drawing.

[0011] Preferably, the method for constructing the goaf model and the shaft and tunnel engineering model in the aforementioned step S1 is: use a three-dimensional laser scanner to scan the goaf and shaft and tunnel engineering entities respectively, and combine SLAM technology to quickly obtain point cloud data of the corresponding area, use a Gaussian filtering algorithm to reduce noise on the point cloud data, and use the Poisson surface reconstruction method to generate the goaf model and shaft and tunnel engineering model for the processed point cloud data.

[0012] Preferably, the shaft and tunnel engineering model in the aforementioned step S1 is generated by a partition modeling method based on measured waistline data, specifically: adjusting the waistline elevation and establishing a node-path network, constructing local section contour lines, and extracting spatial grids for surface triangulation, and merging all local grids to generate an internally connected shaft and tunnel engineering model.

[0013] Furthermore, the method for determining the orifice constraint surface in the aforementioned step S2 includes: performing directional consistency processing on the shaft and tunnel engineering model so that the normal of each triangular face on the model is facing outside the model; traversing all the normals of the triangular faces on the model, with the normal facing upward being 90° and the normal facing downward being -90°; extracting all the triangular faces with normals in the range of -120° to -60° as the bottom plate surface of the shaft and tunnel engineering, that is, the orifice constraint surface.

[0014] Furthermore, the method for determining the filling trajectory in the aforementioned step S2 includes: traversing the vertices of the bottom surface of the shaft and tunnel engineering and connecting them with the bottom position of the hole in sequence to generate a number of filling trajectories; calculating the inclination of each filling trajectory, and excluding the filling trajectories that are not within the inclination range of the filling hole; performing spatial collision detection on the filling trajectories that are not excluded with other engineering models, and excluding the filling trajectories that intersect in space; calculating the length of the remaining filling trajectories, and taking the filling trajectory with the shortest path as the final filling trajectory.

[0015] Furthermore, the specific steps of generating the retaining wall plan in the aforementioned step S3 include: creating a section layout based on the cross-section of the three-dimensional retaining wall model, projecting the retaining wall model onto the section layout, generating a closed contour line of the retaining wall model and filling it with a "wall" fill pattern; automatically drawing the contour lines of the columns and drainage pipes in the section layout according to the input wall drainage pipe layout parameters and column layout parameters; converting the coordinates of the section layout and all objects in the section layout to generate a retaining wall plan.

[0016] Furthermore, the specific steps of constructing the filling body model in the aforementioned step S4 are: performing surface equidistant uniform sampling on the model surfaces of the goaf model and the shaft and tunnel engineering model with a sampling interval of 0.1m and obtaining a uniform sampling point set, and using the point set as the basis to perform surface reconstruction using the 3D AlphaShape algorithm to generate a closed solid model that fits the surface of the original goaf model and the shaft and tunnel engineering model and is internally connected, as the generated filling body model.

[0017] Furthermore, the construction guidance drawing output parameters in the aforementioned step S5 include the output mode, line width, line type, line type ratio, color, fill pattern, annotation attributes and annotation style of the three-dimensional model outputting two-dimensional objects, wherein the output mode of the three-dimensional model outputting two-dimensional objects includes projection, restricted projection, cutting, copying and extension.

[0018] The present invention also provides an electronic device for executing the aforementioned three-dimensional filling design method of the void subsequent filling method.

[0019] The present invention also provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed by a computing device, the aforementioned method is implemented.

[0020] Beneficial effects

[0021] One of the above technical solutions has the following advantages or beneficial effects:

[0022] The three-dimensional filling design method of the present invention is particularly suitable for the filling design of the staged empty field subsequent filling mining method, wherein the solid model formed based on three-dimensional laser scanning combined with SLAM technology provides a basis for design accuracy. On this basis, the automatic arrangement of the filling holes comprehensively considers the filling hole inclination requirements, engineering penetration safety conditions and hole mouth and bottom constraints. By iteratively solving the shortest path, a filling hole trajectory that is both reasonable and economical and safe can be generated. After inputting the set retaining wall parameters, the retaining wall can be parametrically designed and a two-dimensional construction guidance drawing can be output. In addition, by integrating the solid models of the goaf and shaft engineering to form a filling body model, it is only necessary to determine the height of each layer of the filling body and input the filling material parameters to complete the calculation of the layered filling volume index of the filling body and automatically generate the corresponding two-dimensional construction drawings. The entire design process only involves field surveying when building the physical model. The rest of the design work and drawing output can be completed through model transformation, simple processing and relevant parameter input. It has the characteristics of small design workload, simple and convenient design process, short design cycle and high degree of visualization, high design accuracy and high construction guidance value. It greatly improves the work efficiency of filling design and reduces construction errors, effectively saving production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0024] Figure 1 is a flow chart of the method of the present invention;

[0025] Figure 2 This is a goaf model diagram of the present invention;

[0026] Figure 3 A shaft and tunnel engineering model diagram of the present invention;

[0027] Figure 4 This is another shaft and tunnel engineering model diagram of the present invention;

[0028] Figure 5 A schematic diagram of the filling hole trajectory of the present invention;

[0029] Figure 6 is a plan view of the retaining wall of the present invention;

[0030] Figure 7 The layered filling model of the present invention;

[0031] Figure 8 A two-dimensional plan view of the filling area of ​​the present invention;

[0032] Figure 9 It is a two-dimensional cross-sectional view of the filling area of ​​the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the embodiments.

[0034] The present invention provides a three-dimensional filling design method of a void subsequent filling method, comprising the following steps:

[0035] S1, constructing a 3D solid model of the area to be filled, including constructing a goaf model and a shaft and tunnel engineering model, and cutting the model according to the design scope;

[0036] The construction method of the goaf model and the shaft and tunnel engineering model is as follows: use a 3D laser scanner to scan the goaf and shaft and tunnel engineering entities respectively, and combine the SLAM technology to quickly obtain the point cloud data of the corresponding area, use the Gaussian filter algorithm to reduce the noise of the point cloud data, and use the Poisson surface reconstruction method to generate the goaf model and shaft and tunnel engineering model after the processed point cloud data. Among them, the surface of the shaft and tunnel engineering model is triangulated, and the generated goaf model is as follows: Figure 2 As shown in the figure, the shaft and tunnel engineering model is as follows: Figure 3 As shown;

[0037] Preferably, the shaft and tunnel engineering model can also be generated by a partition modeling method based on the measured waistline data: adjust the waistline elevation and establish a node-path network, construct the local section contour line, extract the spatial grid for surface triangulation, and merge all local grids to generate an internally connected shaft and tunnel engineering model, such as Figure 4 As shown;

[0038] S2, automatic arrangement of filling holes:

[0039] (1) Forming the orifice constraint surface: The direction of the tunnel engineering model is uniformly processed so that the normal of each triangular face on the model faces the outside of the model; the normal directions of all triangular faces on the model are traversed, with the normal facing upward being 90° and the normal facing downward being -90°; all triangular faces with normal directions within the range of -120° to -60° are extracted as the tunnel engineering floor surface, i.e., the orifice constraint surface;

[0040] (2) Traverse all vertex data of the goaf model and take the vertex with the largest elevation value as the bottom position of the filling hole;

[0041] (3) Figure 5As shown in the figure, under the premise of the filling hole inclination range of 50° to 90° and not passing through other shaft and tunnel projects and goafs, the shortest path from the hole bottom position to the hole opening constraint surface is iteratively solved as the filling trajectory, and the intersection of the filling trajectory and the hole opening constraint surface is used as the final hole opening position to complete the design of the filling hole. The filling trajectory determination process includes: traversing the vertices of the shaft and tunnel engineering bottom plate surface and connecting them with the hole bottom position in sequence to generate several filling trajectories; calculating the inclination of each filling trajectory and excluding the filling trajectories that are not within the filling hole inclination range; performing spatial collision detection on the filling trajectories that are not excluded with other engineering models and excluding the filling trajectories that intersect in space; calculating the length of the remaining filling trajectories and taking the filling trajectory with the shortest path as the final filling trajectory;

[0042] S3, automatic production of retaining walls, including:

[0043] (1) Determine the position of the retaining wall: Pick the vertex of the boundary line of the roadway floor in the roadway engineering floor surface as the spatial layout position of the retaining wall in the roadway engineering;

[0044] (2) Generating a retaining wall model: Input the retaining wall size parameters, wall drainage pipe layout parameters, and column layout parameters. Each parameter is set according to actual production needs, rock mass characteristics, project size, and other factors. Examples of parameter values ​​in this embodiment are shown in Table 1. The aforementioned input parameters are combined with the determined spatial layout position of the retaining wall and the cross-sectional information of the shaft and tunnel engineering to automatically generate a three-dimensional retaining wall model through the cross-sectional method.

[0045] Table 1 Retaining wall model parameters

[0046]

[0047] (3) Select the cross section of the 3D retaining wall model to generate a retaining wall plan as a construction guide drawing. The specific steps include: creating a section layout based on the cross section of the 3D retaining wall model, projecting the retaining wall model onto the section layout, generating a closed contour line of the retaining wall model and filling it with a "wall" pattern; automatically drawing the contour lines of the columns and drain pipes in the section layout according to the input wall drainage pipe layout parameters and column layout parameters; converting the coordinates of the section layout and all objects in the section layout to generate the following Figure 6 Plan of the retaining wall shown;

[0048] (4) A retaining wall material consumption table is formed based on the relevant input parameters of the retaining wall model in (2) and the consumption of various materials output by the three-dimensional retaining wall model. The various materials include the length of the drainage pipe, the volume of brick wall masonry, and the volume of exterior wall sprayed concrete. An example of the retaining wall material consumption table of this embodiment is shown in Table 2.

[0049] Table 2 Retaining wall material consumption

[0050]

[0051] S4, filling volume calculation by layer, including:

[0052] (1) The filling body model is constructed by using the surface equidistant uniform sampling method and the AlphaShape algorithm. The specific steps are as follows: the surface equidistant uniform sampling is performed on the model surface of the goaf model and the shaft engineering model with a sampling interval of 0.1m to obtain a uniform sampling point set, and the surface is reconstructed using the 3D AlphaShape algorithm based on the point set to generate a closed solid model that fits the surface of the original goaf model and the shaft engineering model and is internally connected, which is used as the generated filling body model;

[0053] (2) According to the layered filling elevation, calculate the horizontal splitting plane equation, traverse the spatial relationship between the filling model patch and the horizontal splitting plane equation to split the filling model, and form a layered filling model, such as Figure 7 As shown;

[0054] (3) Input the filling material parameters, calculate the filling amount index of each layer in combination with the volume of the layered filling body model, and automatically output the filling amount index table. The filling material parameters and corresponding filling amount index table of this embodiment are shown in Table 3;

[0055] Table 3 Filling volume index table

[0056]

[0057] S5, parametric drawing:

[0058] Based on the 3D model and its data, the drawing parameters of the construction guidance drawing are defined respectively. The drawing parameters include the output mode, line width, line type, line type ratio, color, fill pattern, annotation attributes and annotation style of the 3D model output 2D object. Among them, the output modes of the 3D model output 2D object include projection, restricted projection, cutting, copying and extending modes.

[0059] Develop drawing parameter templates for horizontal and cross-sectional layouts. The parameter selection, parameter style, and definition in the drawing parameter templates are standardized based on actual needs to facilitate one-to-one correspondence during the construction process. Examples of the drawing parameter templates of this embodiment are shown in Tables 4 and 5.

[0060] Traverse the horizontal layout and section layout positions of the 3D model to output 2D drawing objects, and perform surface modification on the 2D drawing objects. Surface modification refers to adding drawing frames, drawing labels, coordinate grids, legends and other information to the 2D drawing objects of the horizontal layout and section layout to generate the final 2D construction guidance drawing, such as Figure 8 Shown is a plan view of the filling design, such as Figure 9 Shown is a cross-section of the filling design.

[0061] Table 4 Parameter template for horizontal layout of filling design

[0062]

[0063] Table 5 Filling design profile layout drawing parameter template

[0064]

[0065] The three-dimensional filling design method of the present invention is particularly suitable for the filling design of the subsequent filling mining method of the stage empty field, wherein the entity model formed based on the three-dimensional laser scanning combined with the SLAM technology provides a basis for the design accuracy. On this basis, the automatic arrangement of the filling hole comprehensively considers the filling hole inclination requirements, the engineering penetration safety conditions and the hole mouth and bottom constraints. By iteratively solving the shortest path, a reasonable, economical and safe filling hole trajectory can be generated. After inputting the set retaining wall parameters, the retaining wall can be parametrically designed and a two-dimensional construction guidance drawing can be output, making the retaining wall design more simplified and convenient. In addition, by integrating the entity models of the goaf and the shaft engineering to form a filling body model, it is only necessary to determine the height of each layer of the filling body and input the filling material parameters to complete the calculation of the layered filling amount index of the filling body, which greatly reduces the workload of technicians and greatly improves work efficiency. The method of the present invention is used for filling design, with small workload, simple and convenient design process, short design cycle and high visualization, high design accuracy and high construction guidance value, which greatly improves the work efficiency of filling design and reduces construction errors, effectively saving production costs.

[0066] The present invention also provides an electronic device for executing the three-dimensional filling design method of the empty field subsequent filling method of the present invention.

[0067] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program or instructions. When the computer program or instructions are executed by a computing device, the method of the present invention is implemented.

[0068] The above description is merely a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of protection of the present invention.

Claims

1. A three-dimensional filling design method for a void subsequent filling method, characterized in that: The following steps are involved: S1, constructing a 3D solid model of the area to be filled, including constructing a goaf model and a shaft and tunnel engineering model, and cutting the model according to the design scope; S2, automatic arrangement of filling holes: the direction of the shaft and tunnel engineering model is consistent and the shaft and tunnel engineering bottom surface is extracted as the hole constraint surface of the filling hole; all vertex data of the goaf model are traversed, and the vertex with the largest elevation value is taken as the bottom position of the filling hole; based on the filling hole inclination range of 50°~90° and the premise of not passing through other shaft and tunnel engineering and goaf, the shortest path from the hole bottom position to the hole constraint surface is traversed and solved as the filling trajectory, and the intersection of the filling trajectory and the hole constraint surface is taken as the final hole position to complete the design of the filling hole; wherein, the method for determining the filling trajectory includes: traversing the vertices of the shaft and tunnel engineering bottom surface and connecting them with the hole bottom position in sequence to generate several filling trajectories; calculating the inclination of each filling trajectory, and excluding the filling trajectories that are not within the filling hole inclination range; performing spatial collision detection on the filling trajectories that are not excluded with other engineering models, and excluding the filling trajectories that intersect in space; calculating the length of the remaining filling trajectories, and taking the filling trajectory with the shortest path as the final filling trajectory; S3, automatic production of retaining walls: The boundary line vertices of the tunnel floor in the tunnel engineering floor surface are picked as the spatial layout position of the retaining wall in the tunnel engineering. The retaining wall size parameters, wall drainage pipe layout parameters, and column layout parameters are input. The cross-section method is used to automatically generate a 3D retaining wall model based on the spatial layout position of the retaining wall and the tunnel engineering cross-section information. The retaining wall plan is generated based on the cross-section of the 3D retaining wall model as a construction guide, and the consumption of various materials is output based on the input parameters and the 3D retaining wall model. S4, filling volume calculation: Construct a filling model using the surface equidistant uniform sampling method and the AlphaShape algorithm; calculate the horizontal splitting plane equation based on the layered filling elevation, and segment the filling model by traversing the spatial relationship between the filling model facets and the horizontal splitting plane equation to form a layered filling model; input filling material parameters, calculate the filling volume index of each layer based on the volume of the layered filling model, and output a filling volume index table; S5, parametric drawing: Based on the 3D model and its data, define the drawing parameters of the construction guidance drawing respectively; formulate the drawing parameter templates of the horizontal layout and section layout, traverse the horizontal layout and section layout positions of the 3D model to output the 2D drawing objects, modify the 2D drawing objects, and generate the final 2D construction guidance drawing.

2. The three-dimensional filling design method of the empty space subsequent filling method according to claim 1 is characterized in that: The construction method of the goaf model and the shaft and tunnel engineering model in S1 is as follows: use a three-dimensional laser scanner to scan the goaf and shaft and tunnel engineering entities respectively, and combine SLAM technology to quickly obtain point cloud data of the corresponding area, use a Gaussian filter algorithm to reduce the noise of the point cloud data, and use the Poisson surface reconstruction method to generate the goaf model and shaft and tunnel engineering model after the processed point cloud data.

3. The three-dimensional filling design method of the empty space subsequent filling method according to claim 1 is characterized in that: The shaft and tunnel engineering model in S1 was generated using a partition modeling method based on measured waistline data. Specifically, the waistline elevation was adjusted and a node-path network was established. Local cross-sectional contour lines were constructed, and spatial grids were extracted for surface triangulation. All local grids were merged to generate an internally connected shaft and tunnel engineering model.

4. The three-dimensional filling design method of the empty space subsequent filling method according to claim 1 is characterized in that: The method for determining the hole opening constraint surface in S2 includes: performing directional uniform processing on the shaft and tunnel engineering model so that the normal of each triangular face on the model faces the outside of the model; traversing the normal directions of all triangular faces on the model, with the normal facing upward as 90° and the normal facing downward as -90°; extracting all triangular faces with normals in the range of -120° to -60° as the shaft and tunnel engineering bottom plate surface, which serves as the hole opening constraint surface of the filling hole.

5. The three-dimensional filling design method of the empty space subsequent filling method according to claim 1 is characterized in that: The specific steps for generating a retaining wall plan in S3 include: creating a section layout based on the cross-section of a 3D retaining wall model, projecting the retaining wall model onto the section layout, generating a closed outline of the retaining wall model and filling it with a "wall" pattern; automatically drawing the outlines of columns and drain pipes in the section layout based on the input wall drainage pipe layout parameters and column layout parameters; and converting the coordinates of the section layout and all objects in the section layout to generate a retaining wall plan.

6. The three-dimensional filling design method of the empty space subsequent filling method according to claim 1 is characterized in that: The specific steps for constructing the filling body model in S4 are as follows: perform surface equidistant uniform sampling on the model surfaces of the goaf model and the shaft and tunnel engineering model with a sampling interval of 0.1m to obtain a uniform sampling point set, and use the 3D AlphaShape algorithm to reconstruct the surface based on this point set to generate a closed solid model that fits the surface of the original goaf model and the shaft and tunnel engineering model and is internally connected, as the generated filling body model.

7. The three-dimensional filling design method of the empty space subsequent filling method according to claim 1 is characterized in that: The construction guidance drawing output parameters in S5 include the output mode, line width, line type, line type ratio, color, fill pattern, annotation attributes and annotation style of the three-dimensional model output of the two-dimensional object, among which the output mode of the three-dimensional model output of the two-dimensional object includes projection, restricted projection, cutting, copying and extension.

8. An electronic device, characterized in that: A three-dimensional filling design method for implementing the empty space subsequent filling method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed by a computing device, the method according to any one of claims 1 to 7 is implemented.

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