A method for generating 2.5-dimensional electronic map of an open-pit mine, an application method and a device

Abstract

The present application discloses a method for generating a 2.5-dimensional electronic map of an open-pit mine, an application method and a device, and relates to the technical field of electronic maps and the technical field of mines, including: obtaining a 3D scene model and DEM data of an open-pit mine; superimposing the 3D scene model and DEM data according to corresponding positions to obtain a 3D model of the open-pit mine integrated with DEM data; performing a 2.5-dimensional map rendering operation based on the 3D model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine; calculating the true elevation values ​​of the pixels of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, the 2.5-dimensional elevation map containing the true elevation values ​​of the pixels; performing a layer group publishing operation on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine. The use efficiency of the electronic map of the open-pit mine is improved by adopting this solution.

Description

Technical Field

[0001] The present application relates to the fields of electronic map technology and mining technology, and in particular to a method for generating a 2.5-dimensional electronic map of an open-pit mine, an application method and a device. Background Art

[0002] The mining and management of open-pit mines have high requirements for the accuracy and real-time performance of spatial data. At present, the modeling and mapping of open-pit mines mainly rely on oblique photography technology, which can provide high-precision three-dimensional spatial information, namely 3DGIS (3-dimensional Geographic Information System) model, but the cost is high. It not only requires professional equipment and technicians, but also the data processing and modeling process is complicated, resulting in low overall modeling efficiency and high cost.

[0003] In addition, 3DGIS models containing spatial information contain a large amount of data and are large in size, which requires high computing resources and storage space. This leads to low efficiency in practical applications and is not easy to run smoothly on devices. Especially on mobile devices, due to hardware limitations, these models are slow to load and render, resulting in poor user experience. It is also difficult to develop applications based on the model, which severely limits business innovation.

[0004] More importantly, the mining activities of open-pit mines are dynamic, and the terrain and landforms will continue to change as the mining progresses. For 3DGIS electronic maps, it is difficult to achieve high-frequency data updates, and the subsequent data processing is cumbersome, which is difficult to meet the dynamic changes of open-pit mines.

[0005] In summary, the open-pit mine electronic map in the prior art has the problem of low utilization efficiency. Summary of the invention

[0006] The embodiments of the present application provide a method for generating a 2.5-dimensional electronic map of an open-pit mine, an application method and a device, so as to solve the problem of low efficiency of using the electronic map of the open-pit mine existing in the prior art.

[0007] The present application embodiment provides a method for generating a 2.5-dimensional electronic map of an open-pit mine, which is characterized by comprising:

[0008] Acquire a 3D scene model of an open-pit mine and digital elevation model (DEM) data of the open-pit mine;

[0009] The 3D scene model and the DEM data are superimposed according to corresponding positions to obtain a 3D model of the open-pit mine integrated with the DEM data;

[0010] Performing a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine;

[0011] Calculating the true elevation values ​​of the pixels of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, wherein the 2.5-dimensional elevation map includes the true elevation values ​​of the pixels;

[0012] A layer group publishing operation is performed on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine.

[0013] Furthermore, before obtaining the 3D scene model of the open-pit mine and the digital elevation model DEM data of the open-pit mine, the method further includes:

[0014] Obtaining a CAD plan topographic map of an open-pit mine and an oblique photographic image of the open-pit mine;

[0015] The CAD plane topographic map and the oblique photography image are used to perform a 3D modeling operation to obtain a 3D scene model of the open-pit mine.

[0016] Furthermore, the performing of a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine includes:

[0017] Get the camera parameters, light direction parameters, projection parameters and viewing angle parameters set for map rendering;

[0018] Deleting the invisible part from the 3D model to obtain a processed 3D model;

[0019] According to the camera parameters, the light direction parameters, the projection parameters and the viewing angle parameters, a 2.5-dimensional map rendering operation is performed on the processed 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine.

[0020] Furthermore, the calculating of the true elevation values ​​of the pixels of the 2.5-dimensional depth map to obtain the 2.5-dimensional elevation map of the open-pit mine includes:

[0021] Convert pixel coordinates of the pixel points of the 2.5-dimensional depth map into normalized coordinates;

[0022] Convert the normalized coordinates into camera coordinates;

[0023] Convert the camera coordinates to world coordinates;

[0024] The real elevation value of the pixel point is calculated based on the world coordinates to obtain a 2.5-dimensional elevation map of the open-pit mine.

[0025] The embodiment of the present application further provides a method for applying a 2.5-dimensional electronic map of an open-pit mine, wherein the 2.5-dimensional electronic map incorporates DEM data of the open-pit mine, and the method comprises:

[0026] Obtaining geographic coordinates of a first pixel point and a second pixel point to be calculated in the 2.5-dimensional electronic map;

[0027] converting the geographic coordinates into projected coordinates;

[0028] Performing rotation and tilt back calculation on the projection coordinates to obtain true projection coordinates;

[0029] Converting the real projection coordinates into real geographic coordinates;

[0030] Acquire the elevation values ​​of the first pixel point and the second pixel point according to the real geographic coordinates;

[0031] Based on the real geographic coordinates and the elevation values ​​of the first pixel point and the second pixel point, the distance between the first pixel point and the second pixel point is calculated.

[0032] Furthermore, performing rotation and tilt back calculation on the projection coordinates to obtain the real projection coordinates includes:

[0033] The following formula is used to perform rotation and tilt back calculation on the projection coordinates:

[0034] x=cos(rotate)·(x0-centerX)-sin(rotate)·(y0-centerY)+centerX;

[0035] y=cos(pitch)·(sin(rotate)·(x0-centerX)+cos(rotate)·(y0-centerY))+centerY;

[0036] Wherein, (x0, y0) is the projection coordinate, (centerX, centerY) is the projection coordinate of the center point of the scene, rotate is the rotation angle, and pitch is the tilt angle.

[0037] The embodiment of the present application also provides a device for generating a 2.5-dimensional electronic map of an open-pit mine, comprising:

[0038] A data acquisition module, used to acquire a 3D scene model of an open-pit mine and digital elevation model (DEM) data of the open-pit mine;

[0039] A data superposition module, used for superimposing the 3D scene model and the DEM data according to corresponding positions to obtain a 3D model of the open-pit mine integrated with the DEM data;

[0040] A map rendering module, used to perform a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine;

[0041] An elevation value calculation module, used to calculate the real elevation values ​​of the pixel points of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, wherein the 2.5-dimensional elevation map contains the real elevation values ​​of the pixel points;

[0042] The layer publishing module is used to perform a layer group publishing operation on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine.

[0043] Furthermore, it also includes:

[0044] The model building module is also used to obtain the CAD plane topographic map of the open-pit mine and the oblique photographic image of the open-pit mine before the data acquisition module obtains the 3D scene model of the open-pit mine and the digital elevation model DEM data of the open-pit mine; use the CAD plane topographic map and the oblique photographic image to perform 3D modeling operations to obtain the 3D scene model of the open-pit mine.

[0045] Furthermore, the map rendering module is specifically used to obtain the camera parameters, light direction parameters, projection parameters and viewing angle parameters set for map rendering; delete the invisible part from the 3D model to obtain a processed 3D model; perform a 2.5-dimensional map rendering operation on the processed 3D model according to the camera parameters, the light direction parameters, the projection parameters and the viewing angle parameters to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine.

[0046] Furthermore, the elevation value calculation module is used to convert the pixel coordinates of the pixel points of the 2.5-dimensional depth map into normalized coordinates; convert the normalized coordinates into camera coordinates; convert the camera coordinates into world coordinates; calculate the true elevation value of the pixel point based on the world coordinates to obtain a 2.5-dimensional elevation map of the open-pit mine.

[0047] The embodiment of the present application further provides an open-pit mine 2.5-dimensional electronic map application device, wherein the 2.5-dimensional electronic map incorporates DEM data of the open-pit mine, and the device comprises:

[0048] A coordinate acquisition module, used to acquire the geographic coordinates of a first pixel point and a second pixel point to be calculated in the 2.5-dimensional electronic map;

[0049] A first coordinate conversion module, used to convert the geographic coordinates into projection coordinates;

[0050] A second coordinate conversion module is used to perform rotation and tilt back calculation on the projection coordinates to obtain real projection coordinates;

[0051] A third coordinate conversion module, used for converting the real projection coordinates into real geographic coordinates;

[0052] An elevation value acquisition module, used to acquire the elevation values ​​of the first pixel point and the second pixel point according to the real geographic coordinates;

[0053] A distance calculation module is used to calculate the distance between the first pixel point and the second pixel point based on the real geographic coordinates and the elevation values ​​of the first pixel point and the second pixel point.

[0054] Furthermore, the second coordinate conversion module is specifically used to perform rotation and tilt back calculation on the projection coordinates using the following formula:

[0055] x=cos(rotate)·(x0-centerX)-sin(rotate)·(y0-centerY)+centerX;

[0056] y=cos(pitch)·(sin(rotate)·(x0-centerX)+cos(rotate)·(y0-centerY))+centerY;

[0057] Wherein, (x0, y0) is the projection coordinate, (centerX, centerY) is the projection coordinate of the center point of the scene, rotate is the rotation angle, and pitch is the tilt angle.

[0058] An embodiment of the present application also provides an electronic device, including a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to: implement any of the above-mentioned open-pit mine 2.5-dimensional electronic map generation methods, or implement any of the above-mentioned open-pit mine 2.5-dimensional electronic map application methods.

[0059] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it implements any of the above-mentioned methods for generating a 2.5-dimensional electronic map of an open-pit mine, or implements any of the above-mentioned methods for applying a 2.5-dimensional electronic map of an open-pit mine.

[0060] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned methods for generating a 2.5-dimensional electronic map of an open-pit mine, or to execute any of the above-mentioned methods for applying a 2.5-dimensional electronic map of an open-pit mine.

[0061] The beneficial effects of this application include:

[0062] In the method provided in the embodiment of the present application, the 3D scene model of the open-pit mine and the DEM (Digital Elevation Model) data are superimposed according to the corresponding positions to obtain a 3D model of the open-pit mine fused with DEM data, and a 2.5D map rendering operation is performed based on the 3D model to obtain a 2.5D image map and a 2.5D depth map, and the real elevation values ​​of the pixels of the 2.5D depth map are calculated to obtain a 2.5D elevation map of the open-pit mine, and a layer group publishing operation is performed on the 2.5D image map and the 2.5D elevation map to obtain a 2.5D electronic map of the open-pit mine. The generated 2.5D electronic map of the open-pit mine, because the DEM data of the open-pit mine is fused therein, contains the real elevation value, so compared with the plan view of the 2D electronic map, the display effect is improved, and a display effect similar to that of the 3D electronic map can be achieved, and compared with the 3DGIS electronic map, the 2.5D electronic map has less data, a smaller model volume, and a lower demand for computing resources and storage space, thereby improving the efficiency of use in practical applications.

[0063] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0065] Figure 1 A flow chart of a method for generating a 2.5-dimensional electronic map of an open-pit mine provided in an embodiment of the present application;

[0066] Figure 2 A flowchart of constructing a 3D scene model of an open-pit mine in an embodiment of the present application;

[0067] Figure 3 This is a flowchart of performing a 2.5-dimensional map rendering operation based on a 3-dimensional model in an embodiment of the present application;

[0068] Figure 4A flowchart for calculating the true elevation value of a pixel point in a 2.5-dimensional depth map in an embodiment of the present application;

[0069] Figure 5 A flow chart of a method for applying a 2.5-dimensional electronic map of an open-pit mine provided in an embodiment of the present application;

[0070] Figure 6 A schematic diagram of the structure of a 2.5-dimensional electronic map generating device for an open-pit mine provided in an embodiment of the present application;

[0071] Figure 7 A schematic diagram of the structure of a device for generating a 2.5-dimensional electronic map of an open-pit mine provided in another embodiment of the present application;

[0072] Figure 8 A schematic diagram of the structure of a 2.5-dimensional electronic map application device for an open-pit mine provided in an embodiment of the present application;

[0073] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] In order to provide an implementation scheme for improving the efficiency of using electronic maps of open-pit mines, the embodiments of the present application provide a method, application method and device for generating 2.5-dimensional electronic maps of open-pit mines. The preferred embodiments of the present application are described below in conjunction with the drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0075] The present application embodiment provides a method for generating a 2.5-dimensional electronic map of an open-pit mine, such as Figure 1 As shown, including:

[0076] Step 11, obtaining a 3D scene model of the open-pit mine and DEM data of the open-pit mine;

[0077] Step 12: superimpose the 3D scene model and the DEM data according to corresponding positions to obtain a 3D model of the open-pit mine integrated with the DEM data;

[0078] Step 13: Perform a 2.5-dimensional map rendering operation based on the 3D model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine;

[0079] Step 14, calculating the true elevation values ​​of the pixels of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, wherein the 2.5-dimensional elevation map contains the true elevation values ​​of the pixels;

[0080] Step 15: Execute the layer group publishing operation on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine.

[0081] By using the above-mentioned open-pit mine 2.5-dimensional electronic map generation method provided in the embodiment of the present application, the generated 2.5-dimensional electronic map of the open-pit mine, because the DEM data of the open-pit mine is integrated therein and contains real elevation values, the display effect is improved compared with the plan view of the 2-dimensional electronic map, and a display effect similar to that of a 3-dimensional electronic map can be achieved. Moreover, compared with the 3DGIS electronic map, the 2.5-dimensional electronic map has less data, a smaller model volume, and lower requirements for computing resources and storage space, thereby improving the usage efficiency in practical applications.

[0082] The method provided by the present application is described in detail below with reference to the accompanying drawings using specific embodiments.

[0083] In one embodiment of the present application, before executing the above step 11, i.e. obtaining the 3D scene model of the open-pit mine and the digital elevation model DEM data of the open-pit mine, as Figure 2 As shown, the following steps may also be included:

[0084] Step 21: Obtain the CAD plan topographic map of the open-pit mine.

[0085] The CAD plane topographic map of the open-pit mine is generally designed using AutoCAD and is in the dwg format, which can be used as a topographic reference for 3D modeling.

[0086] Step 22: Obtain oblique photography images of the open-pit mine.

[0087] In this step, the collected oblique photography images of the open-pit mine are obtained. The oblique photography technology is a high-tech technology developed in recent years. Multiple lenses can be installed on the aircraft at the same time to take multi-angle photos of the ground and buildings from different vertical and oblique angles to obtain high-resolution image data of the ground and buildings.

[0088] Step 23: Use the CAD plane topographic map and oblique photography images to perform 3D modeling operations to obtain a 3D scene model of the open-pit mine.

[0089] In this step, a 3D model is established based on the CAD plane topographic map and the collected oblique photography images. Specifically, a fully automated production method can be used to generate an ultra-high-density point cloud based on the image, and then a TIN (Triangulated Irregular Network) model is constructed through the point cloud, and finally a high-resolution oblique photography 3D model based on the image texture is generated.

[0090] In one embodiment of the present application, for the above step 12, the 3D scene model and the DEM data are superimposed according to corresponding positions to obtain a 3D model of an open-pit mine integrated with the DEM data, wherein the DEM data can be used as basic data of mountains and terrains for 3D modeling, and in practical applications, due to the needs of planning, mining and monitoring of open-pit mines, DEM data can be regularly produced and refined;

[0091] In this step 12, the 3D scene model and DEM data are superimposed according to the corresponding positions. If there is a deviation, the position can be manually corrected;

[0092] Also, at the beginning of modeling, both display units and system units can be set to meters.

[0093] In one embodiment of the present application, for the above step 13, a 2.5-dimensional map rendering operation is performed based on the 3D model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine, such as Figure 3 As shown, the following steps may be specifically included:

[0094] Step 31: Get the camera parameters, light direction parameters, projection parameters and viewing angle parameters set for map rendering.

[0095] In the embodiment of the present application, some parameters for map rendering need to be set, including:

[0096] Accurately set camera parameters. The setting of camera parameters should take into account the overall layout of the scene and ensure that the camera position represented by the camera parameters can capture the key features and details of the open-pit mine area;

[0097] Set the light direction parameters. To avoid unnecessary shadows and uneven lighting, after the camera parameters are set, determine the direction of the light according to the camera position and the specific conditions of the scene;

[0098] Set the projection parameters and viewing angle parameters. For example, orthogonal projection and a 45-degree viewing angle are commonly used.

[0099] Step 32: Delete the invisible part from the 3D model to obtain a processed 3D model.

[0100] In this step, in order to reduce the amount of data processing and improve subsequent rendering efficiency, invisible parts can be deleted from the 3D model, for example, invisible surfaces of objects in the electronic map, such as the back or blocked parts.

[0101] Step 33: Perform a 2.5-dimensional map rendering operation on the processed 3D model according to the camera parameters, light direction parameters, projection parameters and viewing angle parameters to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine.

[0102] In this step, during the rendering process, you can open the depth channel and set the rendering output in the OpenEXR file format.

[0103] In one embodiment of the present application, for the above step 14, that is, calculating the true elevation value of the pixel point of the 2.5-dimensional depth map, a 2.5-dimensional elevation map of the open-pit mine is obtained, such as Figure 4 As shown, the following steps may be specifically included:

[0104] Step 41: Convert the pixel coordinates of the pixel points of the 2.5-dimensional depth map into normalized coordinates.

[0105] In this step, the pixel coordinates can be converted to normalized coordinates using the following formula:

[0106]

[0107] Among them, (u,v) is the pixel coordinate, and starting from the upper left corner, horizontally to the right is u, vertically downward is v, (sx,sy) is the width and height of the sensor size, (x n ,y n ) are normalized coordinates.

[0108] Step 42: Convert the normalized coordinates to camera coordinates.

[0109] In this step, the normalized coordinates can be converted to camera coordinates using the following formula:

[0110] X c =d(u,v)·x n ;

[0111] Y c =d(u,v)·y n ;

[0112] Z c =d(u,v);

[0113] Among them, d(u,v) is the depth value of the pixel point (u,v), that is, the distance from the camera to the observed point, (X c ,Y c ,Z c ) are the camera coordinates.

[0114] In this step, it is assumed that the origin of the camera coordinate system is the camera position and the Z axis points to the front of the camera.

[0115] Step 43: Convert the camera coordinates to world coordinates.

[0116] In this step, the camera coordinates can be converted to world coordinates using the following formula:

[0117]

[0118] Among them, R is the rotation matrix in the camera parameters, T is the translation vector in the camera parameters, (X w ,Y w ,Z w ) are world coordinates.

[0119] Step 44: Calculate the real elevation value of the pixel point based on the world coordinates to obtain a 2.5-dimensional elevation map of the open-pit mine.

[0120] In this step, the true elevation value of the pixel point can be calculated using the following formula:

[0121] h=Z w -Z cam ;

[0122] Among them, (X cam ,Y cam ,Z cam ) is the world coordinate of the camera position, and h is the real elevation value of the pixel point.

[0123] Through the above Figure 4 The process shown can calculate the true elevation values ​​of the pixels of the 2.5-dimensional depth map, and add the calculated true elevation values ​​to the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine.

[0124] In one embodiment of the present application, for the above step 15, that is, performing a layer group publishing operation on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine may specifically include:

[0125] First, select the control points:

[0126] The same appropriate control points are selected on the 2.5D image map and the 2.5D elevation map. These appropriate control points can be fixed features that are easily identifiable in the image and clearly visible on both layers, such as road intersections, corner points of buildings, etc.

[0127] Then, perform a fine registration:

[0128] By setting the same real latitude and longitude coordinates for the appropriate control points selected on the two layers for registration, it is ensured that the position of each control point on the two layers corresponds as accurately as possible. Accurate registration can also be achieved by cropping the 2.5-dimensional image map and the 2.5-dimensional elevation map.

[0129] Then, configure the layer parameters:

[0130] Configure appropriate style, scale, coordinate reference system and other parameters for each layer for subsequent publishing of layer groups.

[0131] Then, publish the layer:

[0132] Using the configured layer parameters, the layer group publishing operation is performed on the 2.5-dimensional image map and 2.5-dimensional elevation map that are accurately aligned based on the control points to obtain a 2.5-dimensional electronic map of the open-pit mine. When publishing the layer group, it is necessary to pay attention to the layer overlay sequence and the visual effect of the 2.5-dimensional electronic map to generate a 2.5-dimensional electronic map fused with DEM data, namely a 2.5-dimensional GIS electronic map, which is used to be loaded and applied in the GIS map engine.

[0133] By using the above-mentioned open-pit mine 2.5-dimensional electronic map generation method provided in the embodiment of the present application, the generated 2.5-dimensional electronic map of the open-pit mine, because the DEM data of the open-pit mine is integrated therein and contains real elevation values, the display effect is improved compared with the plan view of the 2-dimensional electronic map, and a display effect similar to that of a 3-dimensional electronic map can be achieved. Moreover, compared with the 3DGIS electronic map, the 2.5-dimensional electronic map has less data, a smaller model volume, and lower requirements for computing resources and storage space, thereby improving the usage efficiency in practical applications.

[0134] The 2.5-dimensional electronic map of the open-pit mine, which integrates DEM data, can not only show the texture of the surface, but also contains accurate height information, which is particularly important for terrain analysis and engineering measurement.

[0135] For the 2.5-dimensional electronic map of the open-pit mine, loading and applying it does not require high-performance graphics processing hardware, which reduces the hardware usage requirements.

[0136] Compared with 3DGIS electronic maps, the cost of producing 2.5D electronic maps is relatively low, especially when DEM data is already available. Impact maps with depth information can be quickly generated. Because they are image-based, updating and maintenance are relatively simple. Only the latest impact and DEM data need to be re-rendered, which improves the efficiency of updating and maintenance.

[0137] 2.5-dimensional electronic maps integrated with DEM data can be widely used in many fields such as mine planning, land use, disaster assessment, and environmental monitoring.

[0138] 2.5D electronic maps integrated with DEM data can be used for more complex spatial analysis, such as slope, aspect, shadow analysis, line of sight analysis, etc., which are difficult to achieve based on 2D plane maps, and can be used more efficiently than 3DGIS electronic maps.

[0139] Correspondingly, the embodiment of the present application also provides a method for applying a 2.5-dimensional electronic map of an open-pit mine, wherein the 2.5-dimensional electronic map incorporates DEM data of the open-pit mine, such as Figure 5 As shown, the method includes:

[0140] Step 51, obtaining the geographic coordinates of the first pixel point and the second pixel point to be calculated in the 2.5-dimensional electronic map;

[0141] Step 52, converting geographic coordinates into projection coordinates;

[0142] Step 53, performing rotation and tilt back calculation on the projection coordinates to obtain the real projection coordinates;

[0143] Step 54, converting the real projection coordinates into real geographic coordinates;

[0144] Step 55, obtaining the elevation values ​​of the first pixel point and the second pixel point according to the real geographic coordinates;

[0145] Step 56: Calculate the distance between the first pixel point and the second pixel point based on the real geographic coordinates and elevation values ​​of the first pixel point and the second pixel point.

[0146] By using the above-mentioned open-pit mine 2.5-dimensional electronic map application method provided in the embodiment of the present application, since the DEM data of the open-pit mine is integrated into the 2.5-dimensional electronic map, when calculating the distance between two pixel points on the map, not only the 2-dimensional plane distance of the two pixel points is calculated, but the 3-dimensional space distance between the two pixel points can be calculated using the elevation value of the pixel points, thereby improving the accuracy of the pixel point distance calculation.

[0147] In one embodiment of the present application, after obtaining the geographic coordinates of the pixel point, the geographic coordinates (lng0, lat0) are converted into projection coordinates (x0, y0) (EPSG:4326 is converted to EPSG:3857), and then the projection coordinates (x0, y0) are rotated and tilted to obtain the true projection coordinates (x, y), and then the true projection coordinates (x, y) are converted into real geographic coordinates (lng, lat) (EPSG:3857 is converted to EPSG:4326), and then the elevation value h is obtained according to the real geographic coordinates (lng, lat).

[0148] In the embodiment of the present application, the projection coordinates are rotated and tilted inversely calculated to obtain the real projection coordinates, which can be calculated using the following formula:

[0149] x=cos(rotate)·(x0-centerX)-sin(rotate)·(y0-centerY)+centerX;

[0150] y=cos(pitch)·(sin(rotate)·(x0-centerX)+cos(rotate)·(y0-centerY))+centerY;

[0151] Among them, (x0, y0) is the projection coordinate, (centerX, centerY) is the projection coordinate of the center point of the scene, rotate is the rotation angle, and pitch is the tilt angle.

[0152] By using the above-mentioned open-pit mine 2.5-dimensional electronic map application method provided in the embodiment of the present application, after calculating the distance between pixel points, more complex spatial analysis can be further realized, such as slope, slope direction, shadow analysis, line of sight analysis, etc.

[0153] Based on the same inventive concept, according to the method for generating a 2.5-dimensional electronic map of an open-pit mine provided in the above embodiment of the present application, another embodiment of the present application also provides a device for generating a 2.5-dimensional electronic map of an open-pit mine, and its structural schematic diagram is shown in FIG. Figure 6 As shown, specifically including:

[0154] A data acquisition module 61 is used to acquire a 3D scene model of an open-pit mine and digital elevation model DEM data of the open-pit mine;

[0155] A data superposition module 62 is used to superimpose the 3D scene model and the DEM data according to corresponding positions to obtain a 3D model of the open-pit mine integrated with the DEM data;

[0156] A map rendering module 63, configured to perform a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine;

[0157] An elevation value calculation module 64 is used to calculate the real elevation values ​​of the pixel points of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, wherein the 2.5-dimensional elevation map contains the real elevation values ​​of the pixel points;

[0158] The layer publishing module 65 is used to perform a layer group publishing operation on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine.

[0159] Further, such as Figure 7 As shown, it also includes:

[0160] The model building module 66 is also used to obtain the CAD plane topographic map of the open-pit mine and the oblique photographic image of the open-pit mine before the data acquisition module obtains the 3D scene model of the open-pit mine and the digital elevation model DEM data of the open-pit mine; use the CAD plane topographic map and the oblique photographic image to perform 3D modeling operations to obtain the 3D scene model of the open-pit mine.

[0161] Furthermore, the map rendering module 63 is specifically used to obtain the camera parameters, light direction parameters, projection parameters and viewing angle parameters set for map rendering; delete the invisible part from the 3D model to obtain a processed 3D model; perform a 2.5-dimensional map rendering operation on the processed 3D model according to the camera parameters, the light direction parameters, the projection parameters and the viewing angle parameters to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine.

[0162] Furthermore, the elevation value calculation module 64 is used to convert the pixel coordinates of the pixel points of the 2.5-dimensional depth map into normalized coordinates; convert the normalized coordinates into camera coordinates; convert the camera coordinates into world coordinates; calculate the true elevation value of the pixel point based on the world coordinates to obtain a 2.5-dimensional elevation map of the open-pit mine.

[0163] Based on the same inventive concept, according to the open-pit mine 2.5-dimensional electronic map application method provided in the above embodiment of the present application, correspondingly, another embodiment of the present application also provides an open-pit mine 2.5-dimensional electronic map application device, wherein the 2.5-dimensional electronic map incorporates the DEM data of the open-pit mine, and its structural schematic diagram is as follows: Figure 8 As shown, specifically including:

[0164] A coordinate acquisition module 81, used to acquire the geographic coordinates of the first pixel point and the second pixel point to be calculated in the 2.5-dimensional electronic map;

[0165] A first coordinate conversion module 82, used to convert the geographic coordinates into projection coordinates;

[0166] A second coordinate conversion module 83 is used to perform rotation and tilt back calculation on the projection coordinates to obtain real projection coordinates;

[0167] A third coordinate conversion module 84, used to convert the real projection coordinates into real geographic coordinates;

[0168] An elevation value acquisition module 85, used to acquire the elevation values ​​of the first pixel point and the second pixel point according to the real geographic coordinates;

[0169] The distance calculation module 86 is used to calculate the distance between the first pixel point and the second pixel point based on the real geographic coordinates and the elevation values ​​of the first pixel point and the second pixel point.

[0170] Furthermore, the second coordinate conversion module 83 is specifically used to perform rotation and tilt back calculation on the projection coordinates using the following formula:

[0171] x=cos(rotate)·(x0-centerX)-sin(rotate)·(y0-centerY)+centerX;

[0172] y=cos(pitch)·(sin(rotate)·(x0-centerX)+cos(rotate)·(y0-centerY))+centerY;

[0173] Wherein, (x0, y0) is the projection coordinate, (centerX, centerY) is the projection coordinate of the center point of the scene, rotate is the rotation angle, and pitch is the tilt angle.

[0174] The functions of the above modules can correspond to Figures 1 to 5 The corresponding processing steps in the shown process will not be repeated here.

[0175] The open-pit mine 2.5-dimensional electronic map generation device and the open-pit mine 2.5-dimensional electronic map application device provided in the embodiments of the present application can be implemented by a computer program. Those skilled in the art should be able to understand that the above-mentioned module division method is only one of many module division methods. If it is divided into other modules or no modules are divided, as long as the open-pit mine 2.5-dimensional electronic map generation device and the open-pit mine 2.5-dimensional electronic map application device have the above-mentioned functions, they should be within the protection scope of the present application.

[0176] The present application also provides an electronic device, such as Fig. 9 As shown, it includes a processor 91 and a machine-readable storage medium 92, wherein the machine-readable storage medium 92 stores machine-executable instructions that can be executed by the processor 91, and the processor 91 is prompted by the machine-executable instructions to: implement any of the above-mentioned open-pit mine 2.5-dimensional electronic map generation methods, or implement any of the above-mentioned open-pit mine 2.5-dimensional electronic map application methods.

[0177] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it implements any of the above-mentioned methods for generating a 2.5-dimensional electronic map of an open-pit mine, or implements any of the above-mentioned methods for applying a 2.5-dimensional electronic map of an open-pit mine.

[0178] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned methods for generating a 2.5-dimensional electronic map of an open-pit mine, or to execute any of the above-mentioned methods for applying a 2.5-dimensional electronic map of an open-pit mine.

[0179] The machine-readable storage medium in the electronic device may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0180] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0181] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0182] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0183] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0184] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0185] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0186] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for generating a 2.5-dimensional electronic map of an open-pit mine, characterized in that: include: Acquire a 3D scene model of an open-pit mine and digital elevation model (DEM) data of the open-pit mine; The 3D scene model and the DEM data are superimposed according to corresponding positions to obtain a 3D model of the open-pit mine integrated with the DEM data; Performing a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine; Calculating the true elevation values ​​of the pixels of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, wherein the 2.5-dimensional elevation map includes the true elevation values ​​of the pixels; A layer group publishing operation is performed on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine.

2. The method according to claim 1, characterized in that Before obtaining the 3D scene model of the open-pit mine and the digital elevation model DEM data of the open-pit mine, the method further includes: Obtaining a CAD plan topographic map of an open-pit mine and an oblique photographic image of the open-pit mine; The CAD plane topographic map and the oblique photography image are used to perform a 3D modeling operation to obtain a 3D scene model of the open-pit mine.

3. The method according to claim 1, characterized in that The performing of a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine includes: Get the camera parameters, light direction parameters, projection parameters and viewing angle parameters set for map rendering; Deleting the invisible part from the 3D model to obtain a processed 3D model; According to the camera parameters, the light direction parameters, the projection parameters and the viewing angle parameters, a 2.5-dimensional map rendering operation is performed on the processed 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine.

4. The method according to claim 1, characterized in that The step of calculating the true elevation values ​​of the pixels of the 2.5-dimensional depth map to obtain the 2.5-dimensional elevation map of the open-pit mine includes: Convert pixel coordinates of the pixel points of the 2.5-dimensional depth map into normalized coordinates; Convert the normalized coordinates into camera coordinates; Convert the camera coordinates to world coordinates; The real elevation value of the pixel point is calculated based on the world coordinates to obtain a 2.5-dimensional elevation map of the open-pit mine.

5. A method for applying 2.5-dimensional electronic maps of open-pit mines, characterized in that: The 2.5-dimensional electronic map is integrated with DEM data of the open-pit mine, and the method comprises: Obtaining geographic coordinates of a first pixel point and a second pixel point to be calculated in the 2.5-dimensional electronic map; converting the geographic coordinates into projected coordinates; Performing rotation and tilt back calculation on the projection coordinates to obtain true projection coordinates; Converting the real projection coordinates into real geographic coordinates; Acquire the elevation values ​​of the first pixel point and the second pixel point according to the real geographic coordinates; Based on the real geographic coordinates and the elevation values ​​of the first pixel point and the second pixel point, the distance between the first pixel point and the second pixel point is calculated.

6. The method according to claim 5, characterized in that The performing rotation and tilt back calculation on the projection coordinates to obtain the real projection coordinates includes: The following formula is used to perform rotation and tilt back calculation on the projection coordinates: x=cos(rotate)·(x0-centerX)-sin(rotate)·(y0-centerY)+centerX; y=cos(pitch)·(sin(rotate)·(x0-centerX)+cos(rotate)·(y0-centerY))+centerY; Wherein, (x0, y0) is the projection coordinate, (centerX, centerY) is the projection coordinate of the center point of the scene, rotate is the rotation angle, and pitch is the tilt angle.

7. A 2.5-dimensional electronic map generating device for an open-pit mine, characterized in that: include: A data acquisition module, used to acquire a 3D scene model of an open-pit mine and digital elevation model (DEM) data of the open-pit mine; A data superposition module, used for superimposing the 3D scene model and the DEM data according to corresponding positions to obtain a 3D model of the open-pit mine integrated with the DEM data; A map rendering module, used to perform a 2.5-dimensional map rendering operation based on the 3-dimensional model to obtain a 2.5-dimensional image map and a 2.5-dimensional depth map of the open-pit mine; An elevation value calculation module, used to calculate the real elevation values ​​of the pixel points of the 2.5-dimensional depth map to obtain a 2.5-dimensional elevation map of the open-pit mine, wherein the 2.5-dimensional elevation map contains the real elevation values ​​of the pixel points; The layer publishing module is used to perform a layer group publishing operation on the 2.5-dimensional image map and the 2.5-dimensional elevation map to obtain a 2.5-dimensional electronic map of the open-pit mine.

8. A 2.5-dimensional electronic map application device for open-pit mines, characterized in that: The 2.5-dimensional electronic map is integrated with the DEM data of the open-pit mine, and the device comprises: A coordinate acquisition module, used to acquire the geographic coordinates of a first pixel point and a second pixel point to be calculated in the 2.5-dimensional electronic map; A first coordinate conversion module, used to convert the geographic coordinates into projection coordinates; A second coordinate conversion module is used to perform rotation and tilt back calculation on the projection coordinates to obtain real projection coordinates; A third coordinate conversion module, used for converting the real projection coordinates into real geographic coordinates; An elevation value acquisition module, used to acquire the elevation values ​​of the first pixel point and the second pixel point according to the real geographic coordinates; A distance calculation module is used to calculate the distance between the first pixel point and the second pixel point based on the real geographic coordinates and the elevation values ​​of the first pixel point and the second pixel point.

9. An electronic device, characterized in that: The invention comprises a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement any one of the methods described in claims 1-4, or to implement the method described in claim 5 or 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method described in any one of claims 1 to 4, or implements the method described in claim 5 or 6.

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