Automatic searching method and device for movable blocks of underground cavern and storage medium

Abstract

The invention relates to the technical field of digital twinning, and provides an underground cavern movable block automatic searching method and device and a storage medium, and the method comprises the steps: obtaining the image data of a blasting excavation surface of an underground cavern, obtaining a preliminary live-action three-dimensional model of the excavation surface of the underground cavern according to the image data of the underground cavern, and carrying out the preliminary live-action three-dimensional model of the excavation surface of the underground cavern; registering the preliminary live-action three-dimensional model according to the three-dimensional space coordinate data set to obtain a registered live-action three-dimensional model under a geographic coordinate system, drawing geologic structural surfaces on the registered live-action three-dimensional model, performing spatial combination on the geologic structural surfaces, and performing spatial Boolean operation on the geologic structural surfaces and the registered live-action three-dimensional model to obtain geologic structural surfaces; and all movable blocks on the registered live-action three-dimensional model are obtained. According to the method, the space Boolean operation is performed by combining the drawn geologic structure surface and the registration live-action three-dimensional model, and all the movable blocks are intelligently searched, so that the risks of data blind areas and misjudgment and missing judgment existing in manual judgment are solved, and the search efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of digital twin technology, and in particular to an automatic search method, device and storage medium for movable blocks in an underground cavern. Background Art

[0002] Two-dimensional discontinuous surfaces or belts with clear extension direction, significant length but relatively small thickness formed by geological actions such as tectonic stress, sedimentation or secondary transformation inside the rock mass are called geological structural surfaces, such as faults, joints, bedding, weak interlayers, etc. Due to the development of geological rock strata, there is a great deal of uncertainty in the distribution of geological structural surfaces revealed during the excavation of underground caverns. The geological structural surfaces will cut each other into rock masses to form blocks of different sizes. The construction process often disturbs the blocks under static translation, causing them to fall or slide along specific geological structural surfaces, greatly increasing the danger of construction operations. In order to ensure the safety of construction, it is necessary to give priority to the stability analysis of movable blocks and implement timely support based on the results. The key to block stability analysis is to find potential movable blocks and determine the location and geometry of key blocks.

[0003] The block stability analysis methods currently used on construction sites (such as block theory and stereographic projection) rely heavily on manual experience to complete spatial combination judgments, which have problems such as low efficiency, misjudgment, and missed judgments. Currently, 3D modeling technology has been widely used in the field of geological surveys, and the real-life models it constructs can restore the construction site scene, but there are still technical gaps in the intelligent identification and visual analysis of movable blocks, and no systematic solution has yet been formed.

[0004] In view of this, it is necessary to propose an automatic search method, device and storage medium for movable blocks in underground caverns to solve or at least alleviate the above-mentioned defects. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, device and storage medium for automatically searching movable blocks in underground caverns, so as to solve the technical problems in the prior art that the process of manually judging blocks by on-site geologists is inefficient and low in accuracy.

[0006] To achieve the above object, the present invention provides an automatic search method for a movable block in an underground cavern, comprising the following steps: S1, obtaining a three-dimensional spatial coordinate data set of characteristic points measured by a total station; wherein, during the underground cavern excavation and blasting operation, at least three characteristic points are drawn on the blasting excavation surface with paint; S2, acquiring image data of the blasting excavation surface of the underground cavern, and obtaining a preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern; S3, registering the preliminary real-scene three-dimensional model according to the three-dimensional space coordinate data set to obtain a registered real-scene three-dimensional model in a geographic coordinate system, and drawing a geological structure surface on the registered real-scene three-dimensional model; S4, spatially combining the geological structural surfaces, and performing spatial Boolean operations with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

[0007] Preferably, the step S3 specifically includes the following steps: The step S3 specifically comprises the following steps: S31, acquiring a preliminary coordinate data set of the feature points in the preliminary real-scene three-dimensional model, and performing matrix calculation on the preliminary coordinate data set and the three-dimensional space coordinate data set to obtain a rotation matrix of the preliminary real-scene three-dimensional model; S32, performing registration calculation on the rotation matrix and the preliminary real-scene three-dimensional model to obtain a registered real-scene three-dimensional model in a geographic coordinate system; S33, load the registered real-scene three-dimensional model, complete the drawing of the geological structure surface by picking up a set of points where the geological structure surface is located on the registered real-scene three-dimensional model, and divide the geological structure surface into different geological structure surface types according to its characteristics, and store them in a geological database; wherein the geological structure surface types include one or more of faults, joints, and fissures.

[0008] Preferably, the step S4 specifically includes the following steps: S41, traversing all geological structural surfaces and obtaining the point set, performing three-dimensional space plane fitting through the point set, and obtaining intersection lines obtained by combining each geological structural surface with the fitting planes where other geological structural surfaces are located; S42, sequentially calculating the spatial Boolean relationship between each intersection line and the registered real-scene three-dimensional model, obtaining a set of edges I intersecting with the registered real-scene three-dimensional model, and recording the intersection point of each intersecting edge line with the registered real-scene three-dimensional model; S43, judging each intersecting edge line in the edge line set I and other intersecting edge lines, if there is a common geological structural surface in the geological structural surfaces constituting the two intersecting edges, marking them as a coplanar edge line group Z; S44, determine whether the third edge formed by the three geological structural surfaces in the coplanar edge group Z is in the edge set I. If so, the three geological structural surfaces are combined into a block combination B, and the intersection points of the three intersecting edges and the registered real-scene 3D model are obtained as the vertices of the block combination B. ; S45, calculating the common intersection of the three geological structural surfaces corresponding to the block combination B, and taking the common intersection as the vertex V1 of the block combination B, and determining whether the vertex V1 is outside the registered real-scene three-dimensional model; wherein the outside of the registered real-scene three-dimensional model is the direction from the model surface to the rock mass; S46, when the vertex V1 is outside the registered real-scene 3D model, the three vertices Together with vertex V1, it forms a tetrahedron; S47, determining whether the elevation of the vertex V1 is greater than the elevation of the other three vertices of the tetrahedron The elevation of any one of S48, the elevation of the vertex V1 is greater than the other three vertices of the tetrahedron When the minimum value of the elevation is reached, the tetrahedron is determined to be a movable block; S49, traverse the edge set I, repeat steps S41 to S48, and obtain all movable blocks.

[0009] Preferably, the step S4 further includes the following steps: S51, respectively calculating the unit normal vectors of the three geological structural planes, and ensuring that the unit normal vectors point to the inside of the movable block, and calculating the dot product of the unit normal vector and the gravity of the block; S521, when the values ​​of the three dot products are all greater than 0, it is determined that the movable block is separated from the rock mass, the stability coefficient of the movable block is 0, and the movable block is used as a key block; S522, when one of the three dot product values ​​is less than or equal to 0, the movable block is determined to be a single-sided sliding block, the geological structural surface corresponding to the dot product value being less than or equal to 0 is used as the first sliding surface, and the stability coefficient and net sliding force of the single-sided sliding block are calculated; S523, when two of the three dot product values ​​are less than or equal to 0, the movable block is determined to be a double-sided sliding block, the geological structural surface corresponding to the dot product value being less than or equal to 0 is used as the second sliding surface, and the stability coefficient of the double-sided sliding block and the net sliding force are calculated; S53, identifying the movable blocks with a stability coefficient less than 1 as unstable blocks, and identifying the other movable blocks as stable blocks; and identifying the movable blocks with a net sliding force greater than 0 as key blocks; S54, obtaining spatial expressions of four faces of all movable blocks according to the vertex and edge expressions of all movable blocks; S55, loading the registered real-scene three-dimensional model and all movable blocks, and representing the unstable blocks in the form of triangular faces; wherein the unstable blocks include the key blocks.

[0010] Preferably, the calculation of the stability coefficient of the single-sided sliding block in step S522 specifically includes the following steps: Using formula Calculate the stability coefficient of the single-sided sliding block ; where N is gravity The supporting force component along the normal direction on the first sliding surface, unit: kN, calculated by the formula N = , P1 is gravity The supporting force component along the tangential direction on the first sliding surface, unit: kN, is calculated as P1 = , n is the unit normal vector of the first sliding surface, ΔA is the area of ​​the first sliding surface, unit: m²; C is the effective cohesion of the first sliding surface, unit: kPa; is the effective friction angle of the first sliding surface.

[0011] Preferably, the calculation of the stability coefficient of the double-sided sliding block in step S523 specifically includes the following steps: Using formula Calculate the stability coefficient of the double-sided sliding block ;in , Gravity The support force component along the normal direction of the two second sliding surfaces, unit: kN, is calculated by: , , are the unit normal vectors of the two second sliding surfaces, , are the areas of the two second sliding surfaces respectively, unit: m²; , are the effective cohesion of the two second sliding surfaces, in kPa, , are the effective friction angles of the two second sliding surfaces respectively.

[0012] Preferably, the step S45 further includes the following steps: when the vertex V1 is on the surface or inside the registered real-scene three-dimensional model, determining that the block combination B is an infinite block and not performing any processing.

[0013] Preferably, after step S47, the step of: when the elevation of the vertex V1 is smaller than the elevation of the other three vertices of the tetrahedron When the elevation is , the tetrahedron is judged to be a stable block and no processing is done.

[0014] The present invention also provides an automatic search device for movable blocks in underground caverns, comprising: The feature point coordinate acquisition unit is used to acquire a three-dimensional spatial coordinate data set of feature points measured by the total station; wherein, at least three feature points are painted on the blasting excavation surface during the underground cavern excavation blasting operation; A preliminary real-scene three-dimensional model determination unit is used to obtain image data of the blasting excavation surface of the underground cavern, and obtain a preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern; A registered real-scene 3D model determination unit is used to register the preliminary real-scene 3D model according to the 3D space coordinate data set to obtain a registered real-scene 3D model in a geographic coordinate system, and draw a geological structure surface on the registered real-scene 3D model; The movable block search unit is used to spatially combine the geological structure surface and perform spatial Boolean operation with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

[0015] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for automatically searching for movable blocks in an underground cavern.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an automatic search method, device and storage medium for movable blocks in underground caverns, which obtains image data of the blasting excavation surface of the underground cavern, obtains a preliminary real-scene three-dimensional model of the underground cavern excavation surface based on the image data of the underground cavern, aligns the preliminary real-scene three-dimensional model according to the three-dimensional spatial coordinate data set, obtains the aligned real-scene three-dimensional model in the geographic coordinate system, draws the geological structure surface on the aligned real-scene three-dimensional model, spatially combines the geological structure surface, and performs spatial Boolean operations with the aligned real-scene three-dimensional model to obtain all movable blocks on the aligned real-scene three-dimensional model. The present application can achieve the reconstruction of the three-dimensional real-scene model of the underground cavern excavation process by adopting a digital modeling and alignment scheme, and the occurrence accuracy of the geological structure surface drawn by the aligned real-scene three-dimensional model can reach within 3°, and the position error is at the centimeter level, thereby providing favorable support for the accurate characterization of the blocks. On the other hand, this application combines the drawn geological structure surface with the registered real-life 3D model for spatial Boolean operations to intelligently search for all movable blocks, thereby solving the risk of data blind spots, misjudgment and missed judgments in human judgment, and greatly improving search efficiency. In addition, this application provides a visual analysis method for the volume size of the block under the actual excavation surface conditions and the combination with the real-life model of the cave excavation surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 is a schematic diagram of a flow chart in one embodiment of the present invention; Figure 2 This is a flow chart of the specific steps included in step S4 in one embodiment of the present invention; Figure 3 A three-dimensional model of a real underground cavern and a schematic diagram of a geological structure surface drawn in one embodiment of the present invention; Figure 4 This is a rendering of the automatic search and visualization of movable blocks in an underground cavern in one embodiment of the present invention.

[0019] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0023] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] Please refer to Figures 1 to 4 The present invention provides an automatic search method for movable blocks in underground caverns, comprising the following steps: S1, obtaining a three-dimensional spatial coordinate data set of feature points measured by a total station; wherein, during the underground cavern excavation and blasting operation, at least three feature points are painted on the blasting excavation surface; the total station is a high-precision measuring instrument that can obtain the three-dimensional spatial coordinates of the measuring points, and the feature points are points on the blasting excavation surface with significant features or markings. By measuring the three-dimensional spatial coordinates of these feature points, the real geographical location of the blasting excavation surface can be accurately grasped, and the three-dimensional spatial coordinate data set can be obtained.

[0025] S2, obtaining image data of the blasting excavation surface of the underground cavern, collecting image data of the blasting excavation surface before performing spraying and protection, ensuring clear image shooting, and obtaining a preliminary real-scene three-dimensional model of the underground cavern excavation surface based on the image data of the underground cavern; specifically, the blasting excavation surface of the underground cavern refers to the surface of the surrounding rock that has not yet been supported or sprayed after blasting. There are mature solutions for constructing a preliminary real-scene three-dimensional model based on image data, which will not be elaborated here.

[0026] S3, registering the preliminary real-scene three-dimensional model according to the three-dimensional space coordinate data set to obtain a registered real-scene three-dimensional model in a geographic coordinate system, and drawing a geological structure surface on the registered real-scene three-dimensional model; S4, spatially combining the geological structural surfaces, and performing spatial Boolean operations with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

[0027] In the present application, by adopting a digital modeling and registration scheme, the reconstruction of the three-dimensional real-scene model of the underground cave excavation process can be realized. The accuracy of the geological structure surface drawn by the registered real-scene three-dimensional model can reach within 3°, and the position error is at the centimeter level, thereby providing favorable support for the accurate characterization of the block. On the other hand, the present application combines the drawn geological structure surface with the registered real-scene three-dimensional model for spatial Boolean operations, and intelligently searches out all movable blocks, thereby solving the risk of data blind spots, misjudgment and missed judgments in human judgment, and greatly improving the search efficiency.

[0028] As a preferred implementation, step S3 specifically includes the following steps: S31, obtaining a preliminary coordinate data set of the feature points in the preliminary real-scene three-dimensional model, and performing matrix calculation on the preliminary coordinate data set and the three-dimensional space coordinate data set to obtain a rotation matrix of the preliminary real-scene three-dimensional model; by performing matrix calculation on the preliminary real-scene three-dimensional model and the three-dimensional space coordinate data set, a more accurate rotation matrix can be obtained, thereby ensuring the alignment accuracy of the model with the geographic coordinate system, and the real-scene three-dimensional model after registration can more realistically reflect the actual position and shape of the underground cavern.

[0029] S32, performing registration calculation on the rotation matrix and the preliminary real-scene three-dimensional model to obtain a registered real-scene three-dimensional model in a geographic coordinate system; there are mature solutions for registering the preliminary real-scene three-dimensional model according to the rotation matrix, which will not be elaborated here.

[0030] S33, loading the registered real-scene 3D model, completing the drawing of the geological structure surface by picking up the point set of the geological structure surface on the registered real-scene 3D model, and dividing the geological structure surface into different geological structure surface types according to the characteristics, and storing them in the geological database; wherein the geological structure surface type includes one or more of faults, joints, and fissures. Drawing the geological structure surface on the registered real-scene 3D model can intuitively display the morphology and distribution characteristics of the geological structure surface. Dividing the geological structure surface into different types according to the characteristics and storing them in the geological database is helpful for subsequent geological analysis and research.

[0031] As a preferred implementation, step S4 specifically includes the following steps: S41, traverse all geological structural surfaces and obtain the point set, perform three-dimensional space plane fitting through the point set, and obtain the intersection lines obtained by combining each geological structural surface with the fitting planes where other geological structural surfaces are located in pairs; specifically, the intersection lines obtained by combining each geological structural surface with the planes where other geological structural surfaces are located in pairs can obtain n(n-1) / 2 intersection lines, where n is the total number of geological structural surfaces drawn on the registered real-scene three-dimensional model, and in particular, if two geological structural surfaces are parallel to each other, there is no intersection line; S42, sequentially calculating the spatial Boolean relationship between each intersection line and the registered real-scene three-dimensional model, obtaining a set of edges I intersecting with the registered real-scene three-dimensional model, and recording the intersection point of each intersecting edge line with the registered real-scene three-dimensional model; S43, judging each intersecting edge line in the edge line set I and other intersecting edge lines, if there is a common geological structural surface in the geological structural surfaces constituting the two intersecting edges, marking them as a coplanar edge line group Z; S44, determine whether the third edge formed by the three geological structural surfaces in the coplanar edge group Z is in the edge set I. If so, the three geological structural surfaces are combined into a block combination B, and the intersection points of the three intersecting edges and the registered real-scene 3D model are obtained as the vertices of the block combination B. ; S45, calculating the common intersection of the three geological structural surfaces corresponding to the block combination B, and taking the common intersection as the vertex V1 of the block combination B, and determining whether the vertex V1 is outside the registered real-scene three-dimensional model; wherein the outside of the registered real-scene three-dimensional model is the direction from the model surface to the rock mass; Preferably, the step S45 further includes the following steps: when the vertex V1 is on the surface or inside the registered real-scene three-dimensional model, determining that the block combination B is an infinite block and not performing any processing.

[0032] In particular, in step S44, if there is more than one intersection point between each edge line and the registered real scene three-dimensional model, the intersection point closest to the intersection point V1 among all the intersection points of the edge line is selected.

[0033] S46, when the vertex V1 is outside the registered real-scene 3D model, the three vertices Together with vertex V1, it forms a tetrahedron; S47, determining whether the elevation of the vertex V1 is greater than the elevation of the other three vertices of the tetrahedron The elevation of any one of Preferably, after step S47, the step of: when the elevation of the vertex V1 is smaller than the elevation of the other three vertices of the tetrahedron When the elevation is , the tetrahedron is judged to be a stable block and no processing is done.

[0034] S48, the elevation of the vertex V1 is greater than the other three vertices of the tetrahedron When the minimum value of the elevation is reached, the tetrahedron is determined to be a movable block; S49, traverse the edge set I, repeat steps S41 to S48, and obtain all movable blocks.

[0035] like Figure 3 As shown, Figure 3 The results of cataloging elements for the real-life 3D model and geological structure surface are as follows. The registered real-life 3D model based on image reconstruction has clear textures, which can restore the real scene of the underground cavern blasting excavation surface for geological workers. The lines and text on the registered real-life 3D model are the drawn geological structure surface and its name, and a white line is used below the underground cavern to mark the location of the cavern axis pile number.

[0036] As another preferred embodiment, the step S4 further includes the following steps: S51, respectively calculating the unit normal vectors of the three geological structural planes, and ensuring that the unit normal vectors point to the inside of the movable block, and calculating the dot product of the unit normal vector and the gravity of the block; S521, when the values ​​of the three dot products are all greater than 0, it is determined that the movable block is separated from the rock mass, the stability coefficient of the movable block is 0, and the movable block is used as a key block; S522, when one of the three dot product values ​​is less than or equal to 0, the movable block is determined to be a single-sided sliding block, the geological structural surface corresponding to the dot product value being less than or equal to 0 is used as the first sliding surface, and the stability coefficient and net sliding force of the single-sided sliding block are calculated; Further, the calculation of the stability coefficient of the single-sided sliding block in step S522 specifically includes the following steps: Using formula Calculate the stability coefficient of the single-sided sliding block ; where N is gravity The supporting force component along the normal direction on the first sliding surface, unit: kN, calculated by the formula N = , P1 is gravity The supporting force component along the tangential direction on the first sliding surface, unit: kN, is calculated as P1 = , n is the unit normal vector of the first sliding surface, ΔA is the area of ​​the first sliding surface, unit: m²; C is the effective cohesion of the first sliding surface, unit: kPa; is the effective friction angle of the first sliding surface. Preferably, without considering the cohesion of the sliding surface, the formula Fh1= The net sliding force Fh1 of the single-sided sliding block is calculated.

[0037] S523, when two of the three dot product values ​​are less than or equal to 0, the movable block is determined to be a double-sided sliding block, the geological structural surface corresponding to the dot product value being less than or equal to 0 is used as the second sliding surface, and the stability coefficient of the double-sided sliding block and the net sliding force are calculated; Furthermore, the calculation of the stability coefficient of the double-sided sliding block in step S523 specifically includes the following steps: Using formula Calculate the stability coefficient of the double-sided sliding block ;in , Gravity The support force component along the normal direction of the two second sliding surfaces, unit: kN, is calculated by: , , are the unit normal vectors of the two second sliding surfaces, , are the areas of the two second sliding surfaces respectively, unit: m²; , are the effective cohesion of the two second sliding surfaces, in kPa, , are the effective friction angles of the two second sliding surfaces respectively. Preferably, without considering the cohesion of the sliding surface, the formula Fh2 = Calculate the net sliding force Fh2 of the double-sided sliding block.

[0038] S53, identifying the movable blocks with a stability coefficient less than 1 as unstable blocks, and identifying the other movable blocks as stable blocks; and identifying the movable blocks with a net sliding force greater than 0 as key blocks; S54, obtaining spatial expressions of four faces of all movable blocks according to the vertex and edge expressions of all movable blocks; S55, loading the registered real-scene three-dimensional model and all movable blocks, and representing the unstable blocks in the form of triangular faces; wherein the unstable blocks include the key blocks.

[0039] like Figure 4 As shown, Figure 4 The unstable block is automatically searched for in the underground cavern block. The upper right corner shows the resolved block options, and provides the geological structural surface information and volume parameters of the block. Select the target block and click OK to get the unstable block composed of green tetrahedrons on the model.

[0040] The present invention also provides an automatic search device for movable blocks in underground caverns, comprising: The feature point coordinate acquisition unit is used to acquire a three-dimensional spatial coordinate data set of feature points measured by the total station; wherein, at least three feature points are painted on the blasting excavation surface during the underground cavern excavation blasting operation; A preliminary real-scene three-dimensional model determination unit is used to obtain image data of the blasting excavation surface of the underground cavern, and obtain a preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern; A registered real-scene 3D model determination unit is used to register the preliminary real-scene 3D model according to the 3D space coordinate data set to obtain a registered real-scene 3D model in a geographic coordinate system, and draw a geological structure surface on the registered real-scene 3D model; The movable block search unit is used to spatially combine the geological structure surface and perform spatial Boolean operation with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

[0041] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the automatic search method for a movable block in an underground cavern are implemented as described above. It can be understood that when the computer program is executed by the processor, the automatic search method for a movable block in an underground cavern is implemented, and therefore all embodiments of the method described above are applicable to the storage medium, and can achieve the same or similar beneficial effects.

[0042] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for automatically searching for movable blocks in underground caverns, characterized in that: The following steps are involved: S1, obtaining a three-dimensional spatial coordinate data set of characteristic points measured by a total station; wherein, during the underground cavern excavation and blasting operation, at least three characteristic points are drawn on the blasting excavation surface with paint; S2, acquiring image data of the blasting excavation surface of the underground cavern, and obtaining a preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern; S3, registering the preliminary real-scene three-dimensional model according to the three-dimensional space coordinate data set to obtain a registered real-scene three-dimensional model in a geographic coordinate system, and drawing a geological structure surface on the registered real-scene three-dimensional model; S4, spatially combining the geological structural surfaces, and performing spatial Boolean operations with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

2. The automatic search method for movable blocks in underground caverns according to claim 1, characterized in that: The step S3 specifically comprises the following steps: S31, acquiring a preliminary coordinate data set of the feature points in the preliminary real-scene three-dimensional model, and performing matrix calculation on the preliminary coordinate data set and the three-dimensional space coordinate data set to obtain a rotation matrix of the preliminary real-scene three-dimensional model; S32, performing registration calculation on the rotation matrix and the preliminary real-scene three-dimensional model to obtain a registered real-scene three-dimensional model in a geographic coordinate system; S33, load the registered real-scene three-dimensional model, complete the drawing of the geological structure surface by picking up a set of points where the geological structure surface is located on the registered real-scene three-dimensional model, and divide the geological structure surface into different geological structure surface types according to its characteristics, and store them in a geological database; wherein the geological structure surface types include one or more of faults, joints, and fissures.

3. The automatic search method for movable blocks in underground caverns according to claim 2, characterized in that: The step S4 specifically comprises the following steps: S41, traversing all geological structural surfaces and obtaining the point set, performing three-dimensional space plane fitting through the point set, and obtaining intersection lines obtained by combining each geological structural surface with the fitting planes where other geological structural surfaces are located; S42, sequentially calculating the spatial Boolean relationship between each intersection line and the registered real-scene three-dimensional model, obtaining a set of edges I intersecting with the registered real-scene three-dimensional model, and recording the intersection point of each intersecting edge line with the registered real-scene three-dimensional model; S43, judging each intersecting edge line in the edge line set I and other intersecting edge lines, if there is a common geological structural surface in the geological structural surfaces constituting the two intersecting edges, marking them as a coplanar edge line group Z; S44, determine whether the third edge formed by the three geological structural surfaces in the coplanar edge group Z is in the edge set I. If so, the three geological structural surfaces are combined into a block combination B, and the intersection points of the three intersecting edges and the registered real-scene 3D model are obtained as the vertices of the block combination B. ; S45, calculating the common intersection of the three geological structural surfaces corresponding to the block combination B, and taking the common intersection as the vertex V1 of the block combination B, and determining whether the vertex V1 is outside the registered real-scene three-dimensional model; wherein the outside of the registered real-scene three-dimensional model is the direction from the model surface to the rock mass; S46, when the vertex V1 is outside the registered real-scene 3D model, the three vertices Together with vertex V1, it forms a tetrahedron; S47, determining whether the elevation of the vertex V1 is greater than the elevation of the other three vertices of the tetrahedron The elevation of any one of S48, the elevation of the vertex V1 is greater than the other three vertices of the tetrahedron When the minimum value of the elevation is reached, the tetrahedron is determined to be a movable block; S49, traverse the edge set I, repeat steps S41 to S48, and obtain all movable blocks.

4. The automatic search method for movable blocks in underground caverns according to claim 1, characterized in that: The step S4 further includes the following steps: S51, respectively calculating the unit normal vectors of the three geological structural planes, and ensuring that the unit normal vectors point to the inside of the movable block, and calculating the dot product of the unit normal vector and the gravity of the block; S521, when the values ​​of the three dot products are all greater than 0, it is determined that the movable block is separated from the rock mass, the stability coefficient of the movable block is 0, and the movable block is used as a key block; S522, when one of the three dot product values ​​is less than or equal to 0, the movable block is determined to be a single-sided sliding block, the geological structural surface corresponding to the dot product value being less than or equal to 0 is used as the first sliding surface, and the stability coefficient and net sliding force of the single-sided sliding block are calculated; S523, when two of the three dot product values ​​are less than or equal to 0, the movable block is determined to be a double-sided sliding block, the geological structural surface corresponding to the dot product value being less than or equal to 0 is used as the second sliding surface, and the stability coefficient of the double-sided sliding block and the net sliding force are calculated; S53, identifying the movable blocks with a stability coefficient less than 1 as unstable blocks, and identifying the other movable blocks as stable blocks; and identifying the movable blocks with a net sliding force greater than 0 as key blocks; S54, obtaining spatial expressions of four faces of all movable blocks according to the vertex and edge expressions of all movable blocks; S55, loading the registered real-scene three-dimensional model and all movable blocks, and representing the unstable blocks in the form of triangular faces; wherein the unstable blocks include the key blocks.

5. The automatic search method for movable blocks in underground caverns according to claim 4, characterized in that: The calculation of the stability coefficient of the single-sided sliding block in step S522 specifically includes the following steps: Using formula Calculate the stability coefficient of the single-sided sliding block ; where N is gravity The supporting force component along the normal direction on the first sliding surface, unit: kN, calculated by the formula N = , P1 is gravity The supporting force component along the tangential direction on the first sliding surface, unit: kN, is calculated as P1 = , n is the unit normal vector of the first sliding surface, ΔA is the area of ​​the first sliding surface, unit: m²; C is the effective cohesion of the first sliding surface, unit: kPa; is the effective friction angle of the first sliding surface.

6. The automatic search method for movable blocks in underground caverns according to claim 4, characterized in that: The calculation of the stability coefficient of the double-sided sliding block in step S523 specifically includes the following steps: Using formula Calculate the stability coefficient of the double-sided sliding block ;in , Gravity The support force component along the normal direction of the two second sliding surfaces, unit: kN, is calculated by: , , are the unit normal vectors of the two second sliding surfaces, , are the areas of the two second sliding surfaces respectively, unit: m²; , are the effective cohesion of the two second sliding surfaces, in kPa, , are the effective friction angles of the two second sliding surfaces respectively.

7. The automatic search method for movable blocks in underground caverns according to claim 3, characterized in that: The step S45 also includes the following steps: when the vertex V1 is on the surface or inside the registered real-scene three-dimensional model, determining that the block combination B is an infinite block and not processing it.

8. The automatic search method for movable blocks in underground caverns according to claim 3, characterized in that: After step S47, the step of: when the elevation of the vertex V1 is smaller than the elevation of the other three vertices of the tetrahedron When the elevation is , the tetrahedron is judged to be a stable block and no processing is done.

9. An automatic search device for movable blocks in underground caverns, characterized in that: include: The feature point coordinate acquisition unit is used to acquire a three-dimensional spatial coordinate data set of feature points measured by the total station; wherein, at least three feature points are painted on the blasting excavation surface during the underground cavern excavation blasting operation; A preliminary real-scene three-dimensional model determination unit is used to obtain image data of the blasting excavation surface of the underground cavern, and obtain a preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern; A registered real-scene 3D model determination unit is used to register the preliminary real-scene 3D model according to the 3D space coordinate data set to obtain a registered real-scene 3D model in a geographic coordinate system, and draw a geological structure surface on the registered real-scene 3D model; The movable block search unit is used to spatially combine the geological structure surface and perform spatial Boolean operation with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

10. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for automatically searching for movable blocks in an underground cavern as described in any one of claims 1 to 8 are implemented.

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