An Automatic Search Method, Device and Storage Medium for Movable Blocks in Underground Caverns

Abstract

The present invention relates to the field of digital twin technology, and provides a method, device and storage medium for automatically searching movable blocks in underground chambers. By acquiring image data of the blasting excavation surface of the underground chamber, and obtaining a preliminary real-scene three-dimensional model of the excavation surface of the underground chamber according to the image data of the underground chamber, 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 the geographic coordinate system, drawing geological structural planes on the registered real-scene three-dimensional model, performing spatial combination on the geological structural planes, and performing spatial Boolean operation with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model. This application intelligently searches out all movable blocks by performing spatial Boolean operation in combination with the already drawn geological structural planes and the registered real-scene three-dimensional model, thereby solving the risks of data blind spots, misjudgment and missed judgment in manual judgment and greatly improving the search efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of digital twins, and particularly to a method, device, and storage medium for automatically searching movable blocks in underground caverns. Background Art

[0002] Two-dimensional discontinuity surfaces or zones with clear extension directions, significant lengths, but relatively small thicknesses formed within rock masses due to geological actions such as tectonic stress, sedimentation, or secondary transformation are called geological structural planes. For example, faults, joints, bedding planes, weak interlayers, etc. Due to the development of geological strata, there is a large uncertainty in the distribution of geological structural planes exposed during the excavation of underground caverns. The geological structural planes will cut the rock mass with each other to form blocks of different sizes. During the engineering construction process, the blocks under static translation are often disturbed, resulting in falling or sliding along specific geological structural planes, greatly increasing the danger of construction operations. To ensure the safety of engineering construction, it is necessary to first perform stability analysis on the movable blocks and implement timely support based on the results. The key to block stability analysis lies in finding potential movable blocks and determining the positions and geometric shapes of the key blocks.

[0003] The current methods for analyzing block stability used at construction sites (such as block theory and stereographic projection method) largely rely on manual experience to complete spatial combination judgment, resulting in problems such as low efficiency, misjudgment, and missed judgment. Currently, 3D modeling technology has been widely applied in the field of geological exploration, and the constructed real-scene model can restore the construction site scene. However, there are still technical gaps in the intelligent recognition and visual analysis of movable blocks, and a systematic solution has not yet been formed.

[0004] In view of this, it is necessary to propose a method, device, and storage medium for automatically searching 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 to solve the technical problems of low efficiency and low accuracy existing in the process of artificial judgment of blocks by on-site geological personnel in the prior art.

[0006] To achieve the above object, the present invention provides a method for automatically searching movable blocks in underground caverns, including the following steps:

[0007] S1. Obtain a three-dimensional spatial coordinate data set of feature points measured by a total station; among them, with the blasting operation of the underground cavern excavation, at least three feature points are painted with paint on the blasting excavation surface;

[0008] S2. Obtain the 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;

[0009] S3. Register the preliminary real - scene 3D model according to the 3D space coordinate dataset to obtain a registered real - scene 3D model in the geographic coordinate system, and draw geological structural planes on the registered real - scene 3D model;

[0010] S4. Perform spatial combination on the geological structural planes and perform spatial Boolean operations with the registered real - scene 3D model to obtain all movable blocks on the registered real - scene 3D model.

[0011] Preferably, step S3 specifically includes the following steps:

[0012] Step S3 specifically includes the following steps:

[0013] S31. Obtain the preliminary coordinate dataset of the feature points in the preliminary real - scene 3D model, and perform matrix calculation on the preliminary coordinate dataset and the 3D space coordinate dataset to obtain the rotation matrix of the preliminary real - scene 3D model;

[0014] S32. Perform registration calculation on the rotation matrix and the preliminary real - scene 3D model to obtain a registered real - scene 3D model in the geographic coordinate system;

[0015] S33. Load the registered real - scene 3D model, complete the drawing of the geological structural plane by picking up the point set at the position of the geological structural plane on the registered real - scene 3D model, and divide the geological structural plane into different geological structural plane types according to features and store them in the geological database; where the geological structural plane types include one or more of faults, joints, and fissures.

[0016] Preferably, step S4 specifically includes the following steps:

[0017] S41. Traverse all geological structural planes and obtain the point set, perform 3D space plane fitting through the point set, and obtain the intersection lines obtained by pairwise combination of each geological structural plane and the fitting planes where other geological structural planes are located;

[0018] S42. Calculate the spatial Boolean relationship between each intersection line and the registered real - scene 3D model in turn to obtain a set of edge lines I that intersect with the registered real - scene 3D model, and record the intersection points of each intersecting edge line and the registered real - scene 3D model;

[0019] S43. Judge each intersecting edge line in the set of edge lines I with other intersecting edge lines. If there is a common geological structural plane in the geological structural planes forming the two intersection lines, mark it as a coplanar edge line group Z;

[0020] S44. Determine whether the third edge line formed by combining three geological structural planes in the coplanar edge line group Z is in the edge line set I. If so, form a block combination B with the three geological structural planes, and obtain the intersection points of the three intersecting edge lines with the registered real-scene three-dimensional model as the vertices of the block combination B. ;

[0021] S45. Calculate the common intersection point of the three geological structural planes corresponding to the block combination B, and use the common intersection point as the vertex V1 of the block combination B. Then determine whether the vertex V1 is outside the registered real-scene three-dimensional model. Here, the outside of the registered real-scene three-dimensional model is the direction pointing from the model surface to the rock mass.

[0022] S46. When the vertex V1 is outside the registered real-scene three-dimensional model, then the three vertices and the vertex V1 together form a tetrahedron.

[0023] S47. Determine whether the elevation of the vertex V1 is greater than the elevation of any one of the other three vertices of the tetrahedron among them.

[0024] S48. When the elevation of the vertex V1 is greater than the minimum value of the elevations of the other three vertices of the tetrahedron determine that the tetrahedron is a movable block.

[0025] S49. Traverse the edge line set I and repeat steps S41 - S48 to obtain all movable blocks.

[0026] Preferably, after step S4, the following steps are further included:

[0027] S51. Calculate the unit normal vectors of the three geological structural planes respectively, and ensure that the unit normal vectors point to the inside of the movable block, and calculate the dot product of the unit normal vectors and the gravity of the block.

[0028] S521. When the values of the three dot products are all greater than 0, determine that the movable block is separated from the rock mass, the stability coefficient of the movable block is 0, and use the movable block as a key block.

[0029] S522. When one of the values of the three dot products is less than or equal to 0, determine that the movable block is a single-sided sliding block, use the geological structural plane corresponding to the dot product value less than or equal to 0 as the first sliding surface, and calculate the stability coefficient and the net sliding force of the single-sided sliding block.

[0030] S523. When two of the three dot product values are less than or equal to 0, determine that the movable block is a double-sided sliding block, take the geological structural plane corresponding to the dot product value less than or equal to 0 as the second sliding surface, and calculate the stability coefficient and net sliding force of the double-sided sliding block.

[0031] S53. Identify the movable blocks with a stability coefficient less than 1 as unstable blocks, and other movable blocks as stable blocks; and identify the movable blocks with a net sliding force greater than 0 as key blocks.

[0032] S54. Obtain the spatial expressions of the four faces of all movable blocks according to the vertex and edge line expressions of all movable blocks.

[0033] S55. Load the registered real-scene three-dimensional model and all movable blocks, and represent the unstable blocks in the form of triangular faces; where the unstable blocks include the key blocks.

[0034] Preferably, the specific steps for calculating the stability coefficient of the single-sided sliding block in step S522 are as follows:

[0035] Use the formula to calculate the stability coefficient of the single-sided sliding block ; where N is the gravity component of the supporting force in the normal direction on the first sliding surface, unit: kN, and the calculation formula is N = , P1 is the gravity component of the supporting force in the tangential direction on the first sliding surface, unit: kN, and the calculation formula is 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.

[0036] Preferably, the specific steps for calculating the stability coefficient of the double-sided sliding block in step S523 are as follows:

[0037] Use the formula to calculate the stability coefficient of the double-sided sliding block ; where , are respectively the gravity components of the supporting force in the normal direction on the two second sliding surfaces, unit: kN, and the calculation formula is , , are respectively the unit normal vectors of the two second sliding surfaces, , are the areas of two second sliding surfaces, unit: m²; and are the effective cohesive forces of two second sliding surfaces, unit: kPa, and are the effective friction angles of two second sliding surfaces.

[0038] Preferably, after the step S45, the following step is further included: when the vertex V1 is on or inside the surface of the registered real-scene three-dimensional model, it is determined that the block combination B is an infinite block and no treatment is performed.

[0039] Preferably, after the step S47, the following step is further included: when the elevations of the vertex V1 are all less than those of the other three vertices of the tetrahedron it is determined that the tetrahedron is a stable block and no treatment is performed.

[0040] The present invention also provides an automatic search device for movable blocks in an underground chamber, including:

[0041] A feature point coordinate acquisition unit for acquiring a three-dimensional space coordinate data set of feature points measured by a total station; wherein, with the blasting operation of the underground chamber excavation, at least three feature points are painted on the blasting excavation surface with paint;

[0042] A preliminary real-scene three-dimensional model determination unit for acquiring image data of the blasting excavation surface of the underground chamber and obtaining a preliminary real-scene three-dimensional model of the underground chamber excavation surface according to the image data of the underground chamber;

[0043] A registered real-scene three-dimensional model determination unit for 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 the geographic coordinate system and drawing geological structural planes on the registered real-scene three-dimensional model;

[0044] A movable block search unit for spatially combining the geological structural planes and performing a spatial Boolean operation with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model.

[0045] The present invention also provides a storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of an automatic search method for movable blocks in an underground chamber as described above are implemented.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention provides a method, device, and storage medium for automatically searching for movable blocks in an underground chamber. By acquiring image data of the blasting excavation surface of the underground chamber and obtaining a preliminary real-scene three-dimensional model of the excavation surface of the underground chamber based on the image data of the underground chamber, registering the preliminary real-scene three-dimensional model according to a three-dimensional space coordinate data set to obtain a registered real-scene three-dimensional model in the geographical coordinate system, drawing geological structural planes on the registered real-scene three-dimensional model, performing spatial combination on the geological structural planes, 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. By adopting a digital modeling and registration scheme, the present application can realize the reconstruction of the three-dimensional real-scene model during the excavation process of the underground chamber. The attitude accuracy of the geological structural planes drawn on the registered real-scene three-dimensional model can reach within 3°, and the position error is at the centimeter level, thus providing favorable support for the accurate characterization of the blocks. On the other hand, by combining the drawn geological structural planes with the registered real-scene three-dimensional model for spatial Boolean operations, the present application can intelligently search for all movable blocks, thus solving the risks of data blind spots, misjudgment, and missed judgment in manual judgment and greatly improving the search efficiency. In addition, the present application provides the volume size of the blocks under the condition of the real excavation surface and a visualization analysis method formed by combining with the real-scene model of the chamber excavation surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0049] Figure 1 It is a schematic flowchart of an embodiment of the present invention;

[0050] Figure 2 It is a schematic flowchart showing the specific steps included in step S4 in an embodiment of the present invention;

[0051] Figure 3 It is a schematic diagram of the real-scene three-dimensional model of the underground chamber and the drawn geological structural planes in an embodiment of the present invention;

[0052] Figure 4 It is an effect diagram of the automatic search and visualization of the movable blocks in the underground chamber in an embodiment of the present invention.

[0053] The implementation, functional features, and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0056] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0057] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0058] Please refer to Figures 1 to 4 , an automatic search method for movable blocks in underground chambers provided by the present invention includes the following steps:

[0059] S1. Obtain the three-dimensional spatial coordinate data set of the feature points measured by the total station instrument; wherein, during the blasting operation for the excavation of the underground chamber, at least three feature points are painted with paint on the blasting excavation surface; the total station instrument is a high-precision measuring instrument that can obtain the three-dimensional spatial coordinates of the measuring points. The feature points are the points with significant features or markings on the blasting excavation surface. By measuring the three-dimensional spatial coordinates of these feature points, the true geographical location of the blasting excavation surface can be accurately grasped, and the three-dimensional spatial coordinate data set can be obtained.

[0060] S2. Obtain the image data of the blasting excavation surface of the underground chamber, collect the image data of the blasting excavation surface before shotcreting to ensure clear image shooting, and obtain the preliminary real-scene three-dimensional model of the excavation surface of the underground chamber according to the image data of the underground chamber; specifically, the blasting excavation surface of the underground chamber refers to the surrounding rock surface that has not been supported or shotcreted after blasting. There are mature solutions for constructing the preliminary real-scene three-dimensional model according to the image data, which will not be elaborated here.

[0061] S3. Register the preliminary real - scene 3D model according to the 3D spatial coordinate dataset to obtain a registered real - scene 3D model in the geographic coordinate system, and draw geological structural planes on the registered real - scene 3D model;

[0062] S4. Perform spatial combination on the geological structural planes and conduct spatial Boolean operations with the registered real - scene 3D model to obtain all movable blocks on the registered real - scene 3D model.

[0063] In the solution of this application, by adopting a digital modeling and registration solution, the reconstruction of the 3D real - scene model during the excavation process of underground caverns can be realized. The attitude accuracy of the geological structural planes drawn on the registered real - scene 3D model can reach within 3°, and the position error is at the centimeter level, thus providing favorable support for the accurate characterization of blocks. On the other hand, by combining the already - drawn geological structural planes with the registered real - scene 3D model for spatial Boolean operations, all movable blocks are intelligently searched out, thus solving the risk of data blind spots, misjudgment and missed judgment in manual judgment and greatly improving the search efficiency.

[0064] As a preferred embodiment, the step S3 specifically includes the following steps:

[0065] S31. Obtain the preliminary coordinate dataset of the feature points in the preliminary real - scene 3D model, and perform matrix calculation on the preliminary coordinate dataset and the 3D spatial coordinate dataset to obtain the rotation matrix of the preliminary real - scene 3D model; By performing matrix calculation on the preliminary real - scene 3D model and the 3D spatial coordinate dataset, a more accurate rotation matrix can be obtained, thus ensuring the alignment accuracy with the geographic coordinate system, and the registered real - scene 3D model can more realistically reflect the actual position and shape of the underground cavern.

[0066] S32. Perform registration calculation on the rotation matrix and the preliminary real - scene 3D model to obtain a registered real - scene 3D model in the geographic coordinate system; There are mature solutions for registering the preliminary real - scene 3D model according to the rotation matrix, which will not be elaborated here.

[0067] S33. Load the registered real - scene 3D model, complete the drawing of the geological structural planes by picking up the point set at the position of the geological structural planes on the registered real - scene 3D model, and divide the geological structural planes into different geological structural plane types according to features and store them in the geological database; Among them, the geological structural plane types include one or more of faults, joints, and fissures. Drawing geological structural planes on the registered real - scene 3D model can intuitively display the shape and distribution characteristics of the geological structural planes. Dividing the geological structural planes into different types according to features and storing them in the geological database is helpful for subsequent geological analysis and research.

[0068] As a preferred embodiment, step S4 specifically includes the following steps:

[0069] S41, traverse all geological structural planes and obtain the point set, perform three-dimensional spatial plane fitting through the point set, and obtain the intersection lines obtained by pairwise combination of each geological structural plane with the fitting planes where other geological structural planes are located; specifically, the intersection lines obtained by pairwise combination of each geological structural plane with the planes where other geological structural planes are located can obtain n(n - 1) / 2 intersection lines, where n is the total number of geological structural planes drawn on the registered real-scene three-dimensional model. In particular, if two geological structural planes are parallel to each other, there is no intersection line;

[0070] S42, calculate the spatial Boolean relationship between each intersection line and the registered real-scene three-dimensional model in turn, obtain the set I of edge lines intersecting with the registered real-scene three-dimensional model, and record the intersection points of each intersecting edge line and the registered real-scene three-dimensional model;

[0071] S43, judge each intersecting edge line in the set I of edge lines with other intersecting edge lines. If there is a common geological structural plane among the geological structural planes forming the two intersection lines, it is marked as a coplanar edge line group Z;

[0072] S44, judge whether the third edge line formed by the combination of three geological structural planes in the coplanar edge line group Z is in the set I of edge lines. If so, form a block combination B with the three geological structural planes, and obtain the intersection points of the three intersecting edge lines and the registered real-scene three-dimensional model as the vertices of the block combination B ;

[0073] S45, calculate the common intersection point of the three geological structural planes corresponding to the block combination B, and use the common intersection point as the vertex V1 of the block combination B, and judge 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 pointing from the model surface to the rock mass;

[0074] Preferably, after step S45, the following step is further included: when the vertex V1 is on the surface or inside the registered real-scene three-dimensional model, determine that the block combination B is an infinite block and do not process it.

[0075] In particular, in step S44, if there are more than one intersection points of each edge line and the registered real-scene three-dimensional model, select the intersection point closest to the V1 intersection point among all the intersection points of the edge line.

[0076] S46, when the vertex V1 is outside the registered real-scene three-dimensional model, then the three vertices and the vertex V1 together form a tetrahedron;

[0077] S47. Determine whether the elevation of the vertex V1 is greater than that of any of the other three vertices of the tetrahedron. Among them.

[0078] Preferably, after the step S47, the following steps are further included: When the elevation of the vertex V1 is less than that of the other three vertices of the tetrahedron, determine that the tetrahedron is a stable block and do not process it. Of the elevation, determine that the tetrahedron is a stable block and do not process it.

[0079] S48. When the elevation of the vertex V1 is greater than the minimum value of the elevations of the other three vertices of the tetrahedron, determine that the tetrahedron is a movable block. Of the elevation, determine that the tetrahedron is a movable block.

[0080] S49. Traverse the set I of ridge lines, and repeat steps S41 - S48 to obtain all movable blocks.

[0081] As Figure 3 Shown, Figure 3 Is the real - scene three - dimensional model and the achievement of the cataloging elements of the geological structural plane. The registered real - scene three - dimensional model based on image reconstruction has clear textures and can restore the real scene of the blasting excavation surface of the underground cavern for geological operators. The lines and text labels on the registered real - scene three - dimensional model are the drawn geological structural planes and their names, and the position of the axis pile number of the cavern is marked by a white line below the underground cavern.

[0082] As another preferred embodiment, after the step S4, the following steps are further included:

[0083] S51. Calculate the unit normal vectors of the three geological structural planes respectively, and ensure that the unit normal vectors point to the inside of the movable block, and calculate the dot product of the unit normal vector and the gravity of the block.

[0084] S521. When the values of the three dot products are all greater than 0, determine that the movable block is detached from the rock mass, the stability coefficient of the movable block is 0, and take the movable block as a key block.

[0085] S522. When one of the values of the three dot products is less than or equal to 0, determine that the movable block is a single - face sliding block, take the geological structural plane corresponding to the dot product value less than or equal to 0 as the first sliding surface, and calculate the stability coefficient and the net sliding force of the single - face sliding block.

[0086] Further, the specific steps for calculating the stability coefficient of the single - face sliding block in the step S522 include the following steps:

[0087] Use the formula To calculate the stability coefficient of the single - face sliding block ; where N is the gravity The component of the supporting force in the normal direction on the first sliding surface, unit: kN, and the calculation formula is N = , where P1 is the gravity The component of the supporting force in the tangential direction on the first sliding surface, unit: kN, and the calculation formula is 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, when not considering the cohesion of the sliding surface, the formula Fh1 = is used to calculate the net sliding force Fh1 of the single-sided sliding block

[0088] S523. When two of the three dot product values are less than or equal to 0, determine that the movable block is a double-sided sliding block, use the geological structure plane corresponding to the dot product value less than or equal to 0 as the second sliding surface, and calculate the stability coefficient and net sliding force of the double-sided sliding block;

[0089] Further, the specific steps for calculating the stability coefficient of the double-sided sliding block in step S523 include the following steps:

[0090] Use the formula to calculate the stability coefficient of the double-sided sliding block ; where , are respectively the components of the gravity in the normal directions of the two second sliding surfaces, unit: kN, and the calculation formula is , , are respectively the unit normal vectors of the two second sliding surfaces, , are respectively the areas of the two second sliding surfaces, unit: m²; , are respectively the effective cohesions of the two second sliding surfaces, unit: kPa, , are respectively the effective friction angles of the two second sliding surfaces. Preferably, when not considering the cohesion of the sliding surface, the formula Fh2 = is used to calculate the net sliding force Fh2 of the double-sided sliding block

[0091] S53. Identify the movable blocks with a stability coefficient less than 1 as unstable blocks, and other movable blocks as stable blocks; and identify the movable blocks with a net sliding force greater than 0 as key blocks;

[0092] S54. According to the vertex and edge line expressions of all the movable blocks, obtain the spatial expressions of the four faces of all the movable blocks

[0093] S55, load the registered real-scene three-dimensional model and all movable blocks, and represent the unstable blocks in the form of triangular faces; wherein, the unstable blocks include the key blocks.

[0094] As Figure 4 shown, Figure 4 are the unstable blocks automatically searched for the underground chamber blocks. The upper right corner is the parsed block options, and the geological structural plane information and volume parameters of the composed blocks are provided. Check the target block and click OK to obtain the unstable blocks composed of green tetrahedrons on the model.

[0095] The present invention also provides an automatic search device for movable blocks in an underground chamber, including:

[0096] A feature point coordinate acquisition unit for acquiring a three-dimensional space coordinate data set of feature points measured by a total station; wherein, during the blasting excavation operation of the underground chamber, at least three feature points are painted with paint on the blasting excavation surface;

[0097] A preliminary real-scene three-dimensional model determination unit for acquiring image data of the blasting excavation surface of the underground chamber and obtaining a preliminary real-scene three-dimensional model of the underground chamber excavation surface according to the image data of the underground chamber;

[0098] A registered real-scene three-dimensional model determination unit for 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 the geographic coordinate system, and drawing geological structural planes on the registered real-scene three-dimensional model;

[0099] A movable block search unit for performing spatial combination on the geological structural planes 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.

[0100] The present invention also provides a storage medium storing a computer program, and when the computer program is executed by a processor, the steps of an automatic search method for movable blocks in an underground chamber as described above are implemented. It can be understood that when executed by the processor, the above-mentioned automatic search method for movable blocks in an underground chamber is implemented. Therefore, all embodiments of the above method are applicable to this storage medium and can achieve the same or similar beneficial effects.

[0101] The above are only the preferred embodiments of the present invention, and do not limit the protection scope of the present invention. Any equivalent structural or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally 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 structure surface, and performing spatial Boolean operation with the registered real-scene three-dimensional model to obtain all movable blocks on the registered real-scene three-dimensional model; The step S4 specifically comprises the following steps: S41, traversing all geological structural surfaces and obtaining a 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.

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 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.

4. The automatic search method for movable blocks in underground caverns according to claim 3, 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 = , 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.

5. The automatic search method for movable blocks in underground caverns according to claim 3, 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.

6. The automatic search method for movable blocks in underground caverns according to claim 1, 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.

7. The automatic search method for movable blocks in underground caverns according to claim 1, 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.

8. 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; specifically, it includes the following steps: S41, traversing all geological structural surfaces and obtaining a 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.

9. 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 7 are implemented.

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