Geographic recording method and device based on live-action three-dimensional model and storage medium

Abstract

The invention relates to the technical field of geological engineering and digital modeling, and provides a geological recording method and device based on a live-action three-dimensional model and a storage medium, and the method comprises the steps: obtaining a registration live-action three-dimensional model of an underground cavern excavation surface under a geographic coordinate system, loading a graphic interaction library on the registration live-action three-dimensional model, and carrying out the registration of the registration live-action three-dimensional model; and acquiring a plurality of pickup points which are clicked on the screen and correspond to the registered live-action three-dimensional model, and determining geological line elements and / or geological surface elements for recording the geological structural surface according to all the pickup points. According to the method, the geological structural plane can be more quickly recorded on the live-action three-dimensional model, automatic calculation of the occurrence of the structural plane is realized, the field workload of geological personnel is greatly reduced, the live-action three-dimensional model with the precision reaching the centimeter level can be generated, and the working efficiency is improved. The attitude precision error of the geological structural plane recorded on the model is within 3 degrees.

Description

Technical Field

[0001] The present invention relates to the technical field of geological engineering and digital modeling, and in particular to a geological cataloging method, equipment and storage medium based on a real-scene three-dimensional model. Background Art

[0002] The geological structural surface is a surface or belt structure in the rock mass with specific morphology, mechanical properties and spatial distribution. In the process of underground caverns and tunnel excavation, the exploration and analysis of geological structural surfaces is of great significance. For example, detailed exploration and analysis of geological structural surfaces with poor properties is conducive to the analysis of groundwater seepage paths and further assists in the identification of surrounding rock types for cavern excavation; in the exploration of accumulation bodies such as reservoir slopes and loose deformed rock masses, detailed analysis of structural surfaces such as faults, cracks, and joint-dense zones with poor properties is helpful for the analysis and evaluation of geological body collapse, and reminds and avoids accidents such as collapse and landslides caused by the instability of rock and soil.

[0003] During the traditional underground cavern construction process, the geological structure surface is often catalogued using a compass, geological hammer, sketch paper, etc., to survey the geological structure surface on the construction excavation surface. This traditional method has problems such as low efficiency and high risk. For places that humans cannot reach, they can only be estimated based on experience, with large errors.

[0004] With the development of digital photogrammetry technology, the reconstruction of the real-life 3D model of the engineering site can be realized based on image acquisition equipment or laser scanners, which has upgraded the geological data collection method of the engineering site from the previous 2D paper to 3D model. At present, 3D modeling technology is mostly used for visualization, and there are still few applications in geological cataloging and engineering analysis.

[0005] In view of this, it is necessary to propose a geological cataloging method, equipment and storage medium based on a real-life three-dimensional model to solve or at least alleviate the above-mentioned defects. Summary of the invention

[0006] The main purpose of the present invention is to provide a geological cataloging method, equipment and storage medium based on a real-life three-dimensional model to solve the technical problems of low efficiency, large errors and high risks in the cataloging of geological structural surfaces in the prior art.

[0007] To achieve the above object, the present invention provides a geological logging method based on a real-scene three-dimensional model, comprising the following steps: S1, obtaining a registered real-scene three-dimensional model of the underground cave excavation surface in a geographic coordinate system; wherein the registered real-scene three-dimensional model is a triangulated network model; S2, loading the registered real-scene 3D model into a 3D engine window, and realizing an interactive function of picking up corresponding points of the registered real-scene 3D model on the screen by clicking a mouse; S3, obtaining a plurality of pick-up points clicked on the screen corresponding to the registered real-scene three-dimensional model, and determining geological line elements and / or geological surface elements for cataloging geological structural surfaces according to all the pick-up points.

[0008] Preferably, the step S3 of acquiring a plurality of pick-up points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological line elements for cataloging the geological structure surface according to all the pick-up points specifically comprises the following steps: S301, starting from the second pick-up point, obtaining the view matrix and projection matrix of the current pick-up point, and calculating the screen coordinates of all the triangles in the screen to obtain all the projected triangles; S302, obtaining the screen coordinates corresponding to the current pick-up point and the previous pick-up point, and obtaining the screen connection line between the current pick-up point and the previous pick-up point on the screen according to the screen coordinates of the current pick-up point and the previous pick-up point; S303, traversing all the intersections between the projected triangles in the screen and the screen lines, recording the projected triangles with 2 intersections and all the intersection positions; S304, calculating the three-dimensional space coordinates of a first projection point of each intersection on the registered real-scene three-dimensional model according to the view matrix and the projection matrix; S305, repeat steps S301~S304 until the first projection points corresponding to all the picked points are obtained, and all the first projection points are connected in sequence to obtain an attached line object attached to the aligned real-scene three-dimensional model, and the attached line object is used as a geological line element for cataloging the geological structure surface.

[0009] Preferably, the step S305 further includes the following steps: S306, obtaining the fitting planes of all first projection points; S307, calculating the second projection points of the first and last first projection points of the attached line object on the fitting plane, and obtaining two equidistant intercept points on the perpendicular bisector of the line connecting the two second projection points; wherein the distance between the two intercept points is half of the distance between the two second projection points; S308, using a plane polygon formed by the two first projection points and the two interception points to represent the plane occurrence of the geological line element.

[0010] Preferably, the step S3 of acquiring a plurality of pick-up points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological surface elements for cataloging the geological structure surface according to all the pick-up points specifically comprises the following steps: S311, connecting all the first projection points into an attached polygon on the registered real-scene three-dimensional model; wherein the last first projection point and the first first projection point are connected into a line; S312, obtaining all intersecting triangular facets on the registered real-scene three-dimensional model that intersect with the attached polygon; S313, obtaining the spatial relationship between each of the intersecting triangular facets and the attached polygon, if the intersecting triangular facet has a vertex within the attached polygon, the vertex and the two intersection points of the intersecting triangular facet and the attached polygon form a tangent triangular facet; if the intersecting triangular facet has two vertices within the attached polygon, the two vertices and the two intersection points of the intersecting triangular facet and the attached polygon form a quadrilateral, and connect any diagonal lines thereof, so as to obtain two tangent triangular facets; S314, searching for all triangular facets on the registered real scene 3D model that are adjacent to the intersecting triangular facets, recorded as a set P 0 , and the intersecting triangles are recorded as a set P 1 ; S315, traverse the set P 0 All triangles of P are used to determine whether the current triangle T is within the attached polygon through Boolean operations in three-dimensional space. If so, the current triangle T is sorted into the set P 1 ; S316, obtain all adjacent triangles of the current triangle T, and remove the triangles that are not in the set P 1 The adjacent triangles in are sorted into a set P 0 Among them, and in the set P 0 Delete the current triangle T; S317, repeat steps S314 to S316 until the set P 0 All triangles have been deleted and the set P 1 All the triangular facets in the step S310 are removed to remove the intersecting triangular facets, and then together with the tangent triangular facets newly constructed in step S313, they form an attached surface element, and the attached surface element is used as a geological surface element for cataloging the geological structure surface.

[0011] Preferably, the step S317 further includes the following steps: Based on the least squares method, a three-dimensional plane is fitted for all the picked points to obtain the plane equation Ax + By + Cz + D = 0; where A, B, and C are not 0 at the same time; Obtaining the occurrence information of the geological structure surface according to the plane equation; wherein the occurrence information includes the strike of the geological structure surface, the inclination of the geological structure surface, and the dip angle of the geological structure surface; Among them, when When the direction of the geological structure surface is northwest, otherwise it is northeast; the direction of the geological structure surface The specific expression is: ; The trend of geological structures The specific expression is: ; Among them, when C When the inclination angle of the geological structure surface Equal to 90°, otherwise the inclination The specific expression is: .

[0012] Preferably, the step S3 further includes the following steps: All vertex coordinates and all triangular facets of the registered real-scene three-dimensional model are obtained, and an index is constructed for the registered real-scene three-dimensional model to accelerate model space query.

[0013] Preferably, the step S2 further includes the following steps: For geological point elements, a single pick-up point corresponding to the registered real-scene three-dimensional model is obtained by clicking on the screen, and the screen coordinates of the pick-up point and the view matrix and projection matrix under the current viewing angle are obtained, as well as the screen coordinates of the pick-up point; According to the view matrix and the projection matrix, the three-dimensional spatial coordinates of the third projection point of the screen coordinates on the registered real-scene three-dimensional model are calculated; wherein the cataloging symbol of each geological point element is a three-dimensional grid sphere, the center of the three-dimensional grid sphere is the three-dimensional spatial coordinates of the picking point, and the surface of the three-dimensional grid sphere is filled with triangular faces; the geological point elements include one or more of hydrogeological points, engineering geological points, and measurement control points.

[0014] Preferably, the step S1 specifically includes the following steps: S11, 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, and the geographic coordinates of the feature points are measured by a total station; S12, 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; S13, 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; S14, 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.

[0015] The present invention also provides a geological logging device based on a real-scene three-dimensional model, comprising: A registration model acquisition unit is used to acquire a registered real-scene three-dimensional model of the underground cave excavation surface in a geographic coordinate system; wherein the registered real-scene three-dimensional model is a triangulated network model; A model interactive loading unit, used to load the registered real-scene 3D model into a 3D engine window, and realize an interactive function of picking up corresponding points of the registered real-scene 3D model on the screen by clicking a mouse; The geological element determination unit is used to obtain multiple pick-up points clicked on the screen corresponding to the registered real-scene three-dimensional model, and determine geological line elements and / or geological surface elements for cataloging geological structural surfaces based on all the pick-up points.

[0016] 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 geological cataloging method based on a real-scene three-dimensional model.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a geological cataloging method, device and storage medium based on a real-life three-dimensional model, by obtaining a registered real-life three-dimensional model of an underground cave excavation surface in a geographic coordinate system, the registered real-life three-dimensional model is a triangulated network model, a graphic interaction library is loaded on the registered real-life three-dimensional model, and an interactive function of picking up corresponding points of the registered real-life three-dimensional model by clicking a mouse on the screen is realized, a plurality of clicks on the screen corresponding to the registered real-life three-dimensional model are obtained, and the geological line elements and / or geological surface elements used to catalog the geological structure surface are determined according to all the picking points. The present application realizes that the geological structure surface can be cataloged more quickly on the real-life three-dimensional model, and realizes the automatic calculation of the occurrence of the structure surface, which greatly saves the field workload of geological personnel. A real-life three-dimensional model with an accuracy of centimeters can be generated, and the accuracy error of the occurrence of the geological structure surface cataloged on this model is within 3°, thereby providing more accurate geological information for construction support design, and also providing high-precision and high-reduction field data for later engineering project operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 is a schematic diagram of a flow chart in one embodiment of the present invention; Figure 2 It is a schematic diagram of the effect of cataloging geological point elements on the registered real-scene three-dimensional model in one embodiment of the present invention; Figure 3 It is a schematic diagram of the effect of attaching geological line elements to the registered real-scene three-dimensional model in one embodiment of the present invention; Figure 4 A fitting plane schematic diagram generated after cataloguing geological line elements in one embodiment of the present invention; Figure 5 It is a schematic diagram of the effect of attaching geological surface elements to the registered real-scene 3D model in one embodiment of the present invention.

[0020] 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

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Please refer to Figures 1 to 5 The present invention provides a geological cataloging method based on a real-scene three-dimensional model, comprising the following steps: S1, obtaining a registered real-scene three-dimensional model of the underground cave excavation surface in a geographic coordinate system; wherein the registered real-scene three-dimensional model is a triangulated network model; S2, loading the registered real-scene 3D model into a 3D engine window, and realizing an interactive function of picking up corresponding points of the registered real-scene 3D model on the screen by clicking a mouse; Specifically, the current mainstream 3D engines all provide built-in functions for loading and displaying 3D models in various formats, which can realize functions such as visualization, rotation, translation, point coordinate picking, and sub-window parameter input of real-life 3D models. This part can be achieved through existing technologies and will not be elaborated here.

[0026] S3, obtaining a plurality of pick-up points clicked on the screen corresponding to the registered real-scene three-dimensional model, and determining geological line elements and / or geological surface elements for cataloging geological structural surfaces according to all the pick-up points.

[0027] Specifically, a geological cataloging database can be constructed to store geological line elements in line objects, mainly including one or more of large faults, small faults, joints, fissures, and unloading, and the attribute information stored in its dictionary includes geological type, point coordinates, point index order of group lines, attitude information, fitting plane, roughness, undulation, and filling conditions; geological line elements can also be stored in surface objects, mainly including one or more of large faults, small faults, joints, fissures, and unloading, and the attribute information stored in its dictionary includes geological type, point coordinates, triangular surfaces, attitude information, roughness, undulation, and filling conditions.

[0028] The geological line elements and / or geological surface elements used to catalog the geological structure surface are determined based on all the picked points, and those skilled in the art can set them according to actual needs.

[0029] As a preferred implementation, the step S3 of acquiring a plurality of pick-up points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological line elements for cataloging the geological structure surface according to all the pick-up points specifically includes the following steps: S301, starting from the second pick-up point, obtaining the view matrix and projection matrix of the current pick-up point, and calculating the screen coordinates of all the triangles in the screen to obtain all the projected triangles; S302, obtaining the screen coordinates corresponding to the current pick-up point and the previous pick-up point, and obtaining the screen connection line between the current pick-up point and the previous pick-up point on the screen according to the screen coordinates of the current pick-up point and the previous pick-up point; S303, traversing all the intersections between the projected triangles in the screen and the screen lines, recording the projected triangles with 2 intersections and all the intersection positions; S304, calculating the three-dimensional space coordinates of a first projection point of each intersection on the registered real-scene three-dimensional model according to the view matrix and the projection matrix; S305, repeat steps S301~S304 until the first projection points corresponding to all the picked points are obtained, and all the first projection points are connected in sequence to obtain an attached line object attached to the aligned real-scene three-dimensional model, and the attached line object is used as a geological line element for cataloging the geological structure surface.

[0030] It is worth noting that if a series of points are picked up on the registered real-scene 3D model and connected only by straight line segments, they will be mutually blocked by the undulating registered real-scene 3D model, affecting the expression of geological line elements. This embodiment adopts the expression method of line elements attached to the registered real-scene 3D model, which can better catalog and display the position and direction of geological line elements on the registered real-scene 3D model, making it easier for operators to understand.

[0031] like Figure 3 As shown, there is an exposed surface of the geological structure in the middle of the registered real-scene 3D model obliquely to the upper left. After drawing continuous points close to the wall position on the registered real-scene 3D model, a red geological line element attached to the model is obtained.

[0032] As a preferred implementation, the step S305 further includes the following steps: S306, obtaining the fitting planes of all first projection points; S307, calculating the second projection points of the first and last first projection points of the attached line object on the fitting plane, and obtaining two equidistant intercept points on the perpendicular bisector of the line connecting the two second projection points; wherein the distance between the two intercept points is half of the distance between the two second projection points; S308, using a plane polygon formed by the two first projection points and the two interception points to represent the plane occurrence of the geological line element.

[0033] It is worth noting that the occurrence of geological line elements can be calculated through the equation of the plane in which they are located. By fitting the plane of geological line elements, operators can more directly see whether they fit the target geological structure surface, thereby more accurately completing the picking of geological information.

[0034] like Figure 4 As shown, after cataloging the geological line elements on the real-life 3D model, the fitting planes of all the first projection points are calculated and represented by a red prism. The two vertices corresponding to the longer diagonal line of the prism are the first and last first projection points.

[0035] As a preferred implementation, the step S3 of acquiring a plurality of pick-up points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological surface elements for cataloging the geological structure surface according to all the pick-up points specifically includes the following steps: S311, connecting all the first projection points into an attached polygon on the registered real-scene three-dimensional model; wherein the last first projection point and the first first projection point are connected into a line; S312, obtaining all intersecting triangular facets on the registered real-scene three-dimensional model that intersect with the attached polygon; S313, obtaining the spatial relationship between each of the intersecting triangular facets and the attached polygon, if the intersecting triangular facet has a vertex within the attached polygon, the vertex and the two intersection points of the intersecting triangular facet and the attached polygon form a tangent triangular facet; if the intersecting triangular facet has two vertices within the attached polygon, the two vertices and the two intersection points of the intersecting triangular facet and the attached polygon form a quadrilateral, and connect any diagonal lines thereof, so as to obtain two tangent triangular facets; It is worth noting that by calculating and generating all tangent triangles, it can be ensured that the cataloged geological surface elements have no jagged edges and the visualization effect is better.

[0036] S314, searching for all triangular facets on the registered real scene 3D model that are adjacent to the intersecting triangular facets, recorded as a set P 0 , and the intersecting triangles are recorded as a set P 1 ; S315, traverse the set P 0 All triangles of P are used to determine whether the current triangle T is within the attached polygon through Boolean operations in three-dimensional space. If so, the current triangle T is sorted into the set P 1 ; S316, obtain all adjacent triangles of the current triangle T, and remove the triangles that are not in the set P 1 The adjacent triangles in are sorted into a set P 0 Among them, and in the set P 0 Delete the current triangle T; S317, repeat steps S314 to S316 until the set P 0 All triangles have been deleted and the set P 1 All the triangular facets in the step S310 are removed to remove the intersecting triangular facets, and then together with the tangent triangular facets newly constructed in step S313, they form an attached surface element, and the attached surface element is used as a geological surface element for cataloging the geological structure surface.

[0037] This embodiment can realize the cataloging of geological surface elements on the basis of the cataloging of geological line elements, and achieve the accuracy error of the geological structure surface cataloged on the registered real-life three-dimensional model to be within 3°, thereby providing more accurate geological information for construction support design, and providing high-precision and high-reduction field data for later engineering project operation and maintenance.

[0038] like Figure 5 As shown, there is a group of geological joint surfaces on the registered 3D real-scene model. The geological surface elements are cataloged at the locations with larger exposed areas to obtain the geological surface elements attached to the registered real-scene 3D model, such as the red area in the figure.

[0039] As another preferred implementation, the step S317 further includes the following steps: Based on the least squares method, a three-dimensional plane is fitted for all the picked points to obtain the plane equation Ax + By + Cz + D = 0; where A, B, and C are not 0 at the same time, A, B, and C are the coordinate components of the plane normal vector, A is the component of the normal vector on the x-axis, B is the component of the normal vector on the y-axis, C is the component of the normal vector on the z-axis, and D is the constant term in the plane equation.

[0040] Obtaining the occurrence information of the geological structure surface according to the plane equation; wherein the occurrence information includes the strike of the geological structure surface, the inclination of the geological structure surface, and the dip angle of the geological structure surface; Among them, when When the direction of the geological structure surface is northwest, otherwise it is northeast; the direction of the geological structure surface The specific expression is: ; The trend of geological structures The specific expression is: ; Among them, when C When the inclination angle of the geological structure surface Equal to 90°, otherwise the inclination The specific expression is: .

[0041] This embodiment realizes the automatic calculation of the geological structure surface attitude information, which greatly saves the field workload of geologists.

[0042] Furthermore, before step S3, the following steps are also included: All vertex coordinates and all triangular facets of the registered real-scene 3D model are obtained, and an index is constructed for the registered real-scene 3D model to accelerate model space query, wherein the vertex coordinates are the vertex coordinates of the triangular facets.

[0043] Specifically, a KD-Tree index can be constructed for the registered real-scene 3D model to accelerate the model space query process; further, a vertex-facet association table can be constructed to accelerate the query speed between vertices and triangular faces.

[0044] As another preferred embodiment, the step S2 further includes the following steps: For geological point elements, a single pick-up point corresponding to the registered real-scene three-dimensional model is obtained by clicking on the screen, and the screen coordinates of the pick-up point and the view matrix and projection matrix under the current viewing angle are obtained, as well as the screen coordinates of the pick-up point; According to the view matrix and the projection matrix, the three-dimensional spatial coordinates of the third projection point of the screen coordinates on the registered real-scene three-dimensional model are calculated; wherein the cataloging symbol of each geological point element is a three-dimensional grid sphere, the center of the three-dimensional grid sphere is the three-dimensional spatial coordinates of the picking point, and the surface of the three-dimensional grid sphere is filled with triangular faces; the geological point elements include one or more of hydrogeological points, engineering geological points, and measurement control points.

[0045] like Figure 2 As shown in the figure, the dark part in the middle of the registered real-life 3D model is a water outlet area. By picking up points in the center of the water outlet area on the screen, a yellow sphere (3D grid sphere) of a certain size is obtained to catalog the geological point element.

[0046] As a preferred implementation, step S1 specifically includes the following steps: S11, 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, and the geographic coordinates of the feature points are measured by a total station; S12, 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; Specifically, for the blasting excavation surface of the underground cavern, the image data can be collected using a mobile phone / camera. Based on the axis of the underground cavern, stand on the axis to complete the image collection of the current blasting excavation surface from the left wall to the right wall, and ensure that the overlap rate of the two images before and after reaches 60%. Then move along the axis to the next shooting point, and ensure that the images of the two shooting points before and after on the same horizontal line overlap in the horizontal direction by 60%. For high slope excavation surfaces, drones can be used to complete image data collection. The drone can be started from the upper left of the slope excavation surface, first flying horizontally along the horizontal line to take pictures, and ensuring that the overlap rate of two adjacent horizontal photos reaches 60%. When it reaches the rightmost side, it moves vertically downward one layer, and ensures that the image overlap rate of two adjacent vertical photos when taking pictures facing the wall after the movement reaches 60%. This cycle forms an S-shaped shooting process; It should be noted that during the image data collection process, the focal length of the mobile phone, camera or drone should not change, and the distance to the wall should not differ much, so as to improve the success rate of modeling; As a specific example, the collected image data can be constructed into a preliminary real-scene 3D model based on the SFM algorithm. For example, the software Bentley Context Capture is used to obtain a model with pixel-level accuracy. That is, when the actual distance represented by one pixel in the above-mentioned captured image is 1 cm, the generated model has a centimeter-level accuracy. In addition, a laser scanner equipped with a camera can also be used to collect data on the blasting excavation surface and generate a real-life 3D model. First, multiple stations are set up for laser scanner data collection according to the on-site excavation surface conditions. Based on the SLAM algorithm, the point cloud data collected at each station can be spliced ​​to generate a 3D point cloud model, and then the 3D point cloud model is converted into a triangulated network model. At the same time, the corresponding image photos are attached to the corresponding triangular facets to obtain a real-life 3D model with texture.

[0047] S13, 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.

[0048] S14, performing registration calculation on the rotation matrix and the preliminary real-scene 3D model to obtain a registered real-scene 3D model in a geographic coordinate system. There are mature solutions for registering the preliminary real-scene 3D model according to the rotation matrix, which will not be described in detail here.

[0049] The present invention also provides a geological logging device based on a real-scene three-dimensional model, comprising: A registration model acquisition unit is used to acquire a registered real-scene three-dimensional model of the underground cave excavation surface in a geographic coordinate system; wherein the registered real-scene three-dimensional model is a triangulated network model; A model interactive loading unit, used to load the registered real-scene 3D model into a 3D engine window, and realize an interactive function of picking up corresponding points of the registered real-scene 3D model on the screen by clicking a mouse; The geological element determination unit is used to obtain multiple pick-up points clicked on the screen corresponding to the registered real-scene three-dimensional model, and determine geological line elements and / or geological surface elements for cataloging geological structural surfaces based on all the pick-up points.

[0050] 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 geological cataloging method based on the real scene three-dimensional model are implemented as described above. It can be understood that when the computer program is executed by the processor, the geological cataloging method based on the real scene three-dimensional model is implemented, so all embodiments of the above method are applicable to the storage medium, and can achieve the same or similar beneficial effects.

[0051] 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 geological logging method based on a real-life three-dimensional model, characterized in that: The following steps are involved: S1, obtaining a registered real-scene three-dimensional model of the underground cave excavation surface in a geographic coordinate system; wherein the registered real-scene three-dimensional model is a triangulated network model; S2, loading the registered real-scene 3D model into a 3D engine window, and realizing an interactive function of picking up corresponding points of the registered real-scene 3D model on the screen by clicking a mouse; S3, obtaining a plurality of pick-up points clicked on the screen corresponding to the registered real-scene three-dimensional model, and determining geological line elements and / or geological surface elements for cataloging geological structural surfaces according to all the pick-up points.

2. The geological logging method based on the real-scene three-dimensional model according to claim 1, characterized in that: The step S3 of acquiring a plurality of picked-up points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological line elements for cataloging the geological structure surface according to all the picked-up points specifically includes the following steps: S301, starting from the second pick-up point, obtaining the view matrix and projection matrix of the current pick-up point, and calculating the screen coordinates of all the triangles in the screen to obtain all the projected triangles; S302, obtaining the screen coordinates corresponding to the current pick-up point and the previous pick-up point, and obtaining the screen connection line between the current pick-up point and the previous pick-up point on the screen according to the screen coordinates of the current pick-up point and the previous pick-up point; S303, traversing all the intersections between the projected triangles in the screen and the screen lines, recording the projected triangles with 2 intersections and all the intersection positions; S304, calculating the three-dimensional space coordinates of a first projection point of each intersection on the registered real-scene three-dimensional model according to the view matrix and the projection matrix; S305, repeat steps S301~S304 until the first projection points corresponding to all the picked points are obtained, and all the first projection points are connected in sequence to obtain an attached line object attached to the aligned real-scene three-dimensional model, and the attached line object is used as a geological line element for cataloging the geological structure surface.

3. The geological logging method based on the real-scene three-dimensional model according to claim 2, characterized in that: The step S305 further includes the following steps: S306, obtaining the fitting planes of all first projection points; S307, calculating the second projection points of the first and last first projection points of the attached line object on the fitting plane, and obtaining two equidistant intercept points on the perpendicular bisector of the line connecting the two second projection points; wherein the distance between the two intercept points is half of the distance between the two second projection points; S308, using a plane polygon formed by the two first projection points and the two interception points to represent the plane occurrence of the geological line element.

4. The geological logging method based on the real-scene three-dimensional model according to claim 2, characterized in that: The step S3 of acquiring a plurality of picked-up points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological surface elements for cataloging the geological structure surface according to all the picked-up points specifically includes the following steps: S311, connecting all the first projection points into an attached polygon on the registered real-scene three-dimensional model; wherein the last first projection point and the first first projection point are connected into a line; S312, obtaining all intersecting triangular facets on the registered real-scene three-dimensional model that intersect with the attached polygon; S313, obtaining the spatial relationship between each of the intersecting triangular facets and the attached polygon, if the intersecting triangular facet has a vertex within the attached polygon, the vertex and the two intersection points of the intersecting triangular facet and the attached polygon form a tangent triangular facet; if the intersecting triangular facet has two vertices within the attached polygon, the two vertices and the two intersection points of the intersecting triangular facet and the attached polygon form a quadrilateral, and connect any diagonal lines thereof, so as to obtain two tangent triangular facets; S314, searching for all triangular facets on the registered real scene 3D model that are adjacent to the intersecting triangular facets, recording them as a set P0, and recording the intersecting triangular facets as a set P1; S315, traverse all triangles in the set P0, and determine whether the current triangle T is within the attached polygon through Boolean operations in three-dimensional space. If so, organize the current triangle T into the set P1; S316, obtaining all adjacent triangles of the current triangle T, arranging the adjacent triangles that are not in the set P1 into the set P0, and deleting the current triangle T from the set P0; S317, repeat steps S314~S316 until all triangular facets in set P0 have been deleted, and all triangular facets in set P1 are eliminated of intersecting triangular facets, and then together with the tangent triangular facets newly constructed in step S313, they form an attached surface element, and the attached surface element is used as a geological surface element for cataloging geological structural surfaces.

5. The geological logging method based on the real-scene three-dimensional model according to claim 4 is characterized in that: The step S317 further includes the following steps: Based on the least squares method, a three-dimensional plane fitting is performed on all the picked points to obtain the plane equation Ax + By + Cz + D = 0; where A, B, and C are not 0 at the same time; Obtaining the occurrence information of the geological structure surface according to the plane equation; wherein the occurrence information includes the strike of the geological structure surface, the inclination of the geological structure surface, and the dip angle of the geological structure surface; Among them, when When the direction of the geological structure surface is northwest, otherwise it is northeast; the direction of the geological structure surface The specific expression is: ; The trend of geological structures The specific expression is: ； Among them, when C When the inclination angle of the geological structure surface Equal to 90°, otherwise the inclination The specific expression is: .

6. The geological logging method based on the real-scene three-dimensional model according to claim 1, characterized in that: The step S3 also includes the following steps: All vertex coordinates and all triangular facets of the registered real-scene three-dimensional model are obtained, and an index is constructed for the registered real-scene three-dimensional model to accelerate model space query.

7. The geological logging method based on the real-scene three-dimensional model according to claim 1, characterized in that: The step S2 further includes the following steps: For geological point elements, a single pick-up point corresponding to the registered real-scene three-dimensional model is obtained by clicking on the screen, and the screen coordinates of the pick-up point and the view matrix and projection matrix under the current viewing angle are obtained, as well as the screen coordinates of the pick-up point; According to the view matrix and the projection matrix, the three-dimensional spatial coordinates of the third projection point of the screen coordinates on the registered real-scene three-dimensional model are calculated; wherein the cataloging symbol of each geological point element is a three-dimensional grid sphere, the center of the three-dimensional grid sphere is the three-dimensional spatial coordinates of the picking point, and the surface of the three-dimensional grid sphere is filled with triangular faces; the geological point elements include one or more of hydrogeological points, engineering geological points, and measurement control points.

8. The geological logging method based on the real-scene three-dimensional model according to claim 1, characterized in that: The step S1 specifically includes the following steps: S11, 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, and the geographic coordinates of the feature points are measured by a total station; S12, 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; S13, 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; S14, 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.

9. A geological logging device based on a real-life three-dimensional model, characterized in that: include: A registration model acquisition unit is used to acquire a registered real-scene three-dimensional model of the underground cave excavation surface in a geographic coordinate system; wherein the registered real-scene three-dimensional model is a triangulated network model; A model interactive loading unit, used to load the registered real-scene 3D model into a 3D engine window, and realize an interactive function of picking up corresponding points of the registered real-scene 3D model on the screen by clicking a mouse; The geological element determination unit is used to obtain multiple pick-up points clicked on the screen corresponding to the registered real-scene three-dimensional model, and determine geological line elements and / or geological surface elements for cataloging geological structural surfaces based on all the pick-up points.

10. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the geological logging method based on a real-scene three-dimensional model are implemented as described in any one of claims 1 to 8.

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