A geological logging method, device and storage medium based on a real-scene three-dimensional model

Abstract

The present invention relates to the technical fields of geological engineering and digital modeling, and provides a geological cataloging method, device, and storage medium based on a real-scene three-dimensional model. By obtaining the registered real-scene three-dimensional model of the underground chamber excavation surface in the geographic coordinate system, loading a graphic interaction library on the registered real-scene three-dimensional model, obtaining multiple pick-up points corresponding to the registered real-scene three-dimensional model clicked on the screen, and determining geological line elements and / or geological surface elements for cataloging geological structural planes according to all the pick-up points. This application realizes more rapid cataloging of geological structural planes on the real-scene three-dimensional model, and realizes automatic calculation of the attitude of the structural planes, greatly saving the field workload of geological personnel. It can generate a real-scene three-dimensional model with an accuracy reaching the centimeter level, and the accuracy error of the attitude of the geological structural planes cataloged on this model reaches within 3°.

Description

Technical Field

[0001] The present invention relates to the technical fields of geological engineering and digital modeling, and particularly to a geological logging method, device, and storage medium based on a real-scene three-dimensional model. Background Art

[0002] A geological structural plane is a planar or banded structure in a rock mass with specific morphology, mechanical properties, and spatial distribution laws. During the excavation of underground chambers and tunnels, the investigation and analysis of geological structural planes are of great significance. For example, detailed investigation and analysis of geological structural planes with poor properties are beneficial for analyzing the groundwater seepage path and further assisting in identifying the surrounding rock types of chamber excavation. During the investigation of accumulations such as reservoir slopes and loose and deformed rock masses, detailed analysis of structural planes such as faults, fractures, and joint-intensive zones with poor properties helps in analyzing and evaluating geological body landslides, and warns and avoids accidents such as collapses and landslides caused by the instability of rock and soil masses.

[0003] During the traditional construction process of underground chambers, the logging operation of geological structural planes often uses a compass, geological hammer, sketch paper, etc. to conduct investigation operations on the geological structural planes on the construction excavation surface. This traditional method has problems such as low efficiency and high danger. For places that are inaccessible to people, only estimates can be made based on experience, resulting in large errors.

[0004] With the development of digital photogrammetry technology, the reconstruction of a real-scene three-dimensional model of an engineering site can be achieved based on an image acquisition device or a laser scanner, upgrading the geological data acquisition method at the engineering site from the previous two-dimensional paper to a three-dimensional model. Currently, three-dimensional modeling technology is mostly used for visual display, and there are still relatively few related applications in geological logging and engineering analysis.

[0005] In view of this, it is necessary to propose a geological logging method, device, and storage medium based on a real-scene 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 logging method, device, and storage medium based on a real-scene three-dimensional model to solve the technical problems of low efficiency, large errors, and high danger in the logging of geological structural planes 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, including the following steps:

[0008] S1, obtaining a registered real-scene three-dimensional model of the underground chamber excavation surface in the geographic coordinate system; wherein, the registered real-scene three-dimensional model is a triangular mesh model;

[0009] S2, load the registered real - scene 3D model into the 3D engine window, and implement the interactive function of picking the corresponding points of the registered real - scene 3D model by clicking the mouse on the screen;

[0010] S3, obtain multiple picking points corresponding to the registered real - scene 3D model clicked on the screen, and determine the geological line elements and / or geological surface elements for cataloging geological structural planes based on all the picking points.

[0011] Preferably, in step S3 of obtaining multiple picking points corresponding to the registered real - scene 3D model clicked on the screen and determining the geological line elements for cataloging geological structural planes based on all the picking points, the following steps are specifically included:

[0012] S301, starting from the second picking point, obtain the view matrix and projection matrix of the current picking point, and calculate the screen coordinates of all the triangular patches within the screen to obtain all the projected triangular patches;

[0013] S302, obtain the screen coordinates corresponding to the current picking point and the previous picking point, and obtain the screen connection line on the screen between the current picking point and the previous picking point according to the screen coordinates of the current picking point and the previous picking point;

[0014] S303, traverse the intersection points between all the projected triangular patches within the screen and the screen connection line, and record the projected triangular patches with the number of intersection points equal to 2 and the positions of all the intersection points;

[0015] S304, according to the view matrix and the projection matrix, calculate the three - dimensional space coordinates of the first projection points of each intersection point on the registered real - scene 3D model;

[0016] S305, repeat steps S301 - S304 until the first projection points corresponding to all the picking points are obtained, connect all the first projection points in sequence to obtain an attached line object attached to the registered real - scene 3D model, and use the attached line object as the geological line element for cataloging geological structural planes.

[0017] Preferably, the following steps are further included after step S305:

[0018] S306, obtain the fitting plane of all the first projection points;

[0019] S307, calculate the second projection points of the head and tail two first projection points of the attached line object on the fitting plane, and obtain two equally - spaced intercepting points on the perpendicular bisector of the line connecting the two second projection points; where the distance between the two intercepting points is half of the distance between the two second projection points;

[0020] S308. Represent the planar attitude of the geological line element with the planar polygon formed by the two first projection points and the two intercept points.

[0021] Preferably, in step S3, obtain multiple pick-up points corresponding to the registration real-scene three-dimensional model on the screen, and determine the geological surface element for cataloging the geological structural plane according to all the pick-up points, which specifically includes the following steps:

[0022] S311. Connect all the first projection points into an attached polygon on the registration real-scene three-dimensional model; wherein, the last first projection point and the first first projection point are connected into a line.

[0023] S312. Obtain all the intersecting triangular patches on the registration real-scene three-dimensional model that intersect with the attached polygon.

[0024] S313. Obtain the spatial relationship between each intersecting triangular patch and the attached polygon. If one vertex of the intersecting triangular patch is inside the attached polygon, form a tangent triangular patch with this vertex and the two intersection points of the intersecting triangular patch and the attached polygon; if two vertices of the intersecting triangular patch are inside the attached polygon, form a quadrilateral with the two vertices and the two intersection points of the intersecting triangular patch and the attached polygon, and connect any one of its diagonals to obtain two tangent triangular patches.

[0025] S314. Search for all the triangular patches adjacent to the intersecting triangular patch on the registration real-scene three-dimensional model, denoted as set P0, and denote the intersecting triangular patch as set P1.

[0026] S315. Traverse all the triangular patches in set P0, and judge whether the current triangular patch T is inside the attached polygon through Boolean operations in three-dimensional space. If so, organize the current triangular patch T into set P1.

[0027] S316. Obtain all the adjacent triangular patches of the current triangular patch T, organize the adjacent triangular patches not in set P1 into set P0, and delete the current triangular patch T from set P0.

[0028] S317. Repeat steps S314 to S316 until all the triangular patches in set P0 have been deleted, remove the intersecting triangular patches from all the triangular patches in set P1, and jointly form an attached surface element with the newly constructed tangent triangular patches in step S313, and use the attached surface element as the geological surface element for cataloging the geological structural plane.

[0029] Preferably, after step S317, the following steps are further included:

[0030] Perform three-dimensional plane fitting on all the picking points based on the least squares method to obtain the plane equation Ax + By + Cz + D = 0; where A, B, and C are not all 0 at the same time;

[0031] Obtain the attitude information of the geological structural plane according to the plane equation; wherein, the attitude information includes the strike, dip, and dip angle of the geological structural plane;

[0032] Among them, when , the strike of the geological structural plane is northwest, otherwise it is northeast; among them, the strike of the geological structural plane The specific expression is: ;

[0033] The dip of the geological structural plane The specific expression is:

[0034] ;

[0035] Among them, when C , the dip angle of the geological structural plane is equal to 90°, otherwise the dip angle The specific expression is: .

[0036] Preferably, before the step S3, the following steps are further included:

[0037] Obtain all the vertex coordinates and all the triangular patches of the registered real-scene three-dimensional model, and build an index for the registered real-scene three-dimensional model to accelerate the model space query.

[0038] Preferably, after the step S2, the following steps are further included:

[0039] For the geological point elements, obtain a single picking point corresponding to the click on the screen and the registered real-scene three-dimensional model, and obtain the screen coordinates of the picking point, the view matrix and the projection matrix under the current view, and obtain the screen coordinates of the picking point;

[0040] According to the view matrix and the projection matrix, calculate the three-dimensional space coordinates of the third projection point of the screen coordinates on the registered real-scene three-dimensional model; wherein, the catalog symbol of each geological point element is a three-dimensional grid sphere, the center of the three-dimensional grid sphere is the three-dimensional space 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 survey control points.

[0041] Preferably, the step S1 specifically includes the following steps:

[0042] S11. Obtain the three-dimensional spatial coordinate dataset of the feature points measured by the total station. Among them, with the underground cavern excavation blasting operation, at least three feature points are painted with paint on the blasting excavation surface, and the geographical coordinates of the feature points are measured by the total station.

[0043] S12. Obtain the image data of the blasting excavation surface of the underground cavern, and obtain the preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern.

[0044] S13. Obtain the preliminary coordinate dataset of the feature points in the preliminary real-scene three-dimensional model, and perform matrix calculation on the preliminary coordinate dataset and the three-dimensional spatial coordinate dataset to obtain the rotation matrix of the preliminary real-scene three-dimensional model.

[0045] S14. Perform registration calculation on the rotation matrix and the preliminary real-scene three-dimensional model to obtain the registered real-scene three-dimensional model in the geographical coordinate system.

[0046] The present invention also provides a geological logging device based on a real-scene three-dimensional model, including:

[0047] A registration model acquisition unit, configured to acquire the registered real-scene three-dimensional model of the underground cavern excavation surface in the geographical coordinate system. Among them, the registered real-scene three-dimensional model is a triangulation model.

[0048] A model interaction and loading unit, configured to load the registered real-scene three-dimensional model into a three-dimensional engine window, and implement the interactive function of picking the corresponding points of the registered real-scene three-dimensional model by clicking the mouse on the screen.

[0049] A geological element determination unit, configured to acquire multiple pick-up points corresponding to the clicks on the screen and the registered real-scene three-dimensional model, and determine the geological line elements and / or geological surface elements for logging the geological structural plane according to all the pick-up points.

[0050] The present invention also provides a storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of a geological logging method based on a real-scene three-dimensional model as described above are implemented.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] The present invention provides a geological recording method, device and storage medium based on a real-scene three-dimensional model. By obtaining the registered real-scene three-dimensional model of the underground chamber excavation surface in the geographical coordinate system, the registered real-scene three-dimensional model is a triangular mesh model. A graphic interaction library is loaded on the registered real-scene three-dimensional model, and the interactive function of picking the corresponding points on the registered real-scene three-dimensional model by clicking the mouse on the screen is realized. Multiple picking points corresponding to the clicks on the screen and the registered real-scene three-dimensional model are obtained, and the geological line elements and / or geological surface elements for recording the geological structural planes are determined according to all the picking points. This application realizes the more rapid recording of geological structural planes on the real-scene three-dimensional model and the automatic calculation of the attitude of the structural planes, greatly saving the field workload of geological personnel. A real-scene three-dimensional model with a centimeter-level accuracy can be generated, and the accuracy error of the attitude of the geological structural planes recorded on this model reaches within 3°, thereby providing more accurate geological information for the construction support design and also providing high-precision and high-fidelity on-site data for the operation and maintenance of later engineering projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0054] Figure 1 It is a schematic flowchart of an embodiment of the present invention;

[0055] Figure 2 It is a schematic diagram of the effect of recording geological point elements on the registered real-scene three-dimensional model in an embodiment of the present invention;

[0056] Figure 3 It is a schematic diagram of the effect of attaching geological line elements to the registered real-scene three-dimensional model in an embodiment of the present invention;

[0057] Figure 4 It is a schematic diagram of the fitting plane generated after recording geological line elements in an embodiment of the present invention;

[0058] Figure 5 It is a schematic diagram of the effect of attaching geological surface elements to the registered real-scene three-dimensional model in an embodiment of the present invention.

[0059] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0060] 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.

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention 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 of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0062] 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 the specific posture changes, the directional indications will also change accordingly.

[0063] 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 is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0064] Please refer to Figures 1 to 5 , a geological cataloging method based on a real-scene three-dimensional model provided by the present invention includes the following steps:

[0065] S1. Obtain a registered real-scene three-dimensional model of the underground chamber excavation surface in the geographic coordinate system; wherein, the registered real-scene three-dimensional model is a triangular mesh model;

[0066] S2. Load the registered real-scene three-dimensional model into the three-dimensional engine window and implement the interactive function of picking the corresponding points of the registered real-scene three-dimensional model by clicking the mouse on the screen;

[0067] Specifically, currently mainstream three-dimensional engines all provide built-in functions for loading and displaying three-dimensional models in various formats, and can implement functions such as visualization, rotation, translation, point coordinate picking, and sub-window parameter input of the registered real-scene three-dimensional model. This part can be achieved through existing technologies and will not be elaborated here.

[0068] S3. Obtain multiple picking points corresponding to the registered real-scene three-dimensional model clicked on the screen, and determine the geological line elements and / or geological surface elements for cataloging geological structural surfaces based on all the picking points.

[0069] Specifically, a geological catalog database can be constructed to store geological line elements as line objects, mainly including one or more of major faults, minor faults, joints, fissures, and unloading. The attribute information stored in its dictionary includes geological type, point coordinates, point index order of grouped lines, occurrence information, fitting plane, roughness, undulation condition, and filling condition. It is also possible to store geological line elements as face objects, mainly including one or more of major faults, minor faults, joints, fissures, and unloading. The attribute information stored in its dictionary includes geological type, point coordinates, triangular patches, occurrence information, roughness, undulation condition, and filling condition.

[0070] Determine the geological line elements and / or geological surface elements for cataloging geological structural planes based on all the picked points, which can be set by those skilled in the art according to actual needs.

[0071] As a preferred embodiment, the step S3 of obtaining multiple picked points corresponding to the registered real-scene three-dimensional model on the screen and determining the geological line elements for cataloging geological structural planes based on all the picked points specifically includes the following steps:

[0072] S301, starting from the second picked point, obtain the view matrix and projection matrix of the current picked point, and calculate the screen coordinates of all the triangular patches within the screen to obtain all the projected triangular patches;

[0073] S302, obtain the screen coordinates of the current picked point corresponding to the previous picked point, and obtain the screen connection line between the current picked point and the previous picked point on the screen based on the screen coordinates of the current picked point and the previous picked point;

[0074] S303, traverse the intersection points between all the projected triangular patches within the screen and the screen connection line, and record the projected triangular patches with the number of intersection points equal to 2 and the positions of all the intersection points;

[0075] S304, calculate the three-dimensional space coordinates of the first projection point of each intersection point on the registered real-scene three-dimensional model according to the view matrix and the projection matrix;

[0076] S305, repeat steps S301 to S304 until the first projection points corresponding to all the picked points are obtained, and connect all the first projection points in sequence to obtain an attached line object attached to the registered real-scene three-dimensional model, and use the attached line object as the geological line element for cataloging geological structural planes.

[0077] It should be noted that when picking a series of points on the registered real - scene 3D model, if they are only connected by straight - line segments, there will be mutual occlusion with the undulating registered real - scene 3D model, affecting the expression of geological line elements. In this embodiment, the line - element expression method attached to the registered real - scene 3D model is adopted, which can better catalog and display the position and trend of geological line elements on the registered real - scene 3D model, facilitating the understanding of operators.

[0078] As Figure 3 shown, there is an outcropping surface of the geological structural plane in the middle of the registered real - scene 3D model slanting towards the upper left direction. After drawing continuous points near the wall surface on the registered real - scene 3D model, a red geological line element attached to the model is obtained.

[0079] As a preferred embodiment, after the step S305, the following steps are further included:

[0080] S306, obtaining the fitting plane of all the first projection points;

[0081] S307, calculating the second projection points of the head and tail first projection points of the attached - line object on the fitting plane, and obtaining two equally - spaced 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;

[0082] S308, using the planar polygon formed by the two first projection points and the two intercept points to represent the planar attitude of the geological line element.

[0083] It should be noted that the attitude of the geological line element can be calculated through its plane equation. By fitting the plane of the geological line element, operators can more directly see whether it fits the target geological structural plane, thus more accurately completing the picking of geological information.

[0084] As Figure 4 shown, after cataloging the geological line element on the registered real - scene 3D model, the fitting plane of all the first projection points is calculated and represented by a red rhombus. The two vertices corresponding to the longer diagonal of the rhombus are the head and tail first projection points.

[0085] As a preferred embodiment, in step S3, obtaining multiple pick - up points corresponding to the clicks on the screen and the registered real - scene 3D model, and determining the geological - surface element for cataloging the geological structural plane according to all the pick - up points specifically includes the following steps:

[0086] S311, connecting all the first projection points into an attached polygon on the registered real - scene 3D model; wherein, the last first projection point and the first first projection point are connected into a line;

[0087] S312, obtaining all intersecting triangular facets on the registered real-scene three-dimensional model that intersect with the attached polygon;

[0088] 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;

[0089] 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.

[0090] 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;

[0091] 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;

[0092] 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;

[0093] 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.

[0094] 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.

[0095] 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.

[0096] As another preferred embodiment, after the step S317, the following steps are further included:

[0097] Perform three-dimensional plane fitting on all the picking points based on the least squares method to obtain the plane equation Ax + By + Cz + D = 0; where A, B, and C are not all 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.

[0098] Obtain the attitude information of the geological structural plane according to the plane equation; wherein, the attitude information includes the strike, dip, and dip angle of the geological structural plane;

[0099] Wherein, when , the strike of the geological structural plane is northwest strike, otherwise it is northeast strike; wherein, the strike of the geological structural plane The specific expression is: ;

[0100] The dip of the geological structural plane The specific expression is:

[0101] ;

[0102] Wherein, when C , the dip angle of the geological structural plane is equal to 90°, otherwise the dip angle The specific expression is: .

[0103] This embodiment realizes the automatic calculation of the attitude information of the geological structural plane, greatly saving the field workload of geological personnel.

[0104] Further, before the step S3, the following steps are further included:

[0105] Obtain all the vertex coordinates and all the triangular patches of the registered real-scene three-dimensional model, and build an index for the registered real-scene three-dimensional model to accelerate the model space query. Wherein, the vertex coordinates are the vertex coordinates of the triangular patches.

[0106] Specifically, a KD-Tree index can be built for the registered real-scene three-dimensional model to accelerate the process of model space query; further, a vertex-patch association table can be built to accelerate the query speed between vertices and triangular patches.

[0107] As another preferred embodiment, after the step S2, the following steps are further included:

[0108] For geological point elements, obtain a single pick-up point on the screen corresponding to the registered real-scene 3D model, and obtain the screen coordinates of the pick-up point, the view matrix and projection matrix under the current perspective, and the screen coordinates of the pick-up point;

[0109] According to the view matrix and projection matrix, calculate the three-dimensional spatial coordinates of the third projection point of the screen coordinates on the registered real-scene 3D model; wherein, the catalog symbol of each geological point element is a three-dimensional grid sphere, and the center of the three-dimensional grid sphere is the three-dimensional spatial coordinates of the pick-up 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 survey control points.

[0110] As Figure 2 shown, the dark part in the middle of the registered real-scene 3D model in the figure is a water outlet area. At the center of the water outlet area on the screen, a yellow sphere (three-dimensional grid sphere) of a certain size is cataloged through the pick-up point, and the geological point element is cataloged.

[0111] As a preferred embodiment, the step S1 specifically includes the following steps:

[0112] S11, obtain the three-dimensional spatial coordinate dataset of the feature points measured by the total station; wherein, with the excavation blasting operation of the underground chamber, at least three feature points are painted on the blasting excavation surface with paint, and the geographical coordinates of the feature points are measured by the total station;

[0113] S12, obtain the image data of the blasting excavation surface of the underground chamber, and obtain the preliminary real-scene 3D model of the underground chamber excavation surface according to the image data of the underground chamber;

[0114] Specifically, for the blasting excavation surface of the underground chamber, the image data can be collected by using a mobile phone / camera. Based on the axis of the underground chamber, stand on the axis and 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 front and rear two images reaches 60%. Then move to the next shooting point along the axis, and ensure that the overlap rate of the front and rear two shooting points on the same horizontal line in the horizontal direction reaches 60%;

[0115] For the high and steep slope excavation surface, the image data can be collected by using a drone. The drone can start from the upper left of the slope excavation surface, first fly horizontally along the horizontal line and shoot, and ensure that the overlap rate of the adjacent two horizontal photos reaches 60%. When reaching the rightmost side, move down vertically by one layer, and ensure that the overlap rate of the vertical adjacent two photos reaches 60% when shooting the facing wall after moving. Repeat this process to form an S-shaped shooting process;

[0116] It should be noted that during the process of image data acquisition, it is necessary to ensure that the focal lengths of mobile phones, cameras, or drones do not change, and the distances from the wall surface are not significantly different, so as to improve the success rate of modeling;

[0117] As a specific example, the collected image data can be constructed into a preliminary real-scene three-dimensional model based on the SFM algorithm. For example, using the software Bentley Context Capture, the accuracy of the obtained model can reach the pixel level. That is, when the actual distance represented by one pixel on the above-mentioned captured image is 1 cm, the accuracy of the generated model is centimeter-level;

[0118] In addition, a laser scanner equipped with a camera can also be used to collect data from the blasting excavation surface and generate a real-scene three-dimensional model. First, multiple stations are set according to the on-site excavation surface conditions for laser scanner data collection. Based on the SLAM algorithm, the point cloud data collected at each station can be stitched together to generate a three-dimensional point cloud model. Then, the three-dimensional point cloud model is converted into a triangulation network model, and at the same time, the corresponding image photos are attached to the corresponding triangular patches to obtain a textured real-scene three-dimensional model.

[0119] S13. Obtain the preliminary coordinate data set of the feature points in the preliminary real-scene three-dimensional model, and perform matrix calculation on the preliminary coordinate data set and the three-dimensional space coordinate data set to obtain the 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, so as to ensure the alignment accuracy of the model with the geographic coordinate system, and the registered real-scene three-dimensional model can more realistically reflect the actual position and shape of the underground chamber.

[0120] S14. Perform registration calculation on the rotation matrix and the preliminary real-scene three-dimensional model to obtain the registered real-scene three-dimensional model in the geographic coordinate system. There are already mature solutions for registering the preliminary real-scene three-dimensional model according to the rotation matrix, which will not be elaborated here.

[0121] The present invention also provides a geological logging device based on a real-scene three-dimensional model, including:

[0122] A registration model acquisition unit, configured to acquire a registered real-scene three-dimensional model of the underground chamber excavation surface in the geographic coordinate system; wherein, the registered real-scene three-dimensional model is a triangulation network model;

[0123] A model interaction and loading unit, configured to load the registered real-scene three-dimensional model into a three-dimensional engine window and implement the interactive function of picking the corresponding points of the registered real-scene three-dimensional model on the screen by clicking the mouse;

[0124] A geological element determination unit is configured to obtain multiple pick-up points corresponding to the registered real-scene three-dimensional model on the screen, and determine geological line elements and / or geological surface elements for cataloging geological structural planes based on all the pick-up points.

[0125] The present invention also provides a storage medium storing a computer program, which when executed by a processor implements the steps of a geological cataloging method based on a real-scene three-dimensional model as described above. It can be understood that when executed by the processor, it implements the above-mentioned geological cataloging method based on a real-scene three-dimensional model. Therefore, all embodiments of the above method are applicable to this storage medium and can achieve the same or similar beneficial effects.

[0126] 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 content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A geological logging method based on a real - scene 3D model, characterized in that, It includes the following steps: S1. Obtain the registered real - scene three - dimensional model of the underground chamber excavation face in the geographic coordinate system; wherein, the registered real - scene three - dimensional model is a triangular mesh model; S2. Load the registered real - scene three - dimensional model into the three - dimensional engine window, and implement the interactive function of picking the corresponding points of the registered real - scene three - dimensional model by clicking the mouse on the screen; S3. Obtain multiple picking points corresponding to the clicks on the screen and the registered real - scene three - dimensional model, and determine the geological line elements and / or geological surface elements for cataloging the geological structural planes according to all the picking points; In step S3, obtaining multiple picking points corresponding to the clicks on the screen and the registered real - scene three - dimensional model, and determining the geological line elements for cataloging the geological structural planes according to all the picking points specifically includes the following steps: S301. Starting from the second picking point, obtain the view matrix and projection matrix of the current picking point, and calculate the screen coordinates of all the triangular patches within the screen to obtain all the projected triangular patches; S302. Obtain the screen coordinates corresponding to the current picking point and the previous picking point, and obtain the screen connection line on the screen between the current picking point and the previous picking point according to the screen coordinates of the current picking point and the previous picking point; S303. Traverse the intersection points between all the projected triangular patches within the screen and the screen connection line, and record the projected triangular patches with the number of intersection points equal to 2 and the positions of all the intersection points; S304. According to the view matrix and the projection matrix, calculate the three - dimensional space coordinates of the first projection points of each intersection point on the registered real - scene three - dimensional model; S305. Repeat steps S301 - S304 until the first projection points corresponding to all the picking points are obtained, connect all the first projection points in sequence to obtain an attached line object attached to the registered real - scene three - dimensional model, and use the attached line object as the geological line element for cataloging the geological structural planes.

2. The geological logging method based on the real-scene three-dimensional model according to claim 1, wherein, After step S305, the following steps are further included: S306. Obtain the fitting plane of all the first projection points; S307. Calculate the second projection points of the first and last first projection points of the attached line object on the fitting plane, and obtain two equally - spaced 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. Use the planar polygon composed of the two first projection points and the two intercept points to represent the planar attitude of the geological line element.

3. The geological logging method based on the real scene three-dimensional model according to claim 1, characterized in that, In step S3, obtaining multiple picking points corresponding to the clicks on the screen and the registered real - scene three - dimensional model, and determining the geological surface elements for cataloging the geological structural planes according to all the picking points specifically includes the following steps: S311. Connect 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. Obtain all the intersecting triangular patches on the registered real - scene three - dimensional model that intersect with the attached polygon; S313. Obtain the spatial relationship between each of the intersecting triangular patches and the attached polygon. If a vertex of the intersecting triangular patch is inside the attached polygon, form a tangent triangular patch with this vertex and the two intersection points of the intersecting triangular patch and the attached polygon. If two vertices of the intersecting triangular patch are inside the attached polygon, form a quadrilateral with the two vertices and the two intersection points of the intersecting triangular patch and the attached polygon, and connect any one of its diagonals to obtain two tangent triangular patches. S314. Search for all triangular patches adjacent to the intersecting triangular patch on the registered real - scene 3D model, denoted as set P0, and denote the intersecting triangular patch as set P1. S315. Traverse all triangular patches in set P0. Determine whether the current triangular patch T is inside the attached polygon through Boolean operations in three - dimensional space. If so, organize the current triangular patch T into set P1. S316. Obtain all adjacent triangular patches of the current triangular patch T, organize the adjacent triangular patches not in set P1 into set P0, and delete the current triangular patch T from set P0. S317. Repeat steps S314 - S316 until all triangular patches in set P0 have been deleted. Exclude the intersecting triangular patch from all triangular patches in set P1, and jointly form an attached surface feature with the newly constructed tangent triangular patches in step S313. Take the attached surface feature as the geological surface feature for cataloging geological structural surfaces.

4. The geological logging method based on the real - scene 3D model according to claim 3, characterized in that, After step S317, the following steps are further included: Perform three - dimensional plane fitting on all picked points based on the least - squares method to obtain the plane equation Ax + By + Cz + D = 0, where A, B, and C are not all 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. Obtain the attitude information of the geological structural surface according to the plane equation. Among them, the attitude information includes the strike, dip, and dip angle of the geological structural surface. Among them, when , the strike of the geological structural plane is northwest, otherwise it is northeast; among them, the strike of the geological structural plane has the specific expression of: ; Dip direction of geological structural plane The specific expression is as follows: ； Among them, when C is less than, the dip angle of the geological structural plane is equal to 90°, otherwise the dip angle The specific expression is: .

5. The geological logging method based on the real scene three-dimensional model according to claim 1, characterized in that Before step S3, the following steps are further included: Obtain all vertex coordinates and all triangular patches of the registered real - scene 3D model, and build an index for the registered real - scene 3D model to accelerate model space query.

6. The geological logging method based on the real scene three-dimensional model according to claim 1, characterized in that After step S2, the following steps are further included: For geological point features, obtain a single picked point corresponding to the click on the screen and the registered real - scene 3D model, and obtain the screen coordinates of the picked point, the view matrix and projection matrix under the current view, and the screen coordinates of the picked point. Calculate the three-dimensional spatial coordinates of the third projection point of the screen coordinates on the registered real-scene three-dimensional model according to the view matrix and the projection matrix; wherein, the catalog 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 survey control points.

7. The geological logging method based on the true three-dimensional model according to claim 1, characterized in that, The step S1 specifically includes the following steps: S11. Obtain the three-dimensional spatial coordinate dataset of the feature points measured by the total station; wherein, during the excavation blasting operation of the underground cavern, at least three feature points are painted on the blasting excavation surface with paint, and the geographical coordinates of the feature points are measured by the total station. S12. Obtain the image data of the blasting excavation surface of the underground cavern, and obtain the preliminary real-scene three-dimensional model of the underground cavern excavation surface according to the image data of the underground cavern. S13. Obtain the preliminary coordinate dataset of the feature points in the preliminary real-scene three-dimensional model, and perform matrix calculation on the preliminary coordinate dataset and the three-dimensional spatial coordinate dataset to obtain the rotation matrix of the preliminary real-scene three-dimensional model. S14. Perform registration calculation on the rotation matrix and the preliminary real-scene three-dimensional model to obtain the registered real-scene three-dimensional model in the geographical coordinate system.

8. A geological recording device based on a real - scene three - dimensional model, characterized in that, It includes: A registration model acquisition unit, configured to acquire the registered real-scene three-dimensional model of the underground cavern excavation surface in the geographical coordinate system; wherein, the registered real-scene three-dimensional model is a triangular mesh model. A model interaction loading unit, configured to load the registered real-scene three-dimensional model into the three-dimensional engine window, and implement the interaction function of picking the corresponding points of the registered real-scene three-dimensional model by clicking the mouse on the screen. A geological element determination unit, configured to obtain multiple picking points corresponding to the registered real-scene three-dimensional model clicked on the screen, and determine the geological line element and / or geological surface element for cataloging the geological structural plane according to all the picking points. Among them, obtaining multiple picking points corresponding to the registered real-scene three-dimensional model clicked on the screen, and determining the geological line element for cataloging the geological structural plane according to all the picking points specifically includes the following steps: S301. Starting from the second picking point, obtain the view matrix and projection matrix of the current picking point, and calculate the screen coordinates of all the triangular patches in the screen to obtain all the projected triangular patches. S302. Obtain the screen coordinates corresponding to the current picking point and the previous picking point, and obtain the screen connection line of the current picking point and the previous picking point on the screen according to the screen coordinates of the current picking point and the previous picking point. S303. Traverse the intersection points between all the projected triangular patches in the screen and the screen connection line, and record the projected triangular patches with the number of intersection points equal to 2 and the positions of all the intersection points. S304. Calculate the three-dimensional spatial coordinates of the first projection point of each intersection point on the registered real-scene three-dimensional model according to the view matrix and the projection matrix. S305. Repeat steps S301 - S304 until all the first projection points corresponding to the pick - up points are obtained, connect all the first projection points in sequence to obtain an attachment line object attached to the registered real - scene three - dimensional model, and use the attachment line object as the geological line element for cataloging geological structural planes.

9. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the geological cataloging method based on a real - scene three - dimensional model according to any one of claims 1 to 7.

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