Construction method and device of three-dimensional model of mine, electronic equipment and storage medium

Abstract

The invention provides a construction method and device of a three-dimensional model of a mine, electronic equipment and a storage medium, and relates to the technical field of mining, and the construction method of the three-dimensional model of the mine comprises the steps: obtaining current three-dimensional point cloud data corresponding to a target area of the mine at a current moment; performing three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain a current three-dimensional model of the target area; acquiring a real-scene three-dimensional model of the mine, and determining a target model area in the real-scene three-dimensional model of the mine; and updating a target model area in the real-scene three-dimensional model of the mine to a current three-dimensional model of the target area to obtain a real-time panoramic three-dimensional model of the mine. According to the invention, the current three-dimensional model of the target area is constructed based on the three-dimensional point cloud data of the target area collected in real time, and the target model area is updated to the current three-dimensional model of the target area in real time in the live-action three-dimensional model of the whole mine, so that the three-dimensional model of the mine is updated timely and effectively.

Description

Technical Field

[0001] The present invention relates to the field of mining technology, and in particular to a method, device, electronic equipment and storage medium for constructing a three-dimensional mine model. Background Art

[0002] Mines, especially open-pit mines, cover a large area, have many working faces and are widely distributed. The roads in mines are usually crisscrossed. In addition, mining production is a dynamic process. Therefore, the three-dimensional model of the mine needs to be updated frequently in order to dynamically display the changes in mining production conditions and environment in actual production.

[0003] Take open-pit mines as an example. Open-pit mines are usually located in remote areas with harsh on-site conditions and a wide geographical range for 3D modeling. These environmental conditions make it difficult to measure the data corresponding to the 3D model of the entire open-pit mine. In addition, open-pit mines are often located in harsh climatic conditions with strong winds and lots of dust. Data measurement is often impossible under such climatic conditions. Even if data measurement is performed, the dust will cause large errors in the measurement data, making the constructed 3D model unusable.

[0004] In summary, there is currently a certain demand for timely and effective updating of the three-dimensional model of mines. Summary of the invention

[0005] The problem solved by the present invention is how to timely and effectively update the three-dimensional model of a mine.

[0006] In order to solve the above problems, the present invention provides a method, device, electronic device and storage medium for constructing a three-dimensional mine model.

[0007] In a first aspect, the present invention provides a method for constructing a three-dimensional mine model, comprising:

[0008] Obtain the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment;

[0009] Performing three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain a current three-dimensional model of the target area;

[0010] Acquire a real-life three-dimensional model of the mine, and determine a target model area corresponding to a target area in the real-life three-dimensional model of the mine;

[0011] The target model area corresponding to the target area in the real-scene three-dimensional model of the mine is updated to the current three-dimensional model of the target area to obtain a real-time panoramic three-dimensional model of the mine.

[0012] Optionally, one or more three-dimensional position scanning devices are provided at the target area of ​​the mine; and the step of obtaining current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment includes:

[0013] The one or more three-dimensional position scanning devices are used to obtain current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment.

[0014] Optionally, the three-dimensional position scanning device is a millimeter wave radar or a three-dimensional laser radar.

[0015] Optionally, the acquiring the real-scene three-dimensional model of the mine includes:

[0016] Acquiring image data and three-dimensional point cloud data of the mine;

[0017] Determining color information and object inversion rate information corresponding to the image data according to the image data of the mine;

[0018] A real-scene three-dimensional model of the mine is obtained according to the color information corresponding to the image data of the mine, the object inversion rate information, and the three-dimensional point cloud data of the mine.

[0019] Optionally, the acquiring the image data and three-dimensional point cloud data of the mine includes:

[0020] Using a drone to photograph the mine to obtain image data of the mine; and,

[0021] The mine is scanned in three dimensions using a drone to obtain three-dimensional point cloud data of the mine.

[0022] Optionally, after performing 3D modeling processing on the current 3D point cloud data of the target area to obtain the current 3D model of the target area, the method further includes:

[0023] Acquire three-dimensional coordinates of one or more preset reference points from the current three-dimensional model of the target area;

[0024] Comparing the three-dimensional coordinates of each of the preset reference points with the corresponding standard coordinates to obtain a comparison result;

[0025] When the comparison result shows that the three-dimensional coordinates of at least one of the preset reference points are inconsistent with the corresponding standard coordinates, coordinate correction processing is performed on the preset reference point to make the three-dimensional coordinates of the preset reference point consistent with the corresponding standard coordinates.

[0026] Optionally, the target area of ​​the mine includes at least a mining working area of ​​the mine.

[0027] In a second aspect, the present invention provides a device for constructing a three-dimensional mine model, comprising:

[0028] An acquisition module is used to acquire the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment;

[0029] A first processing module, configured to perform three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain a current three-dimensional model of the target area;

[0030] A determination module, used to obtain a real-life three-dimensional model of the mine, and determine a target model area corresponding to a target area in the real-life three-dimensional model of the mine;

[0031] The second processing module updates the target model area corresponding to the target area in the real-scene three-dimensional model of the mine to the current three-dimensional model of the target area, so as to obtain a real-time panoramic three-dimensional model of the mine.

[0032] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0033] The memory is used to store computer programs;

[0034] The processor is used to implement the method for constructing a three-dimensional mine model as described in the first aspect when executing the computer program.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for constructing a three-dimensional mine model as described in the first aspect is implemented.

[0036] The beneficial effects of the method, device, electronic device and storage medium for constructing a three-dimensional mine model of the present invention are: obtaining the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment, so as to obtain the three-dimensional point cloud data corresponding to the target area of ​​the mine at different moments in real time. Performing three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain the current three-dimensional model of the target area, based on the real-time three-dimensional point cloud data of the target area of ​​the mine, a real-time three-dimensional model of the target area of ​​the mine can be obtained to achieve real-time update of the three-dimensional model of the target area of ​​the mine. Obtaining the real-life three-dimensional model of the mine, and determining the model area corresponding to the target area in the real-life three-dimensional model of the mine to obtain the real-life three-dimensional model of the entire mine. In the real-life three-dimensional model of the mine, the model area corresponding to the target area is updated to the current three-dimensional model of the target area, and the model area corresponding to the target area in the three-dimensional model of the entire mine is updated in real time to obtain a real-time updated real-time panoramic three-dimensional model of the mine. Since only some target areas will undergo dynamic changes during the mining process, and other mine areas except the target areas will not change for a long time, the present invention collects three-dimensional point cloud data of the target area in real time to construct a real-time current three-dimensional model of the target area, and updates the model area corresponding to the target area in the real-life three-dimensional model of the entire mine to the current three-dimensional model of the target area in real time, thereby realizing timely and effective updating of the three-dimensional model of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of a process of constructing a three-dimensional mine model according to an embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of a current three-dimensional model of a target area according to an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of a real-life three-dimensional model of a mine according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of a process of verifying the coordinates of a current three-dimensional model of a target area according to an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a flow chart of a method for constructing a real-scene three-dimensional model of a mine according to an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of the structure of a device for constructing a three-dimensional mine model according to an embodiment of the present invention;

[0043] Figure 7 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0045] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0046] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0049] In the related technology, drone aerial photography technology (including oblique photography, 3D laser scanning and other technologies) is generally used to carry out 3D modeling of mines, but this method usually collects a lot of redundant information, and the single flight time of drones is short. In addition, in bad weather conditions with strong winds and a lot of dust, drones are often unable to take off for measurement, or due to the flying dust during measurement, even if some data is measured, the 3D model constructed by these data has many noise points or is unclear, resulting in the 3D model being unusable. As a result, the 3D model of the mine cannot be updated in a timely and effective manner. Therefore, when the 3D model of the mine is updated irregularly or relatively frequently, the use of drone aerial photography technology alone has problems such as large workload, low overall efficiency, high implementation cost, high difficulty, and being extremely susceptible to weather.

[0050] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a method, device, electronic device and storage medium for constructing a three-dimensional mine model.

[0051] The method for constructing a three-dimensional mine model in an embodiment of the present invention can be executed by a three-dimensional mine model visualization device provided in an embodiment of the present application. The device can be configured in an electronic device to construct a real-time current three-dimensional model of the target area by collecting the current three-dimensional point cloud data of the target area of ​​the mine at the current moment in real time, and update the model area corresponding to the target area in the real-life three-dimensional model of the entire mine to the current three-dimensional model of the target area, so as to achieve timely and effective updating of the three-dimensional model of the mine.

[0052] like Figure 1 As shown, a method for constructing a three-dimensional mine model provided by an embodiment of the present invention includes:

[0053] S100, obtaining current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment.

[0054] Specifically, the mine may be a full open-pit mine, or may be a portion of an open-pit mine that includes an underground mine. This embodiment does not specifically limit the geographical type and geographical form of the mine.

[0055] Specifically, the current three-dimensional point cloud data of the target area is the three-dimensional geographic coordinate data of the target area acquired at the current moment. The three-dimensional geographic coordinate data is in a predetermined coordinate system, which can be set by the user, for example, the national geodetic coordinate system or some other general coordinate system.

[0056] S200, performing three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain a current three-dimensional model of the target area.

[0057] Specifically, based on the current 3D point cloud data of the target area at the current moment, the 3D modeling processing can be performed to obtain the current 3D model of the target area at the current moment, that is, the 3D model of the target area can be constructed in real time. The constructed 3D model of the target area is a non-realistic 3D model, which is used to present the structure and shape of the target area, such as Figure 2 As shown, Figure 2 An example of a non-photorealistic 3D model of the target area.

[0058] S300, obtaining a real-life three-dimensional model of a mine, and determining a target model area corresponding to a target area in the real-life three-dimensional model of the mine.

[0059] Specifically, the real-life three-dimensional model of the mine is a real-life three-dimensional model of the entire mine. It can be a real-life three-dimensional model of the entire mine constructed in advance based on the three-dimensional point cloud data and image information of the entire mine acquired previously, or it can be a real-life three-dimensional model constructed based on the three-dimensional point cloud data and image information of the entire mine at the current moment.

[0060] like Figure 3 As shown, Figure 3 This is an example of a realistic 3D model of a mine. It can be seen that compared with a non-realistic 3D model, the realistic 3D model of a mine can not only present the structure and shape of the mine environment, but also the color and texture of the actual mine environment, making the 3D model of the mine more realistic and vivid.

[0061] Specifically, since the positional relationship between the target area of ​​the mine and the mine is known in advance, the position of the target area in the real-life three-dimensional model of the mine can be determined based on the positional relationship between the target area of ​​the mine and the mine, and then the target model area corresponding to the target area in the real-life three-dimensional model of the mine can be determined.

[0062] S400, updating the target model area corresponding to the target area in the real-scene three-dimensional model of the mine to the current three-dimensional model of the target area, and obtaining a real-time panoramic three-dimensional model of the mine.

[0063] Specifically, the current three-dimensional model of the target area may be overlaid onto a target model area corresponding to the target area in the real-scene three-dimensional model of the mine, so as to update the target model area.

[0064] In this embodiment, the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment is obtained. The current three-dimensional point cloud data of the target area is subjected to three-dimensional modeling processing to obtain the current three-dimensional model of the target area. The real-life three-dimensional model of the mine is obtained, and the target model area corresponding to the target area in the real-life three-dimensional model of the mine is determined. The target model area corresponding to the target area in the real-life three-dimensional model of the mine is updated to the current three-dimensional model of the target area, and a real-time panoramic three-dimensional model of the mine is obtained. Among them, the target area of ​​the mine is an area in the mine where the landform changes dynamically over time. First, according to the position of the target area in the real-life three-dimensional model of the mine, the target model area in the real-life three-dimensional model is determined, and the current three-dimensional model of the target area at the current moment is covered to the target model area, so as to form a panoramic three-dimensional model combining real and non-real scenes; and, by real-time scanning of the three-dimensional point cloud data of the target area, the current three-dimensional model of the target area can be established in real time, and the current three-dimensional model of the target area is synchronized with the real-life three-dimensional model of the entire mine in real time, so as to obtain a real-time panoramic three-dimensional model of the mine.

[0065] Optionally, a certain number of three-dimensional position scanning devices may be set up around the target area to perform three-dimensional position real-time scanning of the entire geographical range of the target area, and the three-dimensional position scanning devices may be used to collect the current three-dimensional point cloud data of the target area in real time. This embodiment does not specifically limit the number and setting positions of the three-dimensional position scanning devices, and the three-dimensional scanning range thereof may be sufficient to cover the entire geographical range of the target area.

[0066] Optionally, the three-dimensional position scanning device may be a millimeter wave radar. When performing three-dimensional position scanning, the millimeter wave radar transmits millimeter waves to the target area. The transmitted millimeter waves are reflected by the target area to form echoes corresponding to the millimeter waves. The millimeter wave radar receives and processes the echoes to obtain three-dimensional point cloud data of the target area. In other embodiments, the three-dimensional position scanning device may also be other devices capable of realizing real-time three-dimensional position scanning, such as a three-dimensional laser radar.

[0067] Specifically, the three-dimensional point cloud data of the target area can be obtained from the three-dimensional position scanning device according to a predetermined rule. For example, the predetermined rule can be to obtain the three-dimensional point cloud data of the target area from the three-dimensional position scanning device once at a predetermined frequency (such as every hour). For another example, the predetermined rule can also be to obtain the three-dimensional point cloud data of the target area from the three-dimensional position scanning device once at a predetermined time point (such as 10 o'clock, 12 o'clock, etc.). In some other embodiments, the three-dimensional point cloud data of the target area can also be obtained from the three-dimensional position scanning device once in response to a command input by a user through an input device such as a mouse or keyboard (such as an update command input by a user). Among them, the three-dimensional point cloud data obtained from the three-dimensional position scanning device at the current moment is the current three-dimensional point cloud data.

[0068] In this optional embodiment, the millimeter wave radar has the characteristics of light weight, good adaptability, strong anti-interference ability, good water mist penetration, etc. It can move with the movement of the target area, and its emission has high penetration and is not affected by dust, rain, etc. Compared with the use of drones for three-dimensional position scanning, it can work in real time in the complex environment of open-pit mines.

[0069] Optionally, for a mine, the user will reserve a standard coordinate system as the mine's inherent coordinate system, and the three-dimensional model of the mine will be constructed based on the standard coordinate system. Considering that the coordinate system of the three-dimensional point cloud data collected by devices such as millimeter wave radar may have a certain error with the standard coordinate system, therefore, after three-dimensional modeling of the current three-dimensional point cloud data of the target area, it is necessary to first determine whether the coordinate system corresponding to the constructed current three-dimensional model is consistent with the standard coordinate system of the mine. If they are inconsistent, some coordinate corrections need to be made to make the coordinate system of the current three-dimensional model consistent with the standard coordinate system of the mine. The following provides an embodiment of a method for verifying the coordinates of the current three-dimensional model of the target area, such as Figure 4 As shown, the following steps are included:

[0070] S401, obtaining the three-dimensional coordinates of one or more preset reference points from the current three-dimensional model of the target area. Specifically, the preset reference points are some specific points used as marks in the target area of ​​the mine, and these preset reference points have predetermined standard coordinates in the standard coordinate system of the mine.

[0071] S402, comparing the three-dimensional coordinates of each preset reference point with the corresponding standard coordinates to obtain a comparison result.

[0072] S403, if the comparison result is that the three-dimensional coordinates of each preset reference point are consistent with the corresponding standard coordinates, it means that the coordinate system corresponding to the current three-dimensional point cloud data of the target area is consistent with the standard coordinate system of the mine, and no coordinate correction is required.

[0073] S404: If the comparison result shows that the three-dimensional coordinates of at least one preset reference point are inconsistent with the corresponding standard coordinates, coordinate correction processing is performed on the preset reference point to make the three-dimensional coordinates of the preset reference point consistent with the corresponding standard coordinates.

[0074] Specifically, the coordinate correction processing of the preset reference point includes at least one or more of the rotation, translation and scaling of the coordinates, and the coordinate correction expression is as follows:

[0075] f(x,y,z)=g(x,y,z)+m(x,y,z)+n(x,y,z);

[0076] Among them, x, y, z represent the three-dimensional coordinates of the preset reference point, f() represents the three-dimensional point cloud data of the preset reference point, g() represents the rotation function of the coordinates, m() represents the translation function of the coordinates, and n() represents the scaling function of the coordinates.

[0077] Specifically, the coordinate correction process for the preset reference point may also be to directly update the coordinates of the preset reference point to corresponding standard coordinates.

[0078] In this optional embodiment, after constructing the current three-dimensional model of the target area of ​​the mine, it is necessary to verify the coordinate system of the current three-dimensional model of the target area to ensure the accuracy of the current three-dimensional model and coordinates of the target area, and to ensure that they are consistent with the standard coordinate system of the mine.

[0079] Optionally, whether it is a pre-built real-life 3D model of the entire mine or a real-life 3D model of the entire mine built at the current moment, the construction method is the same. For example, Figure 5 As shown, the construction of a real-life 3D model of a mine may include the following steps:

[0080] S501, obtaining image data and three-dimensional point cloud data of a mine. Specifically, the image data of a mine may be a real-life photo of the entire mine, and the three-dimensional point cloud data of a mine may be three-dimensional geographic coordinate information of the entire mine. Specifically, an image acquisition device configured on a drone may be used to photograph the mine to obtain image data of the mine; and a three-dimensional position scanning device configured on the drone may be used to perform a three-dimensional position scanning on the mine to obtain three-dimensional point cloud data of the mine.

[0081] S502: Determine color information corresponding to the image data and object inversion rate information according to the image data of the mine. Specifically, the color information corresponding to the image data is R, G, and B color information of the image data.

[0082] S503, constructing a real-scene 3D model of the mine based on the color information corresponding to the image data of the mine, the object inversion rate information, and the 3D point cloud data of the mine. Exemplarily, the construction of the real-scene 3D model may at least include: 3D point cloud data preprocessing, feature extraction, 3D reconstruction, texture mapping and other processing processes.

[0083] After constructing the real-life 3D model of the entire mine, similar to the current 3D model of the target area, the coordinate system of the real-life 3D model of the entire mine needs to be verified to ensure the accuracy of the real-life 3D model and the accuracy of the coordinates, and to be in the same coordinate system as the current 3D model of the target area, so as to facilitate the subsequent fusion of the two. The method of verifying the coordinate system of the real-life 3D model of the entire mine is the same as the method of verifying the coordinate system of the current 3D model of the target area, which can be referred to the above description and will not be repeated here.

[0084] In this optional embodiment, drone technology is used to collect image data and three-dimensional point cloud data of the entire mine, so as to construct a real-life three-dimensional model of the entire mine. Although drone technology cannot effectively update the real-life three-dimensional model of the entire mine in a timely manner, the real-life three-dimensional model of the entire mine can be obtained, and then integrated with the real-time three-dimensional model of the target area to obtain a real-time panoramic three-dimensional model of the mine.

[0085] Optionally, the target area of ​​the mine may be one or more, and the landform of the target area of ​​the mine may change dynamically over time. For example, the target area at least includes the mining working area of ​​the mine, which may also be referred to as the working face of the mine or the construction change area of ​​the mine.

[0086] like Figure 6 As shown, a device 600 for constructing a three-dimensional mine model provided by an embodiment of the present invention includes:

[0087] The acquisition module 610 is used to acquire the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment.

[0088] The first processing module 620 is used to perform 3D modeling processing on the current 3D point cloud data of the target area to obtain a current 3D model of the target area.

[0089] The determination module 630 is used to obtain the real-scene three-dimensional model of the mine and determine the target model area corresponding to the target area in the real-scene three-dimensional model of the mine.

[0090] The second processing module 640 updates the target model area corresponding to the target area in the real-scene three-dimensional model of the mine to the current three-dimensional model of the target area, so as to obtain a real-time panoramic three-dimensional model of the mine.

[0091] The device 600 for constructing a three-dimensional mine model in this embodiment is used to implement the method for constructing a three-dimensional mine model as described above. Its advantages over the prior art are the same as the advantages of the method for constructing a three-dimensional mine model as described above over the prior art, and will not be repeated here.

[0092] Optionally, one or more three-dimensional position scanning devices are provided at the target area of ​​the mine; the acquisition module 610 is further used to: use one or more three-dimensional position scanning devices to acquire the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment. The three-dimensional position scanning device is a millimeter wave radar or a three-dimensional laser radar.

[0093] Optionally, the determination module 630 is also used to: obtain image data and three-dimensional point cloud data of the mine; determine the color information and object inversion rate information corresponding to the image data based on the image data of the mine; obtain a real-life three-dimensional model of the mine based on the color information and object inversion rate information corresponding to the image data of the mine, and the three-dimensional point cloud data of the mine.

[0094] Optionally, the image data and three-dimensional point cloud data of the mine can be obtained by: photographing the mine using a drone to obtain image data of the mine; and performing a three-dimensional position scanning of the mine using a drone to obtain three-dimensional point cloud data of the mine.

[0095] Optionally, after obtaining the current three-dimensional model of the target area, the first processing module 620 is also used to: obtain the three-dimensional coordinates of one or more preset reference points from the current three-dimensional model of the target area; compare the three-dimensional coordinates of each preset reference point with the corresponding standard coordinates to obtain a comparison result; when the comparison result shows that the three-dimensional coordinates of at least one preset reference point are inconsistent with the corresponding standard coordinates, perform coordinate correction processing on the preset reference point to make the three-dimensional coordinates of the preset reference point consistent with the corresponding standard coordinates.

[0096] Optionally, the target area of ​​the mine includes at least a mining working area of ​​the mine.

[0097] like Figure 7 As shown, an electronic device 700 provided by an embodiment of the present invention includes a memory 710 and a processor 720 coupled to the memory 710; the memory 710 is configured to store a computer program; the processor 720 is configured to perform the following operations when executing the computer program:

[0098] Obtain the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment;

[0099] Performing 3D modeling processing on the current 3D point cloud data of the target area to obtain a current 3D model of the target area;

[0100] Acquire a real-life three-dimensional model of the mine, and determine a target model area corresponding to a target area in the real-life three-dimensional model of the mine;

[0101] The target model area corresponding to the target area in the real-scene three-dimensional model of the mine is updated to the current three-dimensional model of the target area to obtain a real-time panoramic three-dimensional model of the mine.

[0102] An embodiment of the present invention provides a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor performs the following operations:

[0103] Obtain the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment;

[0104] Performing 3D modeling processing on the current 3D point cloud data of the target area to obtain a current 3D model of the target area;

[0105] Acquire a real-life three-dimensional model of the mine, and determine a target model area corresponding to a target area in the real-life three-dimensional model of the mine;

[0106] The target model area corresponding to the target area in the real-scene three-dimensional model of the mine is updated to the current three-dimensional model of the target area to obtain a real-time panoramic three-dimensional model of the mine.

[0107] An electronic device 700 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 700 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 700 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described herein and / or required.

[0108] The electronic device 700 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0109] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0110] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for constructing a three-dimensional mine model, characterized in that: include: Obtain the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment; Performing three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain a current three-dimensional model of the target area; Acquire a real-life three-dimensional model of the mine, and determine a target model area corresponding to a target area in the real-life three-dimensional model of the mine; The target model area corresponding to the target area in the real-scene three-dimensional model of the mine is updated to the current three-dimensional model of the target area to obtain a real-time panoramic three-dimensional model of the mine.

2. The method for constructing a three-dimensional mine model according to claim 1, characterized in that: One or more three-dimensional position scanning devices are provided at the target area of ​​the mine; and the acquisition of current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment includes: The one or more three-dimensional position scanning devices are used to obtain current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment.

3. The method for constructing a three-dimensional mine model according to claim 2, characterized in that: The three-dimensional position scanning device is a millimeter wave radar or a three-dimensional laser radar.

4. The method for constructing a three-dimensional mine model according to claim 1, characterized in that: The step of obtaining the real-scene three-dimensional model of the mine comprises: Acquiring image data and three-dimensional point cloud data of the mine; Determining color information and object inversion rate information corresponding to the image data according to the image data of the mine; A real-scene three-dimensional model of the mine is obtained according to the color information corresponding to the image data of the mine, the object inversion rate information, and the three-dimensional point cloud data of the mine.

5. The method for constructing a three-dimensional mine model according to claim 4, characterized in that: The obtaining of the image data and three-dimensional point cloud data of the mine comprises: Using a drone to photograph the mine to obtain image data of the mine; and, The mine is scanned in three dimensions using a drone to obtain three-dimensional point cloud data of the mine.

6. The method for constructing a three-dimensional mine model according to claim 1, characterized in that: After performing 3D modeling processing on the current 3D point cloud data of the target area to obtain the current 3D model of the target area, the method further includes: Acquire three-dimensional coordinates of one or more preset reference points from the current three-dimensional model of the target area; Comparing the three-dimensional coordinates of each of the preset reference points with the corresponding standard coordinates to obtain a comparison result; When the comparison result shows that the three-dimensional coordinates of at least one of the preset reference points are inconsistent with the corresponding standard coordinates, coordinate correction processing is performed on the preset reference point to make the three-dimensional coordinates of the preset reference point consistent with the corresponding standard coordinates.

7. The method for constructing a three-dimensional mine model according to any one of claims 1 to 6, characterized in that: The target area of ​​the mine includes at least the mining working area of ​​the mine.

8. A device for constructing a three-dimensional mine model, characterized in that: include: An acquisition module is used to acquire the current three-dimensional point cloud data corresponding to the target area of ​​the mine at the current moment; A first processing module, configured to perform three-dimensional modeling processing on the current three-dimensional point cloud data of the target area to obtain a current three-dimensional model of the target area; A determination module, used to obtain a real-life three-dimensional model of the mine, and determine a target model area corresponding to a target area in the real-life three-dimensional model of the mine; The second processing module updates the target model area corresponding to the target area in the real-scene three-dimensional model of the mine to the current three-dimensional model of the target area, so as to obtain a real-time panoramic three-dimensional model of the mine.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the method for constructing a three-dimensional mine model as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method for constructing a three-dimensional mine model as described in any one of claims 1 to 7 is implemented.

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