A deep-hole blasting construction method based on 3D scanning

Abstract

The present invention relates to a deep-hole blasting construction method based on three-dimensional scanning, comprising the following steps: S1, scanning to obtain the spatial information and image information in the roadway to be blasted, and obtaining a three-dimensional model of the roadway integrated with image data; S2, performing deep-hole blasting design on the three-dimensional model to obtain multiple sections of deep-hole blasting; S3, for each section, performing: dividing the section into grid units, fitting each grid unit into a planar rock layer surface, identifying the rock layer classification of the planar rock layer surface through the spatial information and the image information, and obtaining the thicknesses of the respective rock layers and the positions of the respective rock layers in each section through the rock layer classification; S4, obtaining the rock layer change situation in the roadway according to the thicknesses of the respective rock layers and the positions of the respective rock layers in each section; S5, adjusting the deep-hole parameters of each section according to the rock layer change situation to obtain a deep-hole design result.

Description

Technical Field

[0001] The present invention relates to the field of deep-hole blasting, and specifically refers to a deep-hole blasting construction method based on three-dimensional scanning. Background Technique

[0002] Deep-hole blasting refers to a blasting technique for blast holes with a hole diameter greater than 50 mm and a hole depth greater than 5 m. During the process of deep-hole blasting, generally, a roadway needs to be excavated first, and then a cross-section is taken every 5 - 7 m in the roadway to design the hole depth, hole spacing, etc. of the deep-hole blasting, and then drilling, filling explosives, and blasting are carried out according to this design.

[0003] With the continuous in-depth promotion of the construction of digital mines, the application of medium-deep hole blasting design for mining methods such as open stoping method and sublevel caving method using mine three-dimensional mapping software is relatively extensive. As a new surveying and mapping technology, three-dimensional laser scanning technology has been widely used in topographic surveying. Three-dimensional laser scanning collects the coordinate information of all points on the measured roadway, so the formed solid model can truly restore the original appearance of the roadway, improve the accuracy of blast hole design, and greatly reduce safety accidents caused by inaccurate measurement data.

[0004] However, after obtaining the three-dimensional data of the roadway in the prior art, generally, any cross-section is analyzed independently. For example, the rock formation information of the current cross-section is obtained through drilling or image analysis, etc., and then the drilling is designed according to the rock formation information of the current cross-section. Due to the large variety and complex situation of rock formation data, when plastic extrusion and flow occur during the formation of the rock formation, its hardness will increase, and when the rock formation is subjected to the extrusion force of plate movement, tensile stress acts on the top of the rock formation, and tension cracks or thinning may occur. The prior art does not optimize the design of the hole depth, hole spacing, etc. of the blast holes for deep-hole blasting according to the changes in the strike, thickness, etc. of the rock formation based on the three-dimensional scanning data.

[0005] Aiming at the problems existing in the above-mentioned prior art, designing a deep-hole blasting construction method based on three-dimensional scanning is the purpose of the research of the present invention. Summary of the Invention

[0006] Aiming at the problems existing in the above-mentioned prior art, the present invention provides a deep-hole blasting construction method based on three-dimensional scanning, which can effectively solve at least one of the problems existing in the above-mentioned prior art.

[0007] The technical solution of the present invention is as follows:

[0008] A deep-hole blasting construction method based on three-dimensional scanning includes the following steps:

[0009] S1, scanning to obtain the spatial information and image information in the roadway to be blasted, and obtaining a three-dimensional model of the roadway integrated with image data;

[0010] S2, perform deep hole blasting design on the 3D model to obtain multiple cross-sections of deep hole blasting;

[0011] S3, for each cross-section, perform the following: divide the cross-section into grid cells, fit each grid cell to the surface of a planar rock layer, identify the rock layer classification of the surface of the planar rock layer through the spatial information and the image information, and obtain the thickness of each rock layer and the location of each rock layer in each cross-section through the rock layer classification;

[0012] S4, based on the thickness of each rock layer and the location of each rock layer in each cross-section, obtain the change situation of the rock layers in the roadway;

[0013] S5, adjust the deep hole parameters of each cross-section according to the change situation of the rock layers to obtain the deep hole design result.

[0014] Further, fitting each grid cell to the surface of a planar rock layer includes:

[0015] Obtain the normal direction of each point in each point cloud in each grid cell, and fit the continuous points with similar normal directions to the same planar rock layer.

[0016] Further, identifying the rock layer classification of the surface of the planar rock layer through the spatial information and the image information includes:

[0017] Fuse the point cloud coordinates, RGB colors, and reflection intensities of the surface of the planar rock layer according to preset weights to construct a multi-dimensional data set;

[0018] Identify the rock layer classification of the surface of the planar rock layer through the multi-dimensional data set by a pre-trained rock layer recognition learning algorithm.

[0019] Further, the preset weight w1 of the point cloud coordinates is 1 to 1.2, the preset weight w2 of the RGB colors is 0.6 to 0.8, and the preset weight w3 of the reflection intensity is 0.2 to 0.4;

[0020] 。

[0021] Further, the rock layer recognition learning algorithm is obtained through the following steps:

[0022] Take the multi-dimensional data set of the surface of the planar rock layer as the input and the rock layer classification of the surface of the planar rock layer as the output, train a neural network to obtain the rock layer recognition learning algorithm.

[0023] Further, S4, based on the thickness of each rock layer and the location of each rock layer in each cross-section, obtaining the change situation of the rock layers in the roadway includes:

[0024] Extract the horizontal height of the same rock stratum of the cross-section, and fit multiple horizontal heights to obtain the strike of the rock stratum in the roadway;

[0025] If the dip angle of the strike of the rock stratum in adjacent cross-sections is less than 30°, then: if each rock stratum increases in thickness according to the roadway path and the strike of the rock stratum is upward, it is determined that the stratum where the roadway is located is the anticlinal part; if each rock stratum decreases in thickness according to the roadway path and the strike of the rock stratum is downward, it is determined that the stratum where the roadway is located is the synclinal part; if otherwise, it is determined that the stratum where the roadway is located is the planar layer;

[0026] If the dip angle of the strike of the rock stratum in adjacent cross-sections is greater than 30°, it is determined that there is a fault plane in the cross-section.

[0027] Furthermore, adjusting the deep hole parameters of each cross-section according to the rock stratum change situation includes:

[0028] Conduct deep hole blasting design in 3Dmin software according to the 3D model to obtain the hole position distribution spacing and hole depth of deep hole blasting for each cross-section;

[0029] If there is a fault plane in the cross-section, reduce the hole position distribution spacing and reduce the hole depth;

[0030] If it is determined that the stratum where the roadway is located is the anticlinal part, gradually reduce the hole position distribution spacing and increase the hole depth according to the path direction of the roadway;

[0031] If it is determined that the stratum where the roadway is located is the synclinal part, gradually increase the hole position distribution spacing and reduce the hole depth according to the path direction of the roadway.

[0032] Furthermore, if there is a fault plane in the cross-section, reduce the hole position distribution spacing by 10% and reduce the hole depth by 15%;

[0033] If it is determined that the stratum where the roadway is located is the anticlinal part or the synclinal part, the difference in hole position distribution spacing between the starting point and the ending point of the path direction of the roadway is 10%, and the difference in hole depth is 10%.

[0034] Furthermore, after scanning and obtaining the spatial information and image information in the roadway to be blasted, execute:

[0035] Perform noise reduction processing on the spatial information and image information.

[0036] Furthermore, through the rock stratum classification, the thickness of each rock stratum and the location of each rock stratum in each cross-section include:

[0037] Fill the grid cells with colors according to the rock stratum classification, and the filling colors for different rock stratum classifications are different to obtain the cross-section rock stratum distribution map;

[0038] Perform edge computing on the rock stratum distribution map to obtain the edges of each rock stratum;

[0039] Perform linear fitting on the edges of each rock stratum to obtain the edge lines of each rock stratum;

[0040] Calculate the distance between the edge lines of each rock stratum as the thickness of each rock stratum, and calculate the height where the edge lines of each rock stratum are located as the position where each rock stratum is located.

[0041] Therefore, the present invention provides the following effects and / or advantages:

[0042] This application forms a three-dimensional model by scanning the spatial information and image information in the roadway, and then processes the corresponding information in the three-dimensional model to identify the rock stratum classification. According to the change situation of the rock stratum classification in each cross-section, the parameters of the blasting hole position design are adjusted, so as to optimize the blasting.

[0043] This application fits continuous points with similar normal directions into the same planar rock stratum, avoiding situations such as rough rock stratum surfaces, cracks, and damage, and extracting relevant information that can be used for subsequent processing.

[0044] This application uses the point cloud coordinates, RGB colors, and reflection intensities on the surface of the planar rock stratum, and sets corresponding weights, so that the category of the rock stratum can be identified through a learning algorithm, and the category of the rock stratum can be accurately obtained.

[0045] This application judges the stratum structure where the rock stratum is located through the strike of the rock stratum and its change situation, and identifies the change situation of the rock stratum in the roadway path direction, so as to increase or decrease parameters such as the distribution spacing and hole depth of the blasting hole positions to adapt to the change situation of the rock stratum.

[0046] Other features and advantages of the present invention will be described in the subsequent description, and part of them will become obvious from the description, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are realized and obtained by the structures specifically pointed out in the description and the drawings.

[0047] It should be understood that the above summary and the following detailed description of the present invention are exemplary and explanatory, and are intended to provide further explanation of the present invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic flow chart provided for one embodiment of the present invention.

[0049] Figure 2 It is a schematic diagram of the three-dimensional model of the roadway.

[0050] Figure 3 It is a schematic diagram of a perspective view within the three-dimensional model.

[0051] Figure 4 The schematic diagram of blasting design drawn for the 3Dmin three-dimensional software platform.

[0052] Figure 5 The schematic diagram after dividing one of the cross-sections into grid cells. Specific implementation manners

[0053] For the convenience of those skilled in the art to understand, the embodiments will be further described in detail for the present invention as follows:

[0054] Reference Figure 1 , a deep-hole blasting construction method based on three-dimensional scanning, comprising the following steps:

[0055] S1. Scan to obtain the spatial information and image information in the roadway to be blasted, and obtain a three-dimensional model of the roadway integrated with image data;

[0056] In this step, scanning to obtain the spatial information and image information in the roadway to be blasted can be realized by the prior art, so as to obtain a three-dimensional model with color information, which can truly reflect the three-dimensional situation in the roadway. For example, a roadway entity model can be established by actually measuring the mining roadway with the Wing Eyes HM100 type radar laser scanner, as Figures 2-3 shown.

[0057] S2. Perform deep-hole blasting design on the three-dimensional model to obtain multiple cross-sections of deep-hole blasting;

[0058] In this step, by inputting the three-dimensional model of the roadway into the 3Dmin three-dimensional software platform for medium-deep hole blasting design, relevant parameters are first preset, such as: drilling parameters, drilling rig parameters, mining parameters, cutting parameters of the mining entry, and charging parameters, etc. Then set the center of the machine support point, create the machine support roadway, and create the mining boundary; arrange fan-shaped holes or parallel holes, set the charging of the blast holes, and delineate the mining blasting range; draw the medium-deep holes row by row with this program to obtain the blasting design as Figure 4 shown. At this time, this design is preliminary and automatically generated according to the parameters preset by the software.

[0059] S3. Execute for each cross-section: divide the cross-section into grid cells, fit each grid cell into a planar rock layer surface, identify the rock layer classification of the planar rock layer surface through the spatial information and the image information, and obtain the thickness of each rock layer and the location of each rock layer in each cross-section through the rock layer classification;

[0060] In this step, divide the cross-section into 0.3m * 0.3m grid cells to obtain as Figure 5The grid cells shown. At this time, due to the unevenness, defects, cracks, textures, etc. on the inner wall of the roadway, it is difficult to perform calculations such as identifying the rock layer types in subsequent algorithms. Therefore, in this step, each grid cell is fitted to a planar rock layer surface, making the rock layer strike planar and the strike of the same rock layer continuously change within the cross-section, reducing the influence of defects, faults, distortions, etc. on the subsequent recognition algorithm.

[0061] Then, through the classification of the rock layers on the planar rock layer surface, the thickness of each rock layer and its location can be obtained. Thus, for the thickness changes and location changes of multiple rock layers in multiple cross-sections in the roadway, information such as whether the thickness of the rock layer increases or decreases in the path of the roadway, and whether the rock layer strike is downward or upward can be obtained. It can realize the intelligent conversion from point cloud data to rock layers, providing basic data for deep hole blasting design.

[0062] S4. Obtain the rock layer change situation in the roadway according to the thickness of each rock layer and the location of each rock layer in each cross-section;

[0063] In step S3, the rock layer situation of each cross-section is obtained. Next, in this step, the rock layer situations of multiple cross-sections are associated to obtain the rock layer change situation. For example, in the first cross-section, from 0 to 1.5 meters is sedimentary rock, from 1.5 to 4 meters is igneous rock, and from 4 to 6 meters is metamorphic rock; in the second cross-section, from 0 to 1.6 meters is sedimentary rock, from 1.6 to 4.13 meters is igneous rock, and from 4.13 to 6 meters is metamorphic rock; in the third cross-section, from 0 to 1.66 meters is sedimentary rock, from 1.66 to 4.25 meters is igneous rock, and from 4.25 to 6 meters is metamorphic rock. Then it can be seen that in multiple cross-sections, the starting height of the igneous rock develops from 1.5 meters in the first cross-section to 1.66 meters in the third cross-section, and the thickness of the igneous rock increases from 2.5 meters in the first cross-section to 2.59 meters in the third cross-section. Overall, the location of the igneous rock rises and the thickness increases.

[0064] By analyzing the changes in the height and thickness of each rock layer, etc., it is used as the rock layer change situation.

[0065] S5. Adjust the deep hole parameters of each cross-section according to the rock layer change situation to obtain the deep hole design result.

[0066] In this step, the deep hole parameters of each cross-section are adjusted according to the obtained rock layer change situation. For example, if the location rises and the thickness increases as mentioned above, then there is an influence of interplate compression on the rock layer at that place, resulting in a uplifted terrain, and the space within the rock layer is further compressed under the mutual influence of the plates, and the rock layer is repeatedly stacked under stress to produce a thicker thickness. In this case, the rock layer generally has greater hardness and requires more powerful blasting.

[0067] In this embodiment, the thickness and height changes of the rock strata at multiple cross-sections are used to identify the rock strata changes in the roadway, thereby providing more accurate basic data for the design process of deep-hole blasting. Deep-hole blasting can identify the rock strata conditions based on this basic data and adjust parameters such as the spacing or depth of the hole positions for deep-hole blasting, so as to obtain an optimized deep-hole design result.

[0068] Further, fitting each grid unit to a planar rock stratum surface includes:

[0069] Obtain the normal directions of each point in each point cloud in each grid unit, and fit the continuous points with similar normal directions to the same planar rock stratum.

[0070] Due to the presence of depressions, deformations, cracks, etc. on the inner wall of the roadway, in this step, by extracting continuous points with similar normal directions, in this case, through the similarity and spatial continuity of the normal directions, the points belonging to the same plane are aggregated together and fitted into a plane, and this plane serves as the planar rock stratum in the grid unit.

[0071] Further, identifying the rock stratum classification of the planar rock stratum surface through the spatial information and the image information includes:

[0072] Fuse the point cloud coordinates, RGB colors, and reflection intensities on the planar rock stratum surface according to preset weights to construct a multi-dimensional data set;

[0073] Identify the rock stratum classification of the planar rock stratum surface by passing the multi-dimensional data set through a pre-trained rock stratum recognition learning algorithm.

[0074] In this step, the point cloud data is usually a set composed of a large number of point coordinates (x, y, z) obtained by a 3D scanner. At the same time, image information is also combined in step S1, so the point cloud data also contains information such as colors and reflection intensities. Different rock strata have different hardness, colors, textures, etc. For example, there are color differences in the rock strata in the RGB image. For example, limestone is grayish-white and smooth on the surface, and shale is dark gray and has dense bedding; also, the laser reflection intensity reflects the hardness of the rock strata. For example, quartz sandstone has a high reflection intensity, and mudstone has a low reflection intensity. Through these parameters, the conditions of the rock strata can be identified.

[0075] Meanwhile, due to different rock layers having different properties and hardnesses, color is relatively easy to distinguish limestone and shale, because limestone is usually lighter in color, such as grayish-white, while shale is darker in color, such as dark gray or black. And the reflection intensity is related to surface roughness and mineral composition. Hard rocks such as quartz sandstone have a high reflection intensity, while soft rocks such as mudstone have a lower one. However, the reflection intensity may be affected by factors such as scanning angle and surface humidity, and its stability may be inferior to that of color. Also, the reflection intensity can help distinguish hard rocks and cooperate with color to prevent misjudgment. Therefore, it is necessary to adjust the point cloud coordinates, RGB color, and reflection intensity according to the preset weights to obtain a more accurate fused multi-dimensional data set.

[0076] Further, the preset weight w1 of the point cloud coordinates is 1 to 1.2, the preset weight w2 of the RGB color is 0.6 to 0.8, and the preset weight w3 of the reflection intensity is 0.2 to 0.4;

[0077] 。

[0078] This embodiment is set as: the preset weight w1 of the point cloud coordinates is 1, the preset weight w2 of the RGB color is 0.7, and the preset weight w3 of the reflection intensity is 0.3.

[0079] As mentioned above, the RGB color can relatively easily and intuitively distinguish the properties of rock layers, while the reflection intensity can assist in analyzing parameters such as the hardness of rock layers. The two are fused with the point cloud coordinates through different preset weights, so that among the three principal components obtained, the contribution rate of the point cloud coordinates accounts for 100%, the contribution rate of color variance accounts for 70%, and the reflection intensity accounts for 30%. This weight setting can balance the empirical values of distinguishability, stability, and practicability, and is especially applicable to scenarios dominated by limestone / shale.

[0080] Further, the rock layer identification learning algorithm is obtained through the following steps:

[0081] Taking the multi-dimensional data set of the planar rock layer surface as the input and the rock layer classification of the planar rock layer surface as the output, training a neural network to obtain the rock layer identification learning algorithm.

[0082] Further, in S4, according to the thickness of each rock layer and the position of each rock layer in each cross-section, the rock layer change situation in the roadway is obtained, including:

[0083] Extracting the horizontal height of the same rock layer in the cross-section and fitting multiple such horizontal heights to obtain the strike of the rock layer in the roadway;

[0084] If the dip angle of the strike of the rock stratum in the adjacent cross-section is less than 30°, then: If each rock stratum increases in thickness according to the roadway path and the rock stratum strike is upward, it is determined that the strata where the roadway is located is the anticlinal part; If each rock stratum decreases in thickness according to the roadway path and the rock stratum strike is downward, it is determined that the strata where the roadway is located is the synclinal part; Otherwise, it is determined that the strata where the roadway is located is the planar layer;

[0085] If the dip angle of the strike of the rock stratum in the adjacent cross-section is greater than 30°, it is determined that there is a fault plane in the cross-section where it is located.

[0086] The lowest point of the horizontal height of the same rock stratum can be used as the horizontal height of the rock stratum. After combining the multiple horizontal heights of the multiple rock strata in multiple cross-sections in the roadway, a straight line that best represents the strike of the rock stratum can be obtained through linear fitting. Generally, the strike of the rock stratum is a continuous and gently changing curve, and the roadway only intercepts a small segment of the strike of the rock stratum. Therefore, the strike of the rock stratum in the roadway can be approximated as a straight line. In the case where the strike of the rock stratum does not suddenly shift or displace, the dip angle of the rock stratum is less than 30°. And the rock stratum may become thinner due to plate stretching or thicker due to extrusion. Further, the direction of the anticlinal part of the rock stratum is subjected to extrusion, causing the rock stratum to arch upward. The core rock stratum may undergo plastic flow or overlapping due to strong compression, resulting in a significant increase in thickness, while the synclinal part is the opposite. Based on this property, combined with the specific situation of the strike of the rock stratum obtained above, the strata situation can be inferred.

[0087] Subsequently, the deep-hole blasting can be optimized and adjusted according to the strata situation.

[0088] Further, adjusting the deep-hole parameters of each cross-section according to the change of the rock stratum includes:

[0089] Carry out deep-hole blasting design in 3Dmin software according to the 3D model to obtain the hole position distribution spacing and hole depth of the deep-hole blasting for each cross-section;

[0090] The hole position distribution spacing and hole depth of the deep-hole blasting designed in this step are basic data.

[0091] If there is a fault plane in the cross-section where it is located, reduce the hole position distribution spacing and reduce the hole depth;

[0092] If it is determined that the strata where the roadway is located is the anticlinal part, gradually reduce the hole position distribution spacing and increase the hole depth according to the roadway path direction;

[0093] If it is determined that the strata where the roadway is located is the synclinal part, gradually increase the hole position distribution spacing and reduce the hole depth according to the roadway path direction.

[0094] Specifically, a fault is a fracture zone in a rock formation, and the rock formations on both sides may be displaced due to compression, tension, or shear. During the blasting process, the rocks near the fault zone are usually fragmented, and there may be a large number of fissures and joints. These structures will change the propagation path and energy distribution of the blasting wave. In addition, the fault zone may contain soft interlayers or moisture, and these factors will affect the blasting effect and the stability of the surrounding rock mass. Increasing the density of blast holes can improve the energy coverage density, ensure that the fractured rock mass is fully fragmented, and reducing the charge amount can avoid excessive fragmentation and suppress flying rocks, etc.

[0095] When the strata where the roadway is located is in the anticline part, the rock formations have high density, high hardness, etc. Therefore, it is necessary to increase the blasting effect, so as to increase the blast hole density and the blast hole depth; the situation is opposite when the strata where the roadway is located is in the syncline part.

[0096] Furthermore, if there is a fault plane in the section where it is located, the spacing of the hole positions is reduced by 10%, and the hole depth is reduced by 15%;

[0097] If it is determined that the strata where the roadway is located is in the anticline part or the syncline part, then the difference in the hole position distribution spacing between the starting point and the ending point in the path direction of the roadway is 10%, and the difference in the hole depth is 10%.

[0098] For this design, deep hole blasting design can be carried out in the 3Dmin software based on the three-dimensional model as basic data. For example, the data generated by the 3Dmin software at the last fault plane (corresponding to the end of the roadway) shows that the hole depth of hole No. 1 is 6.3 meters, the hole depth of hole No. 2 is 5.3 meters, the spacing between hole No. 1 and hole No. 2 is 80 cm, and the strata where the roadway is located is in the anticline part. Then, after optimization, the hole depth of hole No. 1 increases by 10% to 6.93 meters, the hole depth of hole No. 2 increases by 10% to 5.83 meters, and the spacing between hole No. 1 and hole No. 2 decreases by 10% to 72 cm.

[0099] Furthermore, after scanning and obtaining the spatial information and image information in the roadway to be blasted, the following is executed:

[0100] Perform noise reduction processing on the spatial information and image information.

[0101] Point cloud data usually has noise and may need filtering processing, such as statistical filtering or radius filtering to remove outliers.

[0102] Furthermore, through the rock formation classification, the thickness of each rock formation and the location of each rock formation in each section are obtained, including:

[0103] Fill the grid cells with colors according to the rock formation classification, and the filling colors for different rock formation classifications are different to obtain a sectional rock formation distribution map;

[0104] Perform edge calculation on the rock formation distribution map to obtain the edges of each rock formation;

[0105] Perform a linear fit on the edges of each rock layer to obtain the edge lines of each rock layer;

[0106] Calculate the distance between the midpoints of the edge lines of each rock layer as the thickness of each rock layer, and calculate the height at which the midpoints of the edge lines of each rock layer are located as the position of each rock layer.

[0107] In this step, fill the grid cells with colors according to different rock layers. For example, fill the grid cells corresponding to metamorphic rocks with black, fill the grid cells corresponding to igneous rocks with red, fill the grid cells corresponding to sedimentary rocks with yellow, etc., to form a map with color distribution.

[0108] Since there may be fluctuations in rock layer classification due to unclear rock layer classification at the boundaries of rock layers during the recognition process, in this embodiment, edge detection is used for recognition, such as calculating with the Sobel operator, and then performing a linear fit based on the obtained edges.

[0109] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0110] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0111] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the functions specified in Figure 1 one or more flows and / or blocks Figure 1The functions specified in one or more boxes.

[0112] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0113] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

Claims

1. A deep-hole blasting construction method based on three-dimensional scanning, characterized in that: It includes the following steps: S1. Scan to obtain the spatial information and image information in the roadway to be blasted, and obtain a three-dimensional model of the roadway integrated with image data; S2. Conduct deep-hole blasting design on the three-dimensional model to obtain multiple cross-sections of deep-hole blasting; S3. Execute for each cross-section: divide the cross-section into grid cells, fit each grid cell to the surface of a planar rock formation, identify the rock formation classification of the surface of the planar rock formation through the spatial information and the image information, and obtain the thickness of each rock formation and the location of each rock formation in each cross-section through the rock formation classification; Identifying the rock formation classification of the surface of the planar rock formation through the spatial information and the image information includes: Fusing the point cloud coordinates, RGB colors, and reflection intensities of the surface of the planar rock formation according to preset weights to construct a multi-dimensional data set; Identifying the rock formation classification of the surface of the planar rock formation by passing the multi-dimensional data set through a pre-trained rock formation recognition learning algorithm; S4. Obtain the rock formation change situation in the roadway according to the thickness of each rock formation and the location of each rock formation in each cross-section; it includes: Extract the horizontal height of the same rock formation in the cross-section, and fit multiple horizontal heights to obtain the strike of the rock formation in the roadway; If the dip angle of the strike of the rock formation in adjacent cross-sections is less than 30°, then: if each rock formation increases in thickness along the roadway path and the strike of the rock formation is upward, it is determined that the strata where the roadway is located is the anticlinal part; if each rock formation decreases in thickness along the roadway path and the strike of the rock formation is downward, it is determined that the strata where the roadway is located is the synclinal part; if otherwise, it is determined that the strata where the roadway is located is the planar layer; If the dip angle of the strike of the rock formation in adjacent cross-sections is greater than 30°, it is determined that there is a fault plane in the cross-section; S5. Adjust the deep-hole parameters of each cross-section according to the rock formation change situation to obtain the deep-hole design result. Adjusting the deep-hole parameters of each cross-section according to the rock formation change situation includes: Conduct deep-hole blasting design in 3Dmin software according to the three-dimensional model to obtain the hole position distribution spacing and hole depth of deep-hole blasting for each cross-section; If there is a fault plane in the cross-section, reduce the hole position distribution spacing and reduce the hole depth; If it is determined that the strata where the roadway is located is the anticlinal part, gradually reduce the hole position distribution spacing along the path direction of the roadway and increase the hole depth; If it is determined that the strata where the roadway is located is the synclinal part, gradually increase the hole position distribution spacing along the path direction of the roadway and reduce the hole depth.

2. A deep-hole blasting construction method based on 3D scanning according to claim 1, characterized in that: Fitting each grid cell to the surface of a planar rock formation includes: Obtain the normal direction of each point in each point cloud in each grid cell, and fit the continuous points with similar normal directions to the same planar rock formation.

3. A deep-hole blasting construction method based on three-dimensional scanning according to claim 1, characterized in that: The preset weight w1 of the point cloud coordinates is 1 to 1.2, the preset weight w2 of the RGB color is 0.6 to 0.8, and the preset weight w3 of the reflection intensity is 0.2 to 0.4; 。 4. The deep-hole blasting construction method based on three-dimensional scanning according to claim 3, wherein: The rock formation recognition learning algorithm is obtained through the following steps: Use the multi-dimensional data set of the surface of the planar rock formation as the input and the rock formation classification of the surface of the planar rock formation as the output to train a neural network to obtain the rock formation recognition learning algorithm.

5. A deep-hole blasting construction method based on three-dimensional scanning according to claim 1, characterized in that: If there is a fault plane in the cross-section where the holes are located, reduce the hole position distribution spacing by 10% and reduce the hole depth by 15%. If it is determined that the strata where the roadway is located are in the anticline or syncline part, the difference in hole position distribution spacing between the starting point and the ending point in the path direction of the roadway is 10%, and the difference in hole depth is 10%.

6. A deep-hole blasting construction method based on 3D scanning according to claim 1, characterized in that: After scanning and obtaining the spatial information and image information in the roadway to be blasted, execute: Perform noise reduction processing on the spatial information and image information.

7. A deep-hole blasting construction method based on three-dimensional scanning according to claim 1, characterized in that: Through the rock stratum classification, the thicknesses of each rock stratum and the positions of each rock stratum in each cross-section are obtained, including: Fill the grid cells with colors according to the rock stratum classification, and the filling colors for different rock stratum classifications are different, to obtain a cross-section rock stratum distribution map; Perform edge calculation on the rock stratum distribution map to obtain the edges of each rock stratum; Perform linear fitting on the edges of each rock stratum to obtain the edge lines of each rock stratum; Calculate the distance between the midpoints of the edge lines of each rock stratum as the thickness of each rock stratum, and calculate the height where the midpoint of the edge line of each rock stratum is located as the position of each rock stratum.

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