Method and device for determining occurrence elements of structural surface, equipment, medium and product

Abstract

The invention relates to the technical field of attitude element analysis, and discloses a method, a device, equipment, a medium and a product for determining attitude elements of a structural plane, and the method comprises the following steps: segmenting a target inclined shaft to obtain a plurality of inclined shaft sections, and obtaining a reference coordinate of each inclined shaft section; determining a first included angle and a second included angle according to the three-dimensional image; unfolding the three-dimensional images of the plurality of inclined shaft sections into a plane display graph, and determining three-dimensional polar coordinates of each pixel according to the plane display graph; based on the reference coordinate of each inclined shaft section, the three-dimensional polar coordinate of each pixel is converted to a geodetic coordinate system according to the first included angle and the second included angle of each inclined shaft section, and a plurality of target coordinates are obtained; and according to the plurality of target coordinates, determining three-dimensional planes of the plurality of structural surfaces and occurrence elements corresponding to the three-dimensional plane of each structural surface. According to the method, the three-dimensional images of the multiple inclined shaft sections of the target inclined shaft are processed to determine the occurrence elements corresponding to the three-dimensional planes of the structural surfaces, and the efficiency of determining the occurrence elements is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude element analysis, and particularly relates to a method, device, equipment, medium and product for determining the attitude elements of structural planes. Background Art

[0002] An inclined shaft refers to a tunnel with an inclined angle excavated in a formation during a construction project (such as a water conservancy project, a road project or a drilling project). The inclined shaft can expose the excavated formation structure. On the basis of further analyzing the formation structure, the inclined shaft can be further excavated to analyze structures such as large tunnels and pipelines.

[0003] The structural plane in the inclined shaft refers to a discontinuous plane formed by cutting the rock mass into a certain geometric shape and size during the excavation of the inclined shaft. The attitude elements of the structural plane in the inclined shaft are used to describe the position and orientation of the structural plane in space, mainly including strike, dip direction and dip angle. The attitude elements of the structural plane are important parameters for checking the stability and designing the engineering support after the inclined shaft is excavated.

[0004] The traditional method for determining the attitude elements of the structural plane in the inclined shaft is to send hoisting technicians into the inclined shaft to identify the structural plane and measure the attitude elements. However, this method has low safety and consumes a large amount of time, manpower and material resources, resulting in low efficiency and accuracy. Summary of the Invention

[0005] In view of this, the present invention provides a method, device, equipment, medium and product for determining the attitude elements of a structural plane to solve the problem of low efficiency and accuracy caused by the traditional method for determining the attitude elements of the structural plane in the inclined shaft.

[0006] In a first aspect, the present invention provides a method for determining the attitude elements of a structural plane, including: segmenting a target inclined shaft to obtain a plurality of inclined shaft segments, and acquiring the reference coordinates of each inclined shaft segment; the reference coordinates of the inclined shaft segment are the coordinates of the geometric center of the upper cross-section of the inclined shaft segment; acquiring three-dimensional images of the plurality of inclined shaft segments, and determining a first included angle and a second included angle according to the three-dimensional images; the first included angle is the included angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and the second included angle is the included angle between the projection result and the due north direction; unfolding the three-dimensional images of the plurality of inclined shaft segments into a plane display diagram, and determining the three-dimensional polar coordinates of each pixel according to the plane display diagram; the three-dimensional polar coordinates are the coordinates of each pixel in the plane display diagram in a preset three-dimensional polar coordinate system; based on the reference coordinates of each inclined shaft segment, converting the three-dimensional polar coordinates of each pixel into the geodetic coordinate system according to the first included angle and the second included angle of each inclined shaft segment to obtain a plurality of target coordinates; according to the plurality of target coordinates, determining the three-dimensional planes of a plurality of structural planes and the attitude elements corresponding to each three-dimensional plane of the structural plane.

[0007] The present invention segments a target inclined shaft to obtain multiple inclined shaft segments, and obtains the reference coordinates of each inclined shaft segment, so as to achieve refined analysis of different inclined shaft segments and improve the accuracy of the analysis of the target inclined shaft. The present invention obtains three-dimensional images of multiple inclined shaft segments, and determines the first included angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and the second included angle between the projection result and the due north direction, so as to provide angle parameters for the analysis of the occurrence elements of the structural plane. The present invention unfolds the three-dimensional images of multiple inclined shaft segments into a planar display diagram, determines the three-dimensional polar coordinates of each pixel in a preset three-dimensional polar coordinate system according to the planar display diagram. After unfolding the three-dimensional image into a planar display diagram, it is easier to determine the three-dimensional polar coordinates of each pixel, making the coordinate extraction of the pixel in the preset three-dimensional polar coordinate system more convenient. The present invention, based on the reference coordinates of each inclined shaft segment, converts the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first included angle and the second included angle of each inclined shaft segment, obtains multiple target coordinates, realizes the unification of the structural coordinates and the coordinate system of the actual project, and performs coordinate transformation based on the reference coordinates, the first included angle and the second included angle of the inclined shaft segment, ensuring that the target coordinates reflect the position of the structural plane in the actual geographical space, and providing a more reliable data basis for the construction of the three-dimensional plane of the structural plane and the determination of the occurrence elements. The present invention determines the three-dimensional planes of multiple structural planes and the occurrence elements corresponding to the three-dimensional planes of each structural plane according to multiple target coordinates. Compared with the related art, for the cross-section of any shape of the inclined shaft, the present invention can perform the analysis of the occurrence elements. The automatic analysis of the occurrence elements of the present invention improves safety, efficiency and accuracy.

[0008] In an optional implementation manner, segmenting the target inclined shaft to obtain multiple inclined shaft segments, and obtaining the reference coordinates of each inclined shaft segment includes: segmenting the target inclined shaft according to whether the inclination angle, azimuth angle and cross-sectional shape recorded in the inclined shaft construction drawing are consistent to obtain multiple inclined shaft segments; identifying the geometric center of the upper cross-section of each inclined shaft segment, and determining the coordinates of the geometric center as the reference coordinates.

[0009] The present invention segments according to whether the inclination angle, azimuth angle and cross-sectional shape of the inclined shaft are consistent, ensures the unity of the internal characteristics of each inclined shaft segment, avoids the situation of analysis confusion caused by structural differences, and improves the accuracy of subsequent analysis.

[0010] In an optional implementation manner, obtaining three-dimensional images of multiple inclined shaft segments includes: connecting the geometric centers of the upper cross-sections of multiple inclined shaft segments to obtain an imaging route; using a preset three-dimensional image acquisition device to collect images along the imaging route to obtain three-dimensional images.

[0011] In an alternative embodiment, the three-dimensional images of multiple inclined well sections are unfolded into a planar display diagram, and the three-dimensional polar coordinates of each pixel are determined according to the planar display diagram, including: connecting the geometric centers of the upper cross-section and the lower cross-section of each inclined well section to obtain a connection result, and determining a vertical plane perpendicular to the connection result; determining the upper intersection point of the vertical plane and the upper cross-section, and unfolding the three-dimensional image of each inclined well section clockwise along the upper intersection point to obtain an initial display diagram; resampling each pixel in the initial display diagram, numbering and unfolding the resampled pixels to obtain a planar display diagram, and determining the planar rectangular coordinates of each pixel according to the size distribution of each pixel in the planar display diagram; performing data processing and calculation on each pixel in the planar display diagram to convert the planar rectangular coordinates into a preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinates of each pixel.

[0012] The present invention determines the vertical plane and the intersection point by connecting the geometric centers of the upper and lower cross-sections of the inclined well section, providing a geometric reference for the unfolding of the three-dimensional image. The three-dimensional image is unfolded clockwise along the intersection point of the vertical plane and the upper cross-section to ensure that the unfolding direction and path of the initial display diagram are consistent, restoring the spatial structure of the inclined well section. The pixels are resampled and numbered to optimize the pixel arrangement rule, making the pixel distribution in the planar display diagram more uniform and orderly. Through the standardized unfolding and processing process, the data formats of the planar display diagrams of different inclined well sections are unified, improving the consistency and reliability of the data in the determination process of the attitude elements of the structural plane.

[0013] In an alternative embodiment, based on the reference coordinates of each inclined well section, the three-dimensional polar coordinates of each pixel are converted into a geodetic coordinate system according to the first angle and the second angle of each inclined well section to obtain multiple target coordinates, including: converting the three-dimensional polar coordinates of each pixel in the planar display diagram of each inclined well section into a spatial rectangular coordinate system to obtain a first coordinate; rotating the multiple first coordinates in the first plane clockwise by an angle corresponding to the cosine of the first angle in the negative horizontal direction to obtain multiple second coordinates; the first plane is the plane composed of the vertical direction and the perpendicular direction in the spatial rectangular coordinate system; rotating the multiple second coordinates counterclockwise by an angle corresponding to the second angle in the negative vertical direction in the second plane to obtain multiple third coordinates; the second plane is the plane composed of the horizontal direction and the vertical direction in the spatial rectangular coordinate system; superimposing the reference coordinates of each inclined well section on the third coordinates of each pixel in the planar display diagram of the corresponding inclined well section to obtain multiple target coordinates.

[0014] The present invention first converts three-dimensional polar coordinates to a spatial rectangular coordinate system to establish a unified data processing reference, avoiding errors caused by differences in the initial coordinate systems. Through two rotation operations, the present invention gradually adjusts the coordinate directions to complete the correction of the spatial orientation of the coordinates in different planes, ensuring that the coordinate directions match the actual geographical spatial orientation. The present invention superimposes the reference coordinates of the inclined well section with the converted third coordinates, improving the matching degree of the coordinate data and engineering applications.

[0015] In an optional implementation manner, according to multiple target coordinates, the three-dimensional planes of multiple structural planes and the attitude elements corresponding to the three-dimensional planes of each structural plane are determined, including: extracting the target coordinates corresponding to the pixels belonging to the same structural plane to obtain the set of target coordinates corresponding to each structural plane; fitting the multiple structural planes according to the set of target coordinates to obtain the three-dimensional planes of the structural planes, so as to determine the attitude elements according to the three-dimensional planes of the structural planes.

[0016] The present invention realizes the division of data of different structural planes by extracting the set of target coordinates corresponding to the same structural plane, fits the set of target coordinates to construct a three-dimensional plane, and restores the spatial form of the structural plane. Compared with the subjective judgment in the related art, it can more accurately reflect the true distribution of the structural plane. The present invention determines the attitude elements based on the fitted three-dimensional plane, reduces the errors of manual operations, and makes the analyzed attitude elements more in line with the actual engineering requirements.

[0017] In a second aspect, the present invention provides a device for determining the attitude elements of a structural plane, including: an inclined well segmentation module, configured to segment a target inclined well to obtain multiple inclined well sections, and acquire the reference coordinates of each inclined well section; the reference coordinates of the inclined well section are the coordinates of the geometric center of the upper cross-section of the inclined well section; an included angle determination module, configured to acquire three-dimensional images of the multiple inclined well sections, and determine a first included angle and a second included angle according to the three-dimensional images; the first included angle is the included angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and the second included angle is the included angle between the projection result and the due north direction; an image unfolding module, configured to unfold the three-dimensional images of the multiple inclined well sections into a planar display diagram, and determine the three-dimensional polar coordinates of each pixel according to the planar display diagram; the three-dimensional polar coordinates are the coordinates of each pixel in the planar display diagram in a preset three-dimensional polar coordinate system; a coordinate conversion module, configured to convert the three-dimensional polar coordinates of each pixel to the geodetic coordinate system based on the reference coordinates of each inclined well section and according to the first included angle and the second included angle of each inclined well section, to obtain multiple target coordinates; an attitude element determination module, configured to determine the three-dimensional planes of multiple structural planes and the attitude elements corresponding to the three-dimensional planes of each structural plane according to the multiple target coordinates.

[0018] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method for determining the occurrence elements of the structural plane according to the first aspect or any corresponding embodiment thereof.

[0019] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the method for determining the occurrence elements of the structural plane according to the first aspect or any corresponding embodiment thereof.

[0020] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the method for determining the occurrence elements of the structural plane according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the related art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 is a flowchart of the method for determining the occurrence elements of the structural plane according to an embodiment of the present invention.

[0023] Figure 2 is a three-dimensional schematic diagram of the target inclined shaft according to an embodiment of the present invention.

[0024] Figure 3 is a schematic plan view according to an embodiment of the present invention.

[0025] Figure 4 is a flowchart of another method for determining the occurrence elements of the structural plane according to an embodiment of the present invention.

[0026] Figure 5 is a second coordinate schematic diagram according to an embodiment of the present invention.

[0027] Figure 6 is a third coordinate schematic diagram according to an embodiment of the present invention.

[0028] Figure 7 is another method for determining the occurrence elements of the structural plane according to an embodiment of the present invention.

[0029] Figure 8 is a structural block diagram of the device for determining the occurrence elements of the structural plane according to an embodiment of the present invention.

[0030] Figure 9 It is a schematic diagram of the hardware structure of the computer device according to an embodiment of the present invention. Specific embodiments

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] An inclined shaft refers to a tunnel with an inclined angle excavated in a formation in a water conservancy project, a road project, or a drilling project. The inclined shaft can expose the formation structure. Based on further analysis of the formation structure, the inclined shaft can be further excavated to form large-scale tunnels, pipelines, and other structures required by the project. The attitude elements of the structural planes in the inclined shaft are important parameters for the stability review after the excavation of the inclined shaft and the engineering support design. Therefore, the determination of the attitude elements is very important.

[0033] Currently, the method for measuring the attitude elements of the structural planes in an inclined shaft is to send hoisting technicians into the inclined shaft to identify the structural planes and measure the attitude elements. The safety and convenience of this method are limited. At the same time, due to factors such as light sources and human body limitations, the measurement of the attitude elements takes a lot of time, and there will be cases of missing measurement of the structural planes, resulting in low efficiency and accuracy.

[0034] An embodiment of the present invention provides a method for determining the attitude elements of a structural plane. By processing the three-dimensional images of multiple inclined shaft sections of a target inclined shaft, the attitude elements corresponding to the three-dimensional planes of each structural plane are determined, so as to improve the efficiency and accuracy of determining the attitude elements.

[0035] According to an embodiment of the present invention, an embodiment of a method for determining the attitude elements of a structural plane is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0036] In this embodiment, a method for determining the attitude elements of a structural plane is provided, which can be used in a computer device. Figure 1 It is a flowchart of the method for determining the attitude elements of a structural plane according to an embodiment of the present invention. As Figure 1 shown, the process includes the following steps: Step S101: Segment the target inclined shaft to obtain multiple inclined shaft segments, and acquire the reference coordinates of each inclined shaft segment; the reference coordinates of an inclined shaft segment are the coordinates of the geometric center of the upper cross-section of the inclined shaft segment.

[0037] Among them, the target inclined shaft is the inclined shaft for determining the occurrence elements of the structural plane. The cross-sectional shape of the target inclined shaft can be any shape. Exemplarily, the cross-sectional shape of the target inclined shaft can be circular, elliptical, rectangular, horseshoe-shaped, etc. As Figure 2 shown, it is a three-dimensional schematic diagram of the target inclined shaft, Figure 2 which includes an excavation top surface 201, an excavation bottom surface 202, and a vertical plane 203. Figure 2 The inclined cylinder in it is the target inclined shaft 204 of the embodiment of the present invention. The discontinuous geological interface existing in the rock mass where the target inclined shaft is located is the structural plane 205. The cross-section of this target inclined shaft 204 is circular, with an inclination angle of 45° to the horizontal plane, a radius of 10 meters. The strike of the target inclined shaft 204 is 45° in the northeast direction, and the total advance of the target inclined shaft 204 is 50 meters. It intersects with a horizontal structural plane 205 at a depth of 25 meters of the target inclined shaft 204.

[0038] In some alternative embodiments, segmenting the target inclined shaft to obtain multiple inclined shaft segments and acquiring the reference coordinates of each inclined shaft segment includes: segmenting the target inclined shaft according to whether the inclination angle, azimuth angle, and cross-sectional shape recorded in the inclined shaft construction drawing are consistent to obtain multiple inclined shaft segments; identifying the geometric center of the upper cross-section of each inclined shaft segment and determining the coordinates of the geometric center as the reference coordinates.

[0039] Among them, the inclined shaft construction drawing includes information such as the length, inclination angle, buried depth, cross-sectional shape, and azimuth angle of the target inclined shaft. In the embodiment of the present invention, the target inclined shaft is segmented according to the inclination angle, azimuth angle, and cross-sectional shape recorded in the inclined shaft construction drawing to ensure that the inclination angle, azimuth angle, and cross-sectional shape of each obtained inclined shaft segment are consistent.

[0040] In the embodiment of the present invention, segmenting according to whether the inclination angle, azimuth angle, and cross-sectional shape of the inclined shaft are consistent ensures that the internal characteristics of each inclined shaft segment are unified, avoids the situation of analysis confusion caused by structural differences, and improves the accuracy of subsequent analysis.

[0041] In some alternative embodiments, the geometric center of the upper cross-section of each inclined shaft segment, which can also be called the centroid, reflects the central position of the upper cross-section in space. Exemplarily, if the upper cross-section is rectangular, the geometric center is the intersection of the two diagonals.

[0042] In some alternative embodiments, the process of obtaining the reference coordinates of each inclined well section is as follows: Obtain the cross-sectional shape and dimensions of each inclined well section from the construction drawing of the inclined well. Based on the level control network, determine the reference coordinates according to the cross-sectional shape and dimensions of each inclined well section. Exemplarily, the reference coordinates of a certain inclined well section are (100, 100, 100).

[0043] Among them, based on the level control network, determining the reference coordinates according to the cross-sectional shape and dimensions of each inclined well section includes: Using known points of the level control network as a reference, and according to the cross-sectional shape and dimensions of each inclined well section, measuring the reference coordinates using equipment such as total station.

[0044] In some alternative embodiments, based on the level control network, determining the reference coordinates according to the cross-sectional shape and dimensions of each inclined well section includes: By obtaining the measured angles and distances, combining the known points of the level control network, the cross-sectional shape and dimensions of each inclined well section, calculating the reference coordinates.

[0045] Step S102, obtain three-dimensional images of multiple inclined well sections, and determine a first angle and a second angle according to the three-dimensional images; the first angle is the angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and the second angle is the angle between the projection result and the due north direction.

[0046] In some alternative embodiments, obtaining three-dimensional images of multiple inclined well sections includes: Connecting the geometric centers of the upper cross-sections of multiple inclined well sections to obtain an imaging route; Using a preset three-dimensional image acquisition device to collect images along the imaging route to obtain three-dimensional images.

[0047] Among them, the preset three-dimensional image acquisition device can be a fish-eye camera, a wide-angle camera or a three-dimensional laser scanning device.

[0048] In the embodiments of the present invention, an unmanned device can carry an image acquisition device to collect images along the imaging route. Every time it advances a small distance (for example, the small distance is 0.1 meter), a three-dimensional image of this small distance can be obtained. Continuing to advance can obtain three-dimensional images of each inclined well section.

[0049] In some alternative embodiments, determining the first angle and the second angle according to the three-dimensional image includes: Obtaining the imaging route of the three-dimensional image and the projection result obtained by projecting the imaging route onto the horizontal plane, obtaining the first angle according to the angle between the imaging route and the projection result, and obtaining the second angle according to the angle between the projection result and the due north direction. Exemplarily, the first angle of a certain inclined well section is 45°, and the second angle is 45°.

[0050] Step S103: Unfold the 3D images of multiple inclined shaft sections into a planar display diagram, and determine the 3D polar coordinates of each pixel according to the planar display diagram; the 3D polar coordinates are the coordinates of each pixel in the planar display diagram in a preset 3D polar coordinate system.

[0051] Among them, the preset 3D polar coordinate system can be a cylindrical coordinate system, and the 3D polar coordinates of each pixel can be represented by the cylindrical coordinate system (r, , z 1). r is the radial distance, which represents the straight-line distance from the origin (or reference axis) to the projection of the point on the plane formed by the X-axis and Y-axis in the rectangular coordinate system. is the azimuth angle, which represents the angle of counterclockwise rotation around the Z-axis from the positive direction of the X-axis (or the advancing direction) to the projection of the point on the plane formed by the X-axis and Y-axis, and the unit is radians or degrees. z 1 is the height, which represents the coordinate of the point along the Z-axis.

[0052] The origin of this cylindrical coordinate system is the centroid of the upper cross-section of this section of the tunnel, the positive direction of the Z-axis is along the opposite direction of the centroid of the upper and lower cross-sections, and the cylindrical surface of the coordinate system is the surface that is perpendicular to the assumed plane and passes through the origin.

[0053] In some optional embodiments, unfolding the 3D images of multiple inclined shaft sections into a planar display diagram includes: connecting the geometric centers of the upper cross-section and the lower cross-section of each inclined shaft section to obtain a connection result, and determining the vertical plane perpendicular to the connection result; determining the upper intersection point of the vertical plane and the upper cross-section, and unfolding the 3D image of each inclined shaft section clockwise along the upper intersection point to obtain an initial display diagram; resampling each pixel in the initial display diagram, and numbering and unfolding the resampled pixels to obtain a planar display diagram.

[0054] In some optional embodiments, unfolding the 3D images of multiple inclined shaft sections into a planar display diagram includes: establishing a 3D parameter model for each inclined shaft section of the target inclined shaft, generating continuous cross-sectional contour lines along the axis of the 3D parameter model, and mapping the 3D image to a 2D plane based on the cross-sectional contour lines using a surface unfolding algorithm.

[0055] As Figure 3 shown, it is a schematic diagram of planar display. Figure 3 The planar display diagram of Figure 3 is composed of multiple pixels. The planar display diagram includes a structural plane unfolding area 301, and the upper and lower areas of the structural plane unfolding area 301 are both pixel areas 302. Figure 3 The abscissa of the coordinate system in is the azimuth angle , and the ordinate is the advance . The opposite direction of the ordinate is the advance direction, and the advance direction represents the axis direction in which the working face of the target inclined shaft advances towards the target direction.

[0056] In some alternative embodiments, determining the three-dimensional polar coordinates of each pixel according to the planar display diagram includes: determining the planar rectangular coordinates of each pixel according to the size distribution of each pixel in the planar display diagram; performing data processing and calculation on each pixel in the planar display diagram to convert the planar rectangular coordinates to a preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinates of each pixel.

[0057] Specifically, the position of each pixel is determined according to the size distribution of each pixel in the planar display diagram, the planar rectangular coordinates of each pixel are determined according to the position of each pixel, data processing and calculation are performed on each pixel in the planar display diagram based on the planar rectangular coordinates to obtain the radial distance and azimuth angle corresponding to each pixel; the footage is obtained, and the height is determined by the footage; the three-dimensional polar coordinates are determined according to the radial distance, azimuth angle, and height.

[0058] Among them, for the three-dimensional image obtained by the three-dimensional laser technology, the radial distance and azimuth angle of each pixel can be directly obtained by the instrument sensor, and the radial distance and azimuth angle corresponding to each pixel in the planar display diagram can be obtained by performing coordinate transformation during the resampling process; for the three-dimensional image obtained by camera imaging, the radial distance and azimuth angle corresponding to each pixel can be obtained based on the size of the inclined shaft construction drawing, pixel size, and pixel number through methods such as the cosine theorem and Pythagorean theorem; the height is obtained by the ratio between the number of pixels in the vertical direction and the footage of the inclined shaft section, and the three-dimensional polar coordinates are composed of the radial distance, azimuth angle, and height.

[0059] Step S104, based on the reference coordinates of each inclined shaft section, converting the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first angle and the second angle of each inclined shaft section to obtain a plurality of target coordinates.

[0060] In some alternative embodiments, based on the reference coordinates of each inclined shaft section, converting the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first angle and the second angle of each inclined shaft section to obtain a plurality of target coordinates includes: converting the three-dimensional polar coordinates of each pixel in the planar display diagram of each inclined shaft section to the rectangular coordinate system to obtain the first coordinate; rotating the first coordinate based on the first angle and the second angle to obtain the target rotation coordinate; obtaining a plurality of target coordinates according to the target rotation coordinate and the reference coordinates of each inclined shaft section.

[0061] Specifically, the three-dimensional polar coordinates of each pixel in the planar display diagram of each inclined well section are converted into a spatial rectangular coordinate system to obtain first coordinates; the first coordinates are rotated clockwise by an angle corresponding to the cosine of the first included angle in the first plane around the negative horizontal direction to obtain a plurality of second coordinates; the first plane is a plane formed by the vertical direction and the perpendicular direction in the spatial rectangular coordinate system; the second coordinates are rotated counterclockwise by an angle corresponding to the second included angle in the second plane around the negative perpendicular direction to obtain a plurality of third coordinates (the third coordinates are the target rotation coordinates); the second plane is a plane formed by the horizontal direction and the vertical direction in the spatial rectangular coordinate system; the reference coordinates of each inclined well section are respectively superimposed on the third coordinates of each pixel in the planar display diagram of the corresponding inclined well section to obtain a plurality of target coordinates.

[0062] Step S105, according to the plurality of target coordinates, determine the three-dimensional planes of a plurality of structural planes and the occurrence elements corresponding to the three-dimensional planes of each structural plane.

[0063] In some alternative embodiments, according to the plurality of target coordinates, determining the three-dimensional planes of a plurality of structural planes and the occurrence elements corresponding to the three-dimensional planes of each structural plane includes: extracting the target coordinates corresponding to the pixels belonging to the same structural plane to obtain a set of target coordinates corresponding to each structural plane; fitting the plurality of structural planes according to the set of target coordinates to obtain the three-dimensional planes of the structural planes, so as to determine the occurrence elements according to the three-dimensional planes of the structural planes.

[0064] Among them, the target coordinates related to the same structural plane are marked out and stored in a set, and a set of target coordinates corresponding to each structural plane is obtained; the three-dimensional plane where the target coordinates corresponding to the structural plane with the smallest least square value are located is fitted by a plane fitting method; the intersection line of the three-dimensional plane of the structural plane and the horizontal plane or the horizontal line of the three-dimensional plane of the structural plane is determined as the strike line of the structural plane, and the directions indicated by both ends of the strike line are used as the strike of the structural plane; the straight line perpendicular to the strike line and inclined downward along the structural plane is used as the dip line, and the projection direction of the dip line on the horizontal plane is used as the dip direction, and the dip direction and the strike differ by 90°; the included angle between the dip line and the horizontal line is determined as the dip angle; the occurrence elements are composed of the strike, dip direction, and dip angle. Exemplarily, the height of the structural plane is 82.32 meters, and the occurrence elements: dip direction 0° (horizontal), dip angle 0° (horizontal).

[0065] In the embodiment of the present invention, by extracting the set of target coordinates corresponding to the same structural plane, the data of different structural planes are divided, and the set of target coordinates is fitted to construct a three-dimensional plane to restore the spatial form of the structural plane. Compared with the subjective judgment in the related art, it can more accurately reflect the true distribution of the structural plane. The present invention determines the occurrence elements based on the fitted three-dimensional plane, reduces the error of manual operation, and makes the analyzed occurrence elements more in line with the actual engineering requirements.

[0066] The method for determining the attitude elements of the structural plane provided in this embodiment realizes refined analysis of different inclined shaft segments by segmenting the target inclined shaft to obtain multiple inclined shaft segments and acquiring the reference coordinates of each inclined shaft segment, thereby improving the accuracy of the analysis of the target inclined shaft. The embodiment of the present invention acquires three-dimensional images of multiple inclined shaft segments, and determines a first angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and a second angle between the projection result and the due north direction, providing angular parameters for the analysis of the attitude elements of the structural plane. The present invention unfolds the three-dimensional images of multiple inclined shaft segments into a planar display diagram, determines the three-dimensional polar coordinates of each pixel in a preset three-dimensional polar coordinate system according to the planar display diagram. After unfolding the three-dimensional image into a planar display diagram, it is easier to determine the three-dimensional polar coordinates of each pixel, making the extraction of the coordinates of the pixel in the preset three-dimensional polar coordinate system more convenient. The embodiment of the present invention, based on the reference coordinates of each inclined shaft segment, converts the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first angle and the second angle of each inclined shaft segment to obtain multiple target coordinates, realizing the unification of the structural coordinates and the coordinate system of the actual project. Coordinate transformation is performed based on the reference coordinates, the first angle, and the second angle of the inclined shaft segment to ensure that the target coordinates reflect the position of the structural plane in the actual geographical space, providing a more reliable data basis for the construction of the three-dimensional plane of the structural plane and the determination of the attitude elements. The embodiment of the present invention determines the three-dimensional planes of multiple structural planes and the attitude elements corresponding to the three-dimensional planes of each structural plane according to multiple target coordinates. Compared with the related art, for the cross-section of an inclined shaft of any shape, the embodiment of the present invention can perform attitude element analysis. The automated attitude element analysis of the embodiment of the present invention improves safety, efficiency, and accuracy.

[0067] In this embodiment, a method for determining the attitude elements of a structural plane is provided, which can be used in a computer device. Figure 4 FIG. is a flowchart of another method for determining the attitude elements of a structural plane according to an embodiment of the present invention. As Figure 4 shown, the process includes the following steps: Step S401: Segment the target inclined shaft to obtain multiple inclined shaft segments, and acquire the reference coordinates of each inclined shaft segment; the reference coordinate of the inclined shaft segment is the coordinate of the geometric center of the upper cross-section of the inclined shaft segment. For details, please refer to Figure 1 step S101 of the embodiment shown, which will not be elaborated here.

[0068] Step S402: Acquire three-dimensional images of multiple inclined shaft segments, and determine a first angle and a second angle according to the three-dimensional images; the first angle is the angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and the second angle is the angle between the projection result and the due north direction. For details, please refer to Figure 1 step S402 of the embodiment shown, which will not be elaborated here.

[0069] Step S403: Unfold the 3D images of multiple inclined well sections into a planar display diagram, and determine the 3D polar coordinates of each pixel according to the planar display diagram; the 3D polar coordinates are the coordinates of each pixel in the planar display diagram in a preset 3D polar coordinate system.

[0070] Specifically, the above step S403 includes: Step S4031: Connect the geometric centers of the upper cross-section and the lower cross-section of each inclined well section to obtain a connection result, and determine a vertical plane perpendicular to the connection result.

[0071] Step S4032: Determine the upper intersection point of the vertical plane and the upper cross-section, and unfold the 3D image of each inclined well section clockwise along the upper intersection point to obtain an initial display diagram.

[0072] Among them, the upper intersection point of the vertical plane and the upper cross-section is the intersection point that is higher along the vertical direction among the multiple intersection points of the vertical plane and the upper cross-section.

[0073] Step S4033: Resample each pixel in the initial display diagram, number and unfold the resampled pixels to obtain a planar display diagram, and determine the planar rectangular coordinates of each pixel according to the size distribution of each pixel in the planar display diagram.

[0074] Among them, when resampling each pixel in the initial display diagram, mark the upper intersection point as the first pixel point, number and unfold it clockwise to obtain a planar display diagram. Determine the position of each pixel according to the size distribution of each pixel in the planar display diagram, and determine the planar rectangular coordinates of each pixel according to the position of each pixel.

[0075] Step S4034: Perform data processing and calculation on each pixel in the planar display diagram to convert the planar rectangular coordinates to the preset 3D polar coordinate system to obtain the 3D polar coordinates of each pixel.

[0076] Among them, the process of performing data processing and calculation on each pixel in the planar display diagram is as follows: perform data processing and calculation on each pixel in the planar display diagram based on the planar rectangular coordinates to obtain the radial distance and azimuth angle corresponding to each pixel in the planar display diagram; obtain the footage and determine the height according to the footage; determine the 3D polar coordinates according to the radial distance, azimuth angle, and height.

[0077] Exemplarily, the conversion formula between the cylindrical coordinate system (r, , z 1) and the planar rectangular coordinate ( , ) is:

[0078] Wherein, is the horizontal direction coordinate of the plane rectangular coordinate system, is the vertical direction coordinate of the plane rectangular coordinate system, z 1 is the height, is the sine function, is the cosine function, is the azimuth angle, is the footage.

[0079] In the embodiment of the present invention, the vertical plane and the intersection point are determined by connecting the geometric centers of the upper and lower cross-sections of the inclined well section, providing a geometric reference for the unfolding of the three-dimensional image. The three-dimensional image is unfolded clockwise along the intersection point of the vertical plane and the upper cross-section to ensure that the unfolding direction and path of the initial display image are consistent, restoring the spatial structure of the inclined well section. Pixel resampling and numbering are performed, and the pixel arrangement rule is optimized to make the pixel distribution of the plane display image more uniform and orderly. Through the standardized unfolding and processing process, the data formats of the plane display images of different inclined well sections are unified in the embodiment of the present invention, improving the consistency and reliability of the data in the determination process of the attitude elements of the structural plane.

[0080] Step S404: Based on the reference coordinates of each inclined well section, convert the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first included angle and the second included angle of each inclined well section to obtain a plurality of target coordinates.

[0081] Specifically, the above step S404 includes: Step S4041: Convert the three-dimensional polar coordinates of each pixel in the plane display image of each inclined well section to the space rectangular coordinate system to obtain the first coordinate.

[0082] Wherein, the origin of the three-dimensional polar coordinate is the same as the origin of the rectangular coordinate system, the Z-axis coordinate of the three-dimensional polar coordinate is the same as the Z-axis coordinate of the rectangular coordinate system, the positive direction of the Y-axis of the rectangular coordinate system is the extension direction passing through the origin and the cylindrical surface of the cylindrical coordinate system and intersecting with the upper intersection point of the upper cross-section of the inclined well section, and the positive direction of the X-axis of the rectangular coordinate system is the positive direction of the Y-axis rotated 90° clockwise along the negative direction of the Z-axis. The formula for obtaining the first coordinate is:

[0083] Wherein, is the horizontal direction coordinate of the rectangular coordinate system corresponding to the first coordinate, is the vertical direction coordinate of the rectangular coordinate system corresponding to the first coordinate, z is the vertical direction coordinate of the rectangular coordinate system corresponding to the first coordinate, is the sine function, is the cosine function, is the radial distance, and z1 is the height.

[0084] Step S4042: Rotate the multiple first coordinates in the first plane by an angle corresponding to the cosine of the first angle in the clockwise direction along the negative horizontal direction to obtain multiple second coordinates; the first plane is the plane formed by the vertical direction and the perpendicular direction in the spatial rectangular coordinate system.

[0085] Among them, the origin of the rectangular coordinate system corresponding to the second coordinates is the same as that of the rectangular coordinate system corresponding to the first coordinates. Rotate the multiple first coordinates in the YOZ plane by an angle corresponding to the cosine of the first angle in the clockwise direction along the negative horizontal direction to obtain multiple second coordinates. The formula for obtaining the second coordinates is:

[0086] Among them, is the horizontal direction coordinate of the rectangular coordinate system corresponding to the second coordinates, is the vertical direction coordinate of the rectangular coordinate system corresponding to the second coordinates, is the perpendicular direction coordinate of the rectangular coordinate system corresponding to the second coordinates, is the horizontal direction coordinate of the rectangular coordinate system corresponding to the first coordinates, is the vertical direction coordinate of the rectangular coordinate system corresponding to the first coordinates, is the perpendicular direction coordinate of the rectangular coordinate system corresponding to the first coordinates, is the sine function, is the cosine function, is the first angle.

[0087] Exemplarily, as Figure 5 shown, it is the schematic diagram of the second coordinates. Figure 5 It includes the upper cross-section 501, the excavation top surface 201, the vertical plane 203, the target inclined shaft 204, and the structural plane 205. Figure 5 The second coordinates in are ( , ).

[0088] Step S4043: Rotate the multiple second coordinates in the second plane by an angle corresponding to the second angle in the counterclockwise direction along the negative perpendicular direction to obtain multiple third coordinates; the second plane is the plane formed by the horizontal direction and the vertical direction in the spatial rectangular coordinate system.

[0089] Among them, the origin of the rectangular coordinate system corresponding to the third coordinates is the same as that of the coordinate system corresponding to the second coordinates. Rotate the multiple second coordinates in the X’OY’ plane by an angle corresponding to the second angle in the counterclockwise direction along the negative perpendicular direction to obtain multiple third coordinates. The formula for obtaining the third coordinates is:

[0090] Wherein, is the horizontal coordinate of the rectangular coordinate system corresponding to the third coordinate, is the vertical coordinate of the rectangular coordinate system corresponding to the third coordinate, is the vertical coordinate of the rectangular coordinate system corresponding to the third coordinate, is the horizontal coordinate of the rectangular coordinate system corresponding to the second coordinate, is the vertical coordinate of the rectangular coordinate system corresponding to the second coordinate, is the vertical coordinate of the rectangular coordinate system corresponding to the second coordinate, is the sine function, is the cosine function, is the second included angle.

[0091] Exemplarily, as Figure 6 shown, it is a schematic diagram of the third coordinate, Figure 6 which includes an upper section 501, an excavation top surface 201, an excavation bottom surface 202, a plumb plane 203, a target inclined shaft 204, and a structural plane 205, Figure 6 The third coordinate in , , ).

[0092] Step S4044: Superimpose the reference coordinates of each inclined shaft section with the third coordinates of each pixel in the plane display diagram of the corresponding inclined shaft section to obtain multiple target coordinates.

[0093] Wherein, the formula for obtaining the target coordinates is:

[0094] Wherein, is the horizontal coordinate of the geodetic coordinate system corresponding to the target coordinate, is the vertical coordinate of the geodetic coordinate system corresponding to the target coordinate, is the vertical coordinate of the geodetic coordinate system corresponding to the target coordinate, is the horizontal coordinate of the geodetic coordinate system corresponding to the reference coordinate, is the vertical coordinate of the geodetic coordinate system corresponding to the reference coordinate, is the vertical coordinate of the geodetic coordinate system corresponding to the reference coordinate, is the horizontal coordinate of the rectangular coordinate system corresponding to the third coordinate, is the vertical coordinate of the rectangular coordinate system corresponding to the third coordinate, is the vertical coordinate of the rectangular coordinate system corresponding to the third coordinate.

[0095] Exemplarily, when the plane rectangular coordinates of four pixels in the plane display diagram are (0, -35), ( / 2, -25), ( , -15), (2 , -25); Converting the planar rectangular coordinates to the cylindrical coordinate system, the three-dimensional polar coordinates obtained are (10, 0, -35), (10, / 2, -25), (10, , -15), (10, 2 , -25); Converting the three-dimensional polar coordinates to the space rectangular coordinate system, the first coordinates obtained are (0, 10, -35), (10, 0, -25), (0, -10, -15), (-10, 0, -25); Rotating the first coordinates clockwise by the angle corresponding to the cosine of the first angle in the first plane around the negative horizontal direction, the second coordinates obtained are (0, 31.82, -17.68), (10, 17.68, -17.68), (0, 3.54, -17.68), (-10, 17.68, -17.68); Rotating the second coordinates counterclockwise by the angle corresponding to the second angle in the second plane around the negative vertical direction, the third coordinates obtained are (2.5, 22.5, -17.68), (19.57, 5.43, -17.68), (2.5, 2.5, -17.68), (5.43, 19.57, -17.68); Superimposing the reference coordinates with the third coordinates respectively, the target coordinates obtained are (102.5, 122.5, 82.32), (119.57, 105.43, 82.32), (102.5, 102.5, 82.32), (105.43, 119.57, 82.32).

[0096] Step S405, according to multiple target coordinates, determine the three-dimensional planes of multiple structural planes and the attitude elements corresponding to the three-dimensional planes of each structural plane. For details, please refer to Figure 1 Step S105 of the embodiment shown, which will not be elaborated here.

[0097] In the embodiment of the present invention, the three-dimensional polar coordinates are first converted to the space rectangular coordinate system to establish a unified data processing reference, avoiding errors caused by differences in the initial coordinate systems. Through two rotation operations, the present invention gradually adjusts the coordinate directions to complete the spatial orientation correction of the coordinates in different planes, ensuring that the coordinate directions match the actual geographical spatial orientation. In the embodiment of the present invention, the reference coordinates of the inclined well section are superimposed with the converted third coordinates, improving the matching degree of the coordinate data and engineering applications.

[0098] In this embodiment, a method for determining the attitude elements of a structural plane is provided, which can be used in a computer device, Figure 7 is a flowchart of another method for determining the attitude elements of a structural plane according to the embodiment of the present invention, as Figure 7 shown, and this process includes the following steps: Step S701: Obtain the construction drawing of the target inclined shaft, segment the target inclined shaft according to the dip angle, azimuth angle, and cross-sectional shape of the construction drawing to ensure that the dip angle, dip direction, and cross-sectional shape are consistent in each inclined shaft segment, and determine the reference coordinates of the centroid of the upper cross-section of each inclined shaft segment in the geodetic projection coordinate system. For details, please refer to Figure 1 Step S101 of the embodiment shown, which will not be elaborated here.

[0099] Step S702: Collect images along each inclined shaft segment, perform image precision processing on the collected images to obtain a three-dimensional image, determine the first angle according to the angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and determine the second angle according to the angle between the projection result and the due north direction. For details, please refer to Figure 1 Step S102 of the embodiment shown, which will not be elaborated here.

[0100] Step S703: Unfold the three-dimensional image of each inclined shaft segment and resample each pixel point to obtain the three-dimensional polar coordinates corresponding to each pixel. For details, please refer to Figure 1 Step S103 of the embodiment shown, which will not be elaborated here.

[0101] Step S704: Convert the three-dimensional polar coordinates to the space rectangular coordinate system to obtain the first coordinates. For details, please refer to Figure 1 Step S104 of the embodiment shown, which will not be elaborated here.

[0102] Step S705: Rotate the multiple first coordinates in the first plane clockwise by an angle corresponding to the cosine of the first angle in the negative horizontal direction to obtain multiple second coordinates; the first plane is the plane composed of the vertical direction and the perpendicular direction in the space rectangular coordinate system. For details, please refer to Figure 1 Step S104 of the embodiment shown, which will not be elaborated here.

[0103] Step S706: Rotate the multiple second coordinates counterclockwise by an angle corresponding to the second angle in the negative vertical direction in the second plane to obtain multiple third coordinates; the second plane is the plane composed of the horizontal direction and the vertical direction in the space rectangular coordinate system. For details, please refer to Figure 1 Step S104 of the embodiment shown, which will not be elaborated here.

[0104] Step S707: Superimpose the reference coordinates of each inclined shaft segment with the third coordinates of each pixel in the plane display diagram of the corresponding inclined shaft segment to obtain multiple target coordinates. For details, please refer to Figure 1 Step S104 of the embodiment shown, which will not be elaborated here.

[0105] Step S708, identify multiple point coordinates related to the structural plane among the multiple target coordinates, and fit a three-dimensional plane of the structural plane based on the multiple point coordinates, so as to determine the occurrence elements according to the three-dimensional plane of the structural plane. For details, please refer to Figure 1 Step S105 of the illustrated embodiment, which will not be elaborated here.

[0106] Step S709, construct a structural plane database according to the position, classification, and occurrence elements of the structural plane. Generate a detailed construction report and geological report based on the structural plane database, record the strike, dip, and dip angle of the structural plane, monitor the inclined shaft in real time, and give real-time safety warnings.

[0107] In some alternative embodiments, the fitted structural plane is further identified and classified into types such as rock bedding plane, joint plane, fault plane, contact surface, etc., and a structural plane spatial database is constructed. According to the calculated coordinate values of the structural plane type, each pixel, the inclined shaft, etc., through different legends, three-dimensional visualization is performed in the geodetic rectangular coordinate system, and a three-dimensional display diagram of the inclined shaft and its structural plane can be obtained.

[0108] In some alternative embodiments, during the further excavation and protection project of the inclined shaft, the categories, strikes, dips, and dip angles of the structural planes in the actual project are statistically analyzed. Taking the structural plane spatial database and the spatial position, category, and occurrence elements of the actually excavated structural plane as learning and training samples, with the actually excavated and measured structural plane as the target, training is carried out through a neural network model (such as deep learning, machine learning, etc.), a prediction model for the excavated structural plane is established, and the prediction model is continuously optimized during the continuous excavation process. Based on the finally obtained prediction model, a structural plane database is constructed to store the prediction data.

[0109] In some alternative embodiments, through the statistics and comparison of the spatial position and spatial form of the structural plane, comprehensive comparative analysis of the structural plane is carried out, the strike, dip, and dip angle elements of the structural plane are analyzed, and diagrams such as joint strike / dip rose diagrams, joint equal-density diagrams, and stereographic projection diagrams are formed. According to the text content of the diagrams, detailed construction reports and geological reports are automatically generated.

[0110] In some alternative embodiments, according to the real-time chamber size, shape, and occurrence elements of the structural plane revealed by the excavation of the inclined shaft, the spatial relationship between the inclined shaft section and the intersecting structural plane is revealed through a stereographic projection diagram, the structural anti-slip stability of the inclined shaft is determined in real time. If it is unstable, samples are collected at this place to obtain mechanical parameters, and its stability is further determined through methods such as numerical simulation and physical model tests. If it is unstable, timely warnings are given and support suggestions are put forward.

[0111] In this embodiment, a device for determining the attitude elements of a structural plane is further provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0112] This embodiment provides a device for determining the attitude elements of a structural plane, as Figure 8 shown, including: An inclined shaft segmentation module 801, configured to segment a target inclined shaft to obtain a plurality of inclined shaft segments, and acquire the reference coordinates of each inclined shaft segment; the reference coordinates of the inclined shaft segment are the coordinates of the geometric center of the upper cross-section of the inclined shaft segment.

[0113] An included angle determination module 802, configured to acquire three-dimensional images of a plurality of inclined shaft segments, and determine a first included angle and a second included angle according to the three-dimensional images; the first included angle is the included angle between the imaging line of the three-dimensional image and the projection result obtained by projecting the imaging line onto the horizontal plane, and the second included angle is the included angle between the projection result and the due north direction.

[0114] An image unfolding module 803, configured to unfold the three-dimensional images of a plurality of inclined shaft segments into a planar display diagram, and determine the three-dimensional polar coordinates of each pixel according to the planar display diagram; the three-dimensional polar coordinates are the coordinates of each pixel in the planar display diagram in a preset three-dimensional polar coordinate system.

[0115] A coordinate conversion module 804, configured to convert the three-dimensional polar coordinates of each pixel to the geodetic coordinate system based on the reference coordinates of each inclined shaft segment and according to the first included angle and the second included angle of each inclined shaft segment, to obtain a plurality of target coordinates.

[0116] An attitude element determination module 805, configured to determine the three-dimensional planes of a plurality of structural planes and the attitude elements corresponding to the three-dimensional planes of each structural plane according to the plurality of target coordinates.

[0117] In some alternative implementation manners, the inclined shaft segmentation module 801 includes: An inclined shaft segmentation unit, configured to segment the target inclined shaft according to whether the inclination angle, azimuth angle, and cross-sectional shape recorded in the inclined shaft construction drawing are consistent, to obtain a plurality of inclined shaft segments.

[0118] A reference coordinate determination unit, configured to identify the geometric center of the upper cross-section of each inclined shaft segment, and determine the coordinates of the geometric center as the reference coordinates.

[0119] In some alternative implementation manners, the included angle determination module 802 includes: An imaging route determination unit, configured to connect the geometric centers of the upper cross-sections of a plurality of inclined shaft segments to obtain an imaging route.

[0120] An image acquisition unit, configured to acquire an image along an imaging route by using a preset three-dimensional image acquisition device to obtain a three-dimensional image.

[0121] In some alternative embodiments, the image unfolding module 803 includes: A central connection unit, configured to connect the geometric center of the upper cross-section of each inclined well section to the geometric center of the lower cross-section to obtain a connection result, and determine a vertical plane perpendicular to the connection result.

[0122] An image unfolding unit, configured to determine the upper intersection point of the vertical plane and the upper cross-section, and unfold the three-dimensional image of each inclined well section clockwise along the upper intersection point to obtain an initial display diagram.

[0123] A resampling unit, configured to resample each pixel in the initial display diagram, number and unfold the resampled pixels to obtain a planar display diagram, and determine the planar rectangular coordinates of each pixel according to the size distribution of each pixel in the planar display diagram.

[0124] A data processing unit, configured to perform data processing and calculation on each pixel in the planar display diagram to convert the planar rectangular coordinates to a preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinates of each pixel.

[0125] In some alternative embodiments, the coordinate conversion module 804 includes: A first coordinate conversion unit, configured to convert the three-dimensional polar coordinates of each pixel in the planar display diagram of each inclined well section to a spatial rectangular coordinate system to obtain a first coordinate.

[0126] A second coordinate conversion unit, configured to rotate the plurality of first coordinates clockwise by an angle corresponding to the cosine of a first angle in a first plane in the negative horizontal direction to obtain a plurality of second coordinates; the first plane is a plane composed of the vertical direction and the perpendicular direction in the spatial rectangular coordinate system.

[0127] A third coordinate conversion unit, configured to rotate the plurality of second coordinates counterclockwise by an angle corresponding to a second angle in a second plane in the negative vertical direction to obtain a plurality of third coordinates; the second plane is a plane composed of the horizontal direction and the vertical direction in the spatial rectangular coordinate system.

[0128] A target coordinate determination unit, configured to superimpose the reference coordinates of each inclined well section on the third coordinates of each pixel in the planar display diagram corresponding to the inclined well section to obtain a plurality of target coordinates.

[0129] In some alternative embodiments, the attitude element determination module 805 includes: A coordinate extraction unit, configured to extract target coordinates corresponding to pixels belonging to the same structural plane, so as to obtain a set of target coordinates corresponding to each structural plane.

[0130] An attitude element determination unit, configured to fit multiple structural planes according to the set of target coordinates to obtain a three-dimensional plane of the structural plane, so as to determine attitude elements according to the three-dimensional plane of the structural plane.

[0131] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding above-mentioned embodiments, and will not be elaborated herein.

[0132] The device for determining the attitude elements of the structural plane in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0133] An embodiment of the present invention further provides a computer device having the above-mentioned Figure 8 device for determining the attitude elements of the structural plane shown.

[0134] Please refer to Figure 9 , Figure 9 which is a schematic structural diagram of a computer device provided by an optional embodiment of the present invention. As shown in Figure 9 , the computer device includes: one or more processors 10, a memory 20, and an interface for connecting each component, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 9 In

[0135] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Among them, processor 10 may further include a hardware chip. The above-mentioned hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device may be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0136] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0137] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories may be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0138] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memories.

[0139] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0140] The embodiment of the present invention further provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be processed by such software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium may further include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0141] A part of the present invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the present invention through the operations of the computer. Those skilled in the art should understand that the forms in which computer program instructions exist in a computer-readable medium include but are not limited to source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0142] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for determining the occurrence elements of a structural surface, characterized in that: The method comprises: Segmenting the target inclined well to obtain a plurality of inclined well sections, and obtaining the reference coordinates of each of the inclined well sections; the reference coordinates of the inclined well section are the coordinates of the geometric center of the upper cross section of the inclined well section; Acquire a plurality of three-dimensional images of the inclined well sections, and determine a first angle and a second angle according to the three-dimensional images; the first angle is the angle between an imaging line of the three-dimensional image and a projection result obtained by projecting the imaging line on a horizontal plane, and the second angle is the angle between the projection result and the true north direction; Expand the three-dimensional images of the plurality of inclined well sections into a plane display diagram, and determine the three-dimensional polar coordinates of each pixel according to the plane display diagram; the three-dimensional polar coordinates are the coordinates of each pixel in the plane display diagram in a preset three-dimensional polar coordinate system; Based on the reference coordinates of each inclined well section, the three-dimensional polar coordinates of each pixel are converted into a geodetic coordinate system according to the first angle and the second angle of each inclined well section to obtain a plurality of target coordinates; According to the multiple target coordinates, the three-dimensional planes of the multiple structural surfaces and the occurrence elements corresponding to the three-dimensional plane of each structural surface are determined.

2. The method according to claim 1, characterized in that: The step of segmenting the target inclined well to obtain a plurality of inclined well sections, and obtaining the reference coordinates of each of the inclined well sections, includes: Segment the target inclined well according to whether the inclination angle, azimuth angle and cross-sectional shape of the target inclined well recorded in the inclined well construction drawing are consistent, to obtain a plurality of the inclined well sections; The geometric center of the upper cross section of each of the inclined well sections is identified, and the coordinates of the geometric center are determined as the reference coordinates.

3. The method according to claim 1 or 2, characterized in that: The step of acquiring the three-dimensional images of the plurality of inclined well sections comprises: Connecting the geometric centers of the upper sections of the plurality of inclined well sections to obtain an imaging route; The three-dimensional image is obtained by using a preset three-dimensional image acquisition device to acquire images along the imaging route.

4. The method according to claim 1 or 2, characterized in that: The step of unfolding the three-dimensional images of the plurality of inclined well sections into a plane display diagram and determining the three-dimensional polar coordinates of each pixel according to the plane display diagram comprises: Connecting the geometric center of the upper section of each inclined well section with the geometric center of the lower section to obtain a connection result, and determining a vertical plane perpendicular to the connection result; Determine the upper intersection point of the vertical plane and the upper cross section, and expand the three-dimensional image of each inclined well section clockwise along the upper intersection point to obtain an initial display image; Resampling each pixel in the initial display image, numbering and expanding the resampled pixels to obtain the plane display image, and determining the plane rectangular coordinates of each pixel according to the size distribution of each pixel in the plane display image; Data processing and calculation are performed on each pixel in the plane display image to convert the plane rectangular coordinates into the preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinates of each pixel.

5. The method according to claim 1 or 2, characterized in that: Based on the reference coordinates of each inclined well section, the three-dimensional polar coordinates of each pixel are converted into a geodetic coordinate system according to the first angle and the second angle of each inclined well section to obtain a plurality of target coordinates, including: Convert the three-dimensional polar coordinates of each pixel in the plane display image of each inclined well section into a spatial rectangular coordinate system to obtain a first coordinate; Rotate the plurality of the first coordinates in a first plane in a negative clockwise direction around the horizontal direction by an angle corresponding to the cosine of the first angle to obtain a plurality of second coordinates; the first plane is a plane consisting of a vertical direction and a perpendicular direction in a spatial rectangular coordinate system; Rotate the plurality of second coordinates in the second plane in a negative counterclockwise direction around the vertical direction by an angle corresponding to the second angle to obtain a plurality of third coordinates; the second plane is a plane consisting of a horizontal direction and a vertical direction in a spatial rectangular coordinate system; The reference coordinates of each inclined well section are respectively superimposed with the third coordinates of each pixel in the plane display image of the corresponding inclined well section to obtain a plurality of target coordinates.

6. The method according to claim 1 or 2, characterized in that: The step of determining the three-dimensional planes of the plurality of structural surfaces and the occurrence elements corresponding to the three-dimensional plane of each structural surface according to the plurality of target coordinates includes: Extract the target coordinates corresponding to the pixels belonging to the same structural surface to obtain a target coordinate set corresponding to each structural surface; A plurality of structural surfaces are fitted according to the target coordinate set to obtain a three-dimensional plane of the structural surface, so as to determine the occurrence element according to the three-dimensional plane of the structural surface.

7. A device for determining the occurrence factor of a structural surface, characterized in that: The device comprises: The inclined well segmentation module is used to segment the target inclined well to obtain multiple inclined well segments, and obtain the reference coordinates of each inclined well segment; the reference coordinates of the inclined well segment are the coordinates of the geometric center of the upper cross section of the inclined well segment; An angle determination module is used to obtain a plurality of three-dimensional images of the inclined well sections, and determine a first angle and a second angle according to the three-dimensional images; the first angle is the angle between an imaging line of the three-dimensional image and a projection result obtained by projecting the imaging line on a horizontal plane, and the second angle is the angle between the projection result and the true north direction; An image expansion module, used to expand the three-dimensional images of the plurality of inclined well sections into a plane display image, and determine the three-dimensional polar coordinates of each pixel according to the plane display image; the three-dimensional polar coordinates are the coordinates of each pixel in the plane display image in a preset three-dimensional polar coordinate system; A coordinate conversion module, configured to convert the three-dimensional polar coordinates of each pixel into a geodetic coordinate system based on the reference coordinates of each inclined well section and according to the first angle and the second angle of each inclined well section to obtain a plurality of target coordinates; The formation element determination module is used to determine the three-dimensional planes of multiple structural surfaces and the formation element corresponding to the three-dimensional plane of each structural surface according to the multiple target coordinates.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for determining the occurrence elements of the structural surface according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for determining the occurrence element of the structural surface according to any one of claims 1 to 6.

10. A computer program product, characterized in that It comprises computer instructions, and the computer instructions are used to make a computer execute the method for determining the occurrence element of the structural surface according to any one of claims 1 to 6.

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