Methods, apparatus, equipment, media, and products for determining the attitude elements of structural planes.

Abstract

This invention relates to the field of attitude element analysis technology, and discloses a method, apparatus, equipment, medium, and product for determining the attitude elements of structural surfaces. The method includes: segmenting a target inclined shaft to obtain multiple inclined shaft segments, and obtaining the reference coordinates of each inclined shaft segment; determining a first included angle and a second included angle based on a three-dimensional image; unfolding the three-dimensional images of the multiple inclined shaft segments into a planar display image, and determining the three-dimensional polar coordinates of each pixel based on the planar display image; transforming the three-dimensional polar coordinates of each pixel to a geodetic coordinate system based on the reference coordinates of each inclined shaft segment and the first and second included angles of each inclined shaft segment, to obtain multiple target coordinates; and determining the three-dimensional planes of multiple structural surfaces and the attitude elements corresponding to the three-dimensional planes of each structural surface based on the multiple target coordinates. This invention improves the efficiency of attitude element determination by processing the three-dimensional images of multiple inclined shaft segments of a target inclined shaft to determine the attitude elements corresponding to the three-dimensional planes of each structural surface.

Description

Technical Field

[0001] This invention relates to the field of attitude element analysis technology, specifically to methods, apparatus, equipment, media, and products for determining the attitude elements of structural surfaces. Background Technology

[0002] An inclined shaft is a tunnel with an inclined angle excavated into the strata during construction projects (such as water conservancy projects, road projects, or drilling projects). Inclined shafts can reveal the excavated strata structure, and based on further analysis of the strata structure, the inclined shaft can be further excavated to analyze structures such as large tunnels and pipelines.

[0003] In an inclined shaft, a structural plane refers to a discontinuous surface with a specific geometric shape and size, cut into the rock mass during the shaft excavation process. The attitude elements of a structural plane describe its spatial location and orientation, primarily including its strike, dip direction, and dip angle. These attitude elements are crucial parameters for stability verification and engineering support design after the shaft has been enlarged.

[0004] The traditional method for determining the attitude elements of the structural surface of an inclined shaft involves hoisting technicians into the shaft to identify the structural surface and measure the attitude elements. However, this method has low safety and consumes a lot 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, apparatus, equipment, medium and product for determining the attitude elements of structural surfaces, so as to solve the problems of low efficiency and accuracy caused by traditional methods for determining the attitude elements of structural surfaces of inclined wells.

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

[0007] This invention segments the target inclined shaft to obtain multiple inclined shaft segments and acquires the reference coordinates of each segment, enabling refined analysis of different inclined shaft segments and improving the accuracy of target inclined shaft analysis. This invention acquires three-dimensional images of multiple inclined shaft segments and determines, based on the three-dimensional images, the first angle between the imaging path of the three-dimensional image and the projection result obtained by projecting the imaging path onto the horizontal plane, and the second angle between the projection result and the due north direction, providing angular parameters for the analysis of the attitude elements of the structural surface. This invention unfolds the three-dimensional images of multiple inclined shaft segments into a planar display diagram. Based on the planar display diagram, it determines the three-dimensional polar coordinates of each pixel in a preset three-dimensional polar coordinate system. 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 pixel coordinates in the preset three-dimensional polar coordinate system more convenient. This invention, based on the reference coordinates of each inclined shaft segment, transforms the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first and second included angles of each inclined shaft segment, obtaining multiple target coordinates. This achieves consistency between the structural coordinates and the actual engineering coordinate system. The coordinate transformation based on the reference coordinates, first and second included angles of the inclined shaft segment ensures that the target coordinates reflect the position of the structural surface in actual geographic space, providing a more reliable data foundation for the construction of the three-dimensional plane of the structural surface and the determination of its attitude elements. Based on multiple target coordinates, this invention determines the three-dimensional planes of multiple structural surfaces and the corresponding attitude elements for each three-dimensional plane. Compared with related technologies, this invention can perform attitude element analysis for cross-sections of inclined shafts of any shape. The automated attitude element analysis of this invention improves safety, efficiency, and accuracy.

[0008] In one optional implementation, the target inclined shaft is segmented to obtain multiple inclined shaft segments, and the reference coordinates of each inclined shaft segment are obtained, including: segmenting the target inclined shaft according to whether the inclination angle, azimuth angle and cross-sectional shape of the target inclined shaft 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] This invention divides the inclined shaft into segments based on whether the dip angle, azimuth angle, and cross-sectional shape are consistent, ensuring that the internal characteristics of each inclined shaft segment are uniform, avoiding analysis confusion caused by structural differences, and improving the accuracy of subsequent analysis.

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

[0011] In one optional implementation, the three-dimensional images of multiple inclined shaft sections are unfolded into a planar display image. The three-dimensional polar coordinates of each pixel are determined based on the planar display image, including: connecting the geometric center of the upper section and the geometric center of the lower section of each inclined shaft section to obtain the connection result, and determining a vertical plane perpendicular to the connection result; determining the upper intersection point of the vertical plane and the upper section, and unfolding the three-dimensional image of each inclined shaft section clockwise along the upper intersection point to obtain an initial display image; resampling each pixel in the initial display image, numbering and unfolding the resampled pixels to obtain the planar display image; and determining the Cartesian coordinates of each pixel based on the size distribution of each pixel in the planar display image; and performing data processing and calculation on each pixel in the planar display image to transform the Cartesian coordinates to a preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinates of each pixel.

[0012] This invention determines the vertical plane and its intersection point by connecting the geometric centers of the upper and lower sections of the inclined shaft segment, providing a geometric reference for the unfolding of the 3D image. The 3D image is unfolded clockwise along the intersection point of the vertical plane and the upper section, ensuring consistency in the unfolding direction and path of the initial display image, restoring the spatial structure of the inclined shaft segment, resampling and numbering pixels, and optimizing pixel arrangement rules to make the pixel distribution of the planar display image more uniform and orderly. Through a standardized unfolding and processing workflow, this invention unifies the data format of planar display images from different inclined shaft segments, improving the consistency and reliability of data in the determination of the attitude elements of structural surfaces.

[0013] In one optional implementation, based on the reference coordinates of each inclined shaft segment, the three-dimensional polar coordinates of each pixel are transformed to a geodetic coordinate system according to the first and second included angles of each inclined shaft segment to obtain multiple target coordinates. This includes: transforming the three-dimensional polar coordinates of each pixel in the planar display image of each inclined shaft segment to a spatial rectangular coordinate system to obtain a first coordinate; rotating the multiple first coordinates in a first plane around the negative direction of the horizontal direction by the angle corresponding to the cosine of the first included angle to obtain multiple second coordinates; the first plane is a plane in the spatial rectangular coordinate system composed of the vertical and perpendicular directions; rotating the multiple second coordinates in a second plane around the negative direction of the vertical direction by the angle corresponding to the second included angle to obtain multiple third coordinates; the second plane is a plane in the spatial rectangular coordinate system composed of the horizontal and vertical directions; and superimposing the reference coordinates of each inclined shaft segment with the third coordinates of each pixel in the planar display image of the corresponding inclined shaft segment to obtain multiple target coordinates.

[0014] This invention first transforms three-dimensional polar coordinates to a spatial rectangular coordinate system, establishing a unified data processing benchmark and avoiding errors caused by differences in the initial coordinate system. Through two rotation operations, the invention gradually adjusts the coordinate direction, enabling spatial orientation correction in different planes and ensuring that the coordinate direction matches the actual geographic spatial orientation. This invention also superimposes the reference coordinates of the inclined shaft section with the transformed third coordinate system, improving the matching degree between coordinate data and engineering applications.

[0015] In one optional implementation, determining the three-dimensional planes of multiple structural surfaces and the attitude elements corresponding to the three-dimensional planes of each structural surface based on multiple target coordinates includes: extracting the target coordinates corresponding to pixels belonging to the same structural surface to obtain a set of target coordinates corresponding to each structural surface; fitting the multiple structural surfaces based on the set of target coordinates to obtain the three-dimensional planes of the structural surfaces, so as to determine the attitude elements based on the three-dimensional planes of the structural surfaces.

[0016] This invention extracts the target coordinate set corresponding to the same structural plane to divide the data of different structural planes. It then fits the target coordinate set to construct a three-dimensional plane, reconstructing the spatial morphology of the structural plane. Compared to subjective judgment in related technologies, this invention more accurately reflects the true distribution of structural planes. Furthermore, this invention determines attitude elements based on the fitted three-dimensional plane, reducing errors from human operation and making the analyzed attitude elements more closely match actual engineering needs.

[0017] Secondly, the present invention provides an apparatus for determining the attitude elements of a structural plane, comprising: a deviated shaft segmentation module for segmenting a target deviated shaft to obtain multiple deviated shaft segments, and for acquiring the reference coordinates of each deviated shaft segment; the reference coordinates of the deviated shaft segment are the coordinates of the geometric center of the upper section of the deviated shaft segment; an angle determination module for acquiring three-dimensional images of multiple deviated shaft segments, and determining a first angle and a second angle based on the three-dimensional images; the first angle is the angle between the imaging path of the three-dimensional image and the projection result obtained by projecting the imaging path onto the horizontal plane, and the second angle is the angle between the projection result and the due north direction; image unfolding. The module is used to unfold the 3D images of multiple inclined shaft sections into a planar display map, and determine the 3D polar coordinates of each pixel based on the planar display map; the 3D polar coordinates are the coordinates of each pixel in the planar display map in a preset 3D polar coordinate system; the coordinate transformation module is used to transform the 3D polar coordinates of each pixel to the geodetic coordinate system based on the reference coordinates of each inclined shaft section and according to the first and second included angles of each inclined shaft section, to obtain multiple target coordinates; the attitude element determination module is used to determine the 3D planes of multiple structural surfaces and the attitude elements corresponding to the 3D planes of each structural surface based on the multiple target coordinates.

[0018] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method for determining the occurrence elements of the structural surface described in the first aspect or any corresponding embodiment.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform a method for determining the orientation elements of a structural surface as described in the first aspect or any corresponding embodiment.

[0020] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute a method for determining the occurrence elements of a structural surface as described in the first aspect or any corresponding embodiment. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a method for determining the attitude elements of a structural surface according to an embodiment of the present invention.

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

[0024] Figure 3 This is a schematic diagram showing a planar view according to an embodiment of the present invention.

[0025] Figure 4 This is a flowchart illustrating another method for determining the orientation elements of a structural surface according to an embodiment of the present invention.

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

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

[0028] Figure 7 This is yet another method for determining the orientation elements of structural surfaces according to embodiments of the present invention.

[0029] Figure 8 This is a structural block diagram of an apparatus for determining the orientation elements of a structural surface according to an embodiment of the present invention.

[0030] Figure 9 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] An inclined shaft is a tunnel with an inclined angle excavated into the strata in water conservancy projects, road projects, or drilling projects. Inclined shafts can expose the geological structure, and based on further analysis of the geological structure, the inclined shaft can be further enlarged to form large tunnels, pipelines, and other structures required by the project. The attitude elements of the structural surfaces in the inclined shaft are important parameters for verifying the stability of the enlarged shaft and for designing engineering support; therefore, determining the attitude elements is crucial.

[0033] Currently, the method for measuring the attitude elements of the structural surfaces of inclined shafts involves hoisting technicians into the shaft to identify the structural surfaces and measure the attitude elements. This method has limitations in safety and convenience. Furthermore, due to factors such as light source and human limitations, the measurement of attitude elements requires a significant amount of time and may result in omissions in the measurement of structural surfaces, leading to low efficiency and accuracy.

[0034] This invention provides a method for determining the attitude elements of a structural surface. By processing three-dimensional images of multiple inclined sections of a target inclined well, the attitude elements corresponding to the three-dimensional plane of each structural surface are determined, thereby improving the efficiency and accuracy of the determination of attitude elements.

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

[0036] This embodiment provides a method for determining the attitude features of structural planes, which can be used with computer equipment. Figure 1 This is a flowchart of a method for determining the attitude elements of structural surfaces according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0037] Step S101: Divide the target inclined shaft into segments to obtain multiple inclined shaft segments, and obtain 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 section of the inclined shaft segment.

[0038] The target inclined shaft is the inclined shaft representing the attitude element of the structural surface to be determined. The cross-sectional shape of the target inclined shaft can be arbitrary; for example, the cross-sectional shape of the target inclined shaft can be circular, elliptical, rectangular, horseshoe-shaped, etc. Figure 2 The image shown is a three-dimensional schematic diagram of the target inclined shaft. Figure 2 This includes the top excavation surface 201, the bottom excavation surface 202, and the vertical surface 203. Figure 2 The inclined cylinder in the figure is the target inclined shaft 204 of this invention. The discontinuous geological interface in the rock mass where the target inclined shaft is located is the structural surface 205. The cross-section of the target inclined shaft 204 is circular, with an inclination angle of 45° to the horizontal plane and a radius of 10 meters. The target inclined shaft 204 is oriented in the northeast direction at 45°. The total advance of the target inclined shaft 204 is 50 meters. It intersects with a horizontal structural surface 205 at an advance of 25 meters.

[0039] In some optional implementations, the target inclined shaft is segmented to obtain multiple inclined shaft segments, and the reference coordinates of each inclined shaft segment are obtained, including: segmenting the target inclined shaft according to whether the inclination angle, azimuth angle and cross-sectional shape of the target inclined shaft 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.

[0040] The inclined shaft construction drawing includes information such as the length, inclination angle, burial depth, cross-sectional shape, and azimuth of the target inclined shaft. In this embodiment of the invention, the target inclined shaft is divided into segments based on the inclination angle, azimuth, and cross-sectional shape of the target inclined shaft recorded in the inclined shaft construction drawing, so as to ensure that the inclination angle, azimuth, and cross-sectional shape of each inclined shaft segment are consistent.

[0041] In this embodiment of the invention, the inclined shaft is divided into segments based on whether the dip angle, azimuth angle, and cross-sectional shape are consistent. This ensures that the internal characteristics of each inclined shaft segment are uniform, avoids analysis confusion caused by structural differences, and improves the accuracy of subsequent analysis.

[0042] In some alternative implementations, the geometric center of the upper section of each inclined shaft segment, also known as the centroid, reflects the central position of the upper section in space. For example, if the upper section is rectangular, the geometric center is the intersection of the two diagonals.

[0043] In some optional implementations, the process of obtaining the reference coordinates of each inclined shaft section is as follows: obtain the cross-sectional shape and size of each inclined shaft section from the inclined shaft construction drawing, and determine the reference coordinates based on the leveling control network according to the cross-sectional shape and size of each inclined shaft section. For example, the reference coordinates of a certain inclined shaft section are (100, 100, 100).

[0044] Among them, based on the leveling control network, the reference coordinates are determined according to the cross-sectional shape and size of each inclined shaft section. This includes: using known points of the leveling control network as references, and using equipment such as total stations to measure the reference coordinates according to the cross-sectional shape and size of each inclined shaft section.

[0045] In some optional implementations, based on the leveling control network, the reference coordinates are determined according to the cross-sectional shape and size of each inclined shaft section, including: calculating the reference coordinates by acquiring angle and distance measurements, combined with known points of the leveling control network, and the cross-sectional shape and size of each inclined shaft section.

[0046] Step S102: Obtain three-dimensional images of multiple inclined shaft sections, and determine the first included angle and the second included angle based on the three-dimensional images; the first included 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 included angle is the angle between the projection result and the due north direction.

[0047] In some optional implementations, acquiring three-dimensional images of multiple inclined shaft sections includes: connecting the geometric centers of the upper sections of the multiple inclined shaft sections to obtain an imaging route; and using a preset three-dimensional image acquisition device to acquire images along the imaging route to obtain three-dimensional images.

[0048] The preset 3D image acquisition device can be a fisheye camera, a wide-angle camera, or a 3D laser scanning device.

[0049] In this embodiment of the invention, an unmanned device carrying an image acquisition device can acquire images along the imaging route. Each time it advances a small distance (for example, a small distance of 0.1 meters), a three-dimensional image of that small distance can be obtained. By continuing to advance, a three-dimensional image of each inclined shaft section can be obtained.

[0050] In some optional implementations, determining the first included angle and the second included angle based on the three-dimensional image includes: acquiring the imaging path of the three-dimensional image and the projection result obtained by projecting the imaging path onto the horizontal plane; obtaining the first included angle based on the included angle between the imaging path and the projection result; and obtaining the second included angle based on the included angle between the projection result and the due north direction. For example, the first included angle of a certain inclined shaft section is 45° and the second included angle is 45°.

[0051] Step S103: Unfold the three-dimensional images of multiple inclined shaft sections into a planar display image, and determine the three-dimensional polar coordinates of each pixel based on the planar display image; the three-dimensional polar coordinates are the coordinates of each pixel in the planar display image in a preset three-dimensional polar coordinate system.

[0052] Wherein, the preset three-dimensional polar coordinate system can be a cylindrical coordinate system, then the three-dimensional polar coordinates of each pixel can be represented by a cylindrical coordinate system (r, ...). , z 1) Represented as follows: r is the radial distance, representing the straight-line distance from the origin (or reference axis) to the projection of the point onto the plane formed by the X and Y axes in a rectangular coordinate system. The azimuth angle represents the angle projected onto the plane formed by the X and Y axes from the point rotated counterclockwise around the Z axis in the positive X-axis direction (or the advance direction). The unit is radians or degrees. z 1 represents the height, indicating the coordinates of the point along the Z-axis.

[0053] The origin of this cylindrical coordinate system is the centroid of the upper section of the tunnel. The positive Z-axis is along the opposite direction of the centroids of the upper and lower sections. The cylindrical surface of the coordinate system is a surface that is perpendicular to the assumed plane and passes through the origin.

[0054] In some optional implementations, unfolding the three-dimensional images of multiple inclined shaft sections into a planar display image includes: connecting the geometric center of the upper section and the geometric center of the lower section of each inclined shaft section to obtain the connection result, and determining a vertical plane perpendicular to the connection result; determining the upper intersection point of the vertical plane and the upper section, and unfolding the three-dimensional image of each inclined shaft section clockwise along the upper intersection point to obtain an initial display image; resampling each pixel in the initial display image, and numbering and unfolding the resampled pixels to obtain a planar display image.

[0055] In some alternative implementations, the three-dimensional images of multiple inclined shaft segments are unfolded into a planar display image, including: establishing a three-dimensional parametric model of each inclined shaft segment of the target inclined shaft, generating continuous cross-sectional contour lines along the axis of the three-dimensional parametric model, and mapping the three-dimensional image onto a two-dimensional plane based on the cross-sectional contour lines using a surface unfolding algorithm.

[0056] like Figure 3 The image shown is a two-dimensional schematic diagram. Figure 3 The planar display image is composed of multiple pixels. The planar display image includes a structural surface unfolded area 301, and the upper and lower areas of the structural surface unfolded area 301 are pixel areas 302. Figure 3 The x-coordinate of the coordinate system in the figure is the azimuth angle. The vertical axis represents the advance. The opposite direction of the vertical axis is the advance direction, which indicates the axial direction of the target inclined shaft excavation work face towards the target direction.

[0057] In some optional implementations, determining the three-dimensional polar coordinates of each pixel based on the planar display image includes: determining the Cartesian coordinates of each pixel based on the size distribution of each pixel in the planar display image; and performing data processing and calculation on each pixel in the planar display image to transform the Cartesian coordinates to a preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinates of each pixel.

[0058] Specifically, based on the size distribution of each pixel in the planar display image, the position of each pixel is determined. Based on the position of each pixel, the Cartesian coordinates of each pixel are determined. Based on the Cartesian coordinates, data processing and calculation are performed on each pixel in the planar display image to obtain the radial distance and azimuth angle corresponding to each pixel. The advance measurement is obtained, and the advance measurement determines the height. Based on the radial distance, azimuth angle, and height, the three-dimensional polar coordinates are determined.

[0059] For 3D images acquired using 3D laser technology, the radial distance and azimuth of each pixel can be directly obtained from the instrument sensor. During resampling, a coordinate system transformation can be performed to obtain the radial distance and azimuth of each pixel in the planar display image. For 3D images acquired by camera imaging, the radial distance and azimuth of each pixel can be obtained based on the dimensions, pixel dimensions, and pixel numbers of the inclined shaft construction drawing, using methods such as the cosine theorem and the Pythagorean theorem. The height is obtained by the ratio between the number of pixels in the vertical direction and the advance of the inclined shaft section. The radial distance, azimuth, and height form a three-dimensional polar coordinate system.

[0060] Step S104: Based on the reference coordinates of each inclined shaft segment, the three-dimensional polar coordinates of each pixel are transformed to the geodetic coordinate system according to the first and second included angles of each inclined shaft segment to obtain multiple target coordinates.

[0061] In some optional implementations, based on the reference coordinates of each inclined shaft segment, the three-dimensional polar coordinates of each pixel are transformed to a geodetic coordinate system according to the first and second included angles of each inclined shaft segment to obtain multiple target coordinates, including: transforming the three-dimensional polar coordinates of each pixel in the planar display image of each inclined shaft segment to a rectangular coordinate system to obtain a first coordinate; rotating the first coordinate based on the first and second included angles to obtain target rotation coordinates; and obtaining multiple target coordinates according to the target rotation coordinates and the reference coordinates of each inclined shaft segment.

[0062] Specifically, the three-dimensional polar coordinates of each pixel in the planar display image of each inclined shaft segment are transformed into a spatial rectangular coordinate system to obtain the first coordinates; multiple first coordinates are rotated clockwise around the negative horizontal direction in the first plane by the angle corresponding to the cosine of the first included angle to obtain multiple second coordinates; the first plane is a plane in the spatial rectangular coordinate system composed of the vertical and perpendicular directions; multiple second coordinates are rotated counterclockwise around the negative vertical direction in the second plane by the angle corresponding to the second included angle to obtain multiple third coordinates (the third coordinates are the target rotation coordinates); the second plane is a plane in the spatial rectangular coordinate system composed of the horizontal and vertical directions; the reference coordinates of each inclined shaft segment are superimposed with the third coordinates of each pixel in the planar display image of the corresponding inclined shaft segment to obtain multiple target coordinates.

[0063] Step S105: Based on multiple target coordinates, determine the three-dimensional planes of multiple structural surfaces and the attitude elements corresponding to the three-dimensional planes of each structural surface.

[0064] In some optional implementations, determining the three-dimensional planes of multiple structural surfaces and the attitude elements corresponding to the three-dimensional planes of each structural surface based on multiple target coordinates includes: extracting the target coordinates corresponding to pixels belonging to the same structural surface to obtain a set of target coordinates corresponding to each structural surface; fitting the multiple structural surfaces based on the set of target coordinates to obtain the three-dimensional planes of the structural surfaces, so as to determine the attitude elements based on the three-dimensional planes of the structural surfaces.

[0065] Specifically, the target coordinates related to the same structural plane are identified and stored in a set to obtain the target coordinate set corresponding to each structural plane; the three-dimensional plane containing the target coordinates of the structural plane with the smallest least squares value is fitted using a plane fitting method; the intersection 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 pointed to by the two ends of the strike line are taken as the strike of the structural plane; the straight line perpendicular to the strike line and sloping downward along the structural plane is taken as the dip line, and the projection direction of the dip line on the horizontal plane is taken as the dip direction, which differs from the strike by 90°; the angle between the dip line and the horizontal line is determined as the dip angle; the strike, dip direction, and dip angle constitute the attitude element. For example, the height of the structural plane is 82.32 meters, and the attitude elements are: dip direction 0° (horizontal) and dip angle 0° (horizontal).

[0066] This invention extracts the target coordinate set corresponding to the same structural plane to divide the data of different structural planes. The target coordinate set is then fitted to construct a three-dimensional plane, restoring the spatial morphology of the structural plane. Compared to subjective judgment in related technologies, this method more accurately reflects the true distribution of structural planes. This invention determines attitude elements based on the fitted three-dimensional plane, reducing errors from human operation and making the analyzed attitude elements more closely match actual engineering needs.

[0067] The method for determining the attitude elements of structural surfaces provided in this embodiment divides the target inclined well into multiple inclined well segments and obtains the reference coordinates of each inclined well segment, thereby achieving refined analysis of different inclined well segments and improving the accuracy of the target inclined well analysis. This embodiment acquires three-dimensional images of multiple inclined well segments and determines, based on the three-dimensional images, the first angle between the imaging path of the three-dimensional image and the projection result obtained by projecting the imaging path onto the horizontal plane, and the second angle between the projection result and the due north direction, providing angular parameters for the analysis of the attitude elements of structural surfaces. This invention unfolds the three-dimensional images of multiple inclined well segments into a planar display diagram. Based on the planar display diagram, the three-dimensional polar coordinates of each pixel in a preset three-dimensional polar coordinate system are determined. 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 pixel coordinates in the preset three-dimensional polar coordinate system more convenient. This invention, based on the reference coordinates of each inclined shaft segment, transforms the three-dimensional polar coordinates of each pixel to the geodetic coordinate system according to the first and second included angles of each inclined shaft segment, obtaining multiple target coordinates. This achieves consistency between the structural coordinates and the actual engineering coordinate system. The coordinate transformation based on the reference coordinates, first and second included angles of the inclined shaft segment ensures that the target coordinates reflect the position of the structural surface in actual geographic space, providing a more reliable data foundation for constructing the three-dimensional plane of the structural surface and determining its attitude elements. Based on multiple target coordinates, this invention determines the three-dimensional planes of multiple structural surfaces and the corresponding attitude elements for each three-dimensional plane. Compared with related technologies, this invention can perform attitude element analysis for cross-sections of inclined shafts of any shape. The automated attitude element analysis of this invention improves safety, efficiency, and accuracy.

[0068] This embodiment provides a method for determining the attitude features of structural planes, which can be used with computer equipment. Figure 4 This is a flowchart of another method for determining the attitude elements of structural surfaces according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps:

[0069] Step S401: Divide the target inclined shaft into multiple inclined shaft segments, and obtain 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 section of the inclined shaft segment. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0070] Step S402: Acquire 3D images of multiple inclined shaft sections, and determine a first angle and a second angle based on the 3D images; the first angle is the angle between the imaging path of the 3D image and the projection result obtained by projecting the imaging path 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 1Step S402 of the illustrated embodiment will not be described again here.

[0071] Step S403: Unfold the three-dimensional images of multiple inclined shaft sections into a planar display image, and determine the three-dimensional polar coordinates of each pixel based on the planar display image; the three-dimensional polar coordinates are the coordinates of each pixel in the planar display image in a preset three-dimensional polar coordinate system.

[0072] Specifically, step S403 includes:

[0073] Step S4031: Connect the geometric center of the upper section and the geometric center of the lower section of each inclined shaft segment to obtain the connection result, and determine the vertical plane perpendicular to the connection result.

[0074] Step S4032: Determine the upper intersection point of the vertical plane and the upper section, and unfold the three-dimensional image of each inclined shaft section clockwise along the upper intersection point to obtain the initial display image.

[0075] Among them, the upper intersection point of the vertical plane and the upper section is the intersection point that is higher in the vertical direction among the multiple intersection points of the vertical plane and the upper section.

[0076] Step S4033: Resample each pixel in the initial display image, number and expand the resampled pixels to obtain a planar display image, and determine the Cartesian coordinates of each pixel based on the size distribution of each pixel in the planar display image.

[0077] In this process, each pixel in the initial display image is resampled, the intersection point is marked as the first pixel, and the pixels are numbered and expanded clockwise to obtain a planar display image. Based on the size distribution of each pixel in the planar display image, the position of each pixel is determined, and based on the position of each pixel, the Cartesian coordinates of each pixel are determined.

[0078] Step S4034: Perform data processing and calculation on each pixel in the planar display image to transform the planar rectangular coordinates to a preset three-dimensional polar coordinate system, thereby obtaining the three-dimensional polar coordinates of each pixel.

[0079] The process of data processing and calculation for each pixel in the planar display image is as follows: data processing and calculation are performed on each pixel in the planar display image based on Cartesian coordinates to obtain the radial distance and azimuth angle corresponding to each pixel in the planar display image; the advance measurement is obtained, and the height is determined based on the advance measurement; the three-dimensional polar coordinates are determined based on the radial distance, azimuth angle, and height.

[0080] For example, a cylindrical coordinate system (r, , z 1) and Cartesian coordinates ( , The conversion formula for ) is:

[0081]

[0082] in, The horizontal coordinates are in a Cartesian coordinate system. The vertical coordinates are in a Cartesian coordinate system. z 1 represents the height. It is a sine function. It is a cosine function. It is the azimuth angle. To advance.

[0083] This invention, through its embodiments, determines the vertical plane and intersection point by connecting the geometric centers of the upper and lower sections of the inclined shaft segment, providing a geometric reference for the unfolding of the 3D image. The 3D image is unfolded clockwise along the intersection point of the vertical plane and the upper section, ensuring consistency in the unfolding direction and path of the initial display image, restoring the spatial structure of the inclined shaft segment, resampling and numbering pixels, and optimizing pixel arrangement rules to make the pixel distribution of the planar display image more uniform and orderly. This invention, through standardized unfolding and processing procedures, unifies the data format of planar display images for different inclined shaft segments, improving the consistency and reliability of data during the determination of the attitude elements of structural surfaces.

[0084] Step S404: Based on the reference coordinates of each inclined shaft segment, the three-dimensional polar coordinates of each pixel are transformed to the geodetic coordinate system according to the first and second included angles of each inclined shaft segment to obtain multiple target coordinates.

[0085] Specifically, step S404 includes:

[0086] Step S4041: Transform the three-dimensional polar coordinates of each pixel in the planar display image of each inclined shaft section to a spatial rectangular coordinate system to obtain the first coordinates.

[0087] In this system, the origin of the three-dimensional polar coordinate system is the same as the origin of the rectangular coordinate system. The Z-axis coordinate of the three-dimensional polar coordinate system is the same as the Z-axis coordinate of the rectangular coordinate system. The positive Y-axis of the rectangular coordinate system extends from the origin, through the cylindrical surface of the cylindrical coordinate system, and to the upper intersection point of the inclined shaft section. The positive X-axis of the rectangular coordinate system is the positive Y-axis rotated 90° clockwise along the negative Z-axis. The formula for obtaining the first coordinate is:

[0088]

[0089] in, The first coordinate corresponds to the horizontal coordinate in the Cartesian coordinate system. Let be the vertical coordinate of the Cartesian coordinate system corresponding to the first coordinate. z The first coordinate is the vertical coordinate in the Cartesian coordinate system. It is a sine function. It is a cosine function. z1 is the radial distance, and z2 is the height.

[0090] Step S4042: Rotate multiple first coordinates in the first plane around the negative direction of the horizontal direction by the angle corresponding to the cosine of the first included angle to obtain multiple second coordinates; the first plane is a plane composed of the vertical direction and the perpendicular direction in the spatial rectangular coordinate system.

[0091] The origin of the rectangular coordinate system corresponding to the second coordinate is the same as the origin of the rectangular coordinate system corresponding to the first coordinate. Multiple first coordinates are rotated clockwise in the negative horizontal direction within the YOZ plane by a first included angle. The angle corresponding to the cosine of the given coordinates is used to obtain multiple second coordinates. The formula for obtaining the second coordinate is:

[0092]

[0093] in, The second coordinate is the horizontal coordinate in the Cartesian coordinate system. The vertical coordinates of the Cartesian coordinate system corresponding to the second coordinate are... The coordinates are the vertical coordinates in the Cartesian coordinate system corresponding to the second coordinate. The first coordinate corresponds to the horizontal coordinate in the Cartesian coordinate system. Let be the vertical coordinate of the Cartesian coordinate system corresponding to the first coordinate. The first coordinate is the vertical coordinate in the Cartesian coordinate system. It is a sine function. It is a cosine function. This is the first included angle.

[0094] For example, such as Figure 5 The image shown is a schematic diagram of the second coordinate system. Figure 5 This includes the upper section 501, the excavation top surface 201, the vertical surface 203, the target inclined shaft 204, and the structural surface 205. Figure 5 The second coordinate in is ( , , ).

[0095] Step S4043: Rotate multiple second coordinates counterclockwise around the negative vertical direction in the second plane by the angle corresponding to the second included angle to obtain multiple third coordinates; the second plane is a plane composed of the horizontal and vertical directions in the spatial rectangular coordinate system.

[0096] The origin of the rectangular coordinate system corresponding to the third coordinate is the same as the origin of the coordinate system corresponding to the second coordinate. Multiple second coordinates are rotated counterclockwise by a second included angle in the X'OY' plane around the negative vertical direction. The corresponding angle yields multiple third coordinates. The formula for obtaining the third coordinate is:

[0097]

[0098] in, The third coordinate is the horizontal coordinate in the Cartesian coordinate system. The vertical coordinates of the Cartesian coordinate system corresponding to the third coordinate are... The third coordinate is the vertical coordinate in the Cartesian coordinate system. The second coordinate is the horizontal coordinate in the Cartesian coordinate system. The vertical coordinates of the Cartesian coordinate system corresponding to the second coordinate are... The coordinates are the vertical coordinates in the Cartesian coordinate system corresponding to the second coordinate. It is a sine function. It is a cosine function. This is the second included angle.

[0099] For example, such as Figure 6 The image shown is a schematic diagram of the third coordinate system. Figure 6 This includes the upper section 501, the top excavation surface 201, the bottom excavation surface 202, the vertical surface 203, the target inclined shaft 204, and the structural surface 205. Figure 6 The third coordinate in is ( , , ).

[0100] Step S4044: The reference coordinates of each inclined shaft segment are superimposed with the third coordinate of each pixel in the planar display image of the corresponding inclined shaft segment to obtain multiple target coordinates.

[0101] The formula for obtaining the target coordinates is:

[0102]

[0103] in, The target coordinates are the horizontal coordinates in the geodetic coordinate system. These are the vertical coordinates in the geodetic coordinate system corresponding to the target coordinates. These are the vertical coordinates in the geodetic coordinate system corresponding to the target coordinates. These are the horizontal coordinates in the geodetic coordinate system corresponding to the reference coordinates. These are the vertical coordinates in the geodetic coordinate system corresponding to the reference coordinates. These are the vertical coordinates in the geodetic coordinate system corresponding to the reference coordinates. The third coordinate is the horizontal coordinate in the Cartesian coordinate system. The vertical coordinates of the Cartesian coordinate system corresponding to the third coordinate are... The coordinates are the vertical coordinates of the Cartesian coordinate system corresponding to the third coordinate.

[0104] For example, when the four pixels of the planar display image have Cartesian coordinates of (0, -35), ( / 2, -25), ( (-15), (2) Transforming the Cartesian coordinates to the cylindrical coordinate system, we obtain the three-dimensional polar coordinates as (10, 0, -35), (10, -25); / 2, -25), (10, (-15), (10,2) Transforming the three-dimensional polar coordinates to a spatial rectangular coordinate system, the first coordinates are (0, 10, -35), (10, 0, -25), (0, -10, -15), (-10, 0, -25); rotating the first coordinates clockwise around the negative horizontal direction in the first plane by the cosine of the first included angle, the second coordinates 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 clockwise around the negative horizontal direction in the second plane by the angle corresponding to the cosine of the first included angle, the second coordinates 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 clockwise around the negative horizontal direction in the second plane by the vertical direction... Rotate the second included angle counterclockwise in the negative direction to obtain the third coordinates as (2.5, 22.5, -17.68), (19.57, 5.43, -17.68), (2.5, 2.5, -17.68), (5.43, 19.57, -17.68); superimpose the reference coordinates with the third coordinates to obtain the target coordinates as (102.5, 122.5, 82.32), (119.57, 105.43, 82.32), (102.5, 102.5, 82.32), (105.43, 119.57, 82.32).

[0105] Step S405: Based on multiple target coordinates, determine the three-dimensional planes of multiple structural surfaces and the attitude features corresponding to the three-dimensional planes of each structural surface. For details, please refer to [link to relevant documentation]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0106] This invention first transforms the three-dimensional polar coordinates to a spatial rectangular coordinate system, establishing a unified data processing benchmark and avoiding errors caused by differences in the initial coordinate system. Through two rotation operations, the coordinate direction is gradually adjusted, enabling spatial orientation correction in different planes and ensuring that the coordinate direction matches the actual geographic spatial orientation. This invention also superimposes the reference coordinates of the inclined shaft section with the transformed third coordinates, improving the matching degree between coordinate data and engineering applications.

[0107] This embodiment provides a method for determining the attitude features of structural planes, which can be used with computer equipment. Figure 7 This is a flowchart of another method for determining the attitude elements of a structural surface according to an embodiment of the present invention, such as... Figure 7 As shown, the process includes the following steps:

[0108] Step S701: Obtain the construction drawing of the target inclined shaft and segment the target inclined shaft according to the dip angle, azimuth angle, and cross-sectional shape of the construction drawing. 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 illustrated embodiment will not be described again here.

[0109] Step S702: Image acquisition is performed along each inclined shaft section. The acquired images undergo image precision processing to obtain a 3D image. Based on the angle between the imaging path of the 3D image and the projection result obtained by projecting the imaging path onto the horizontal plane, a first angle is determined. Based on the angle between the projection result and the due north direction, a second angle is determined. For details, please refer to [link to details]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0110] Step S703 involves unfolding the 3D image of each inclined shaft section and resampling each pixel to obtain the 3D polar coordinates corresponding to each pixel. For details, please refer to [link to details]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0111] Step S704: Transform the three-dimensional polar coordinates to a spatial rectangular coordinate system to obtain the first coordinates. For details, please refer to [link to relevant documentation]. Figure 1 Step S104 of the illustrated embodiment will not be described again here.

[0112] Step S705: Rotate the multiple first coordinates clockwise around the negative horizontal direction within a first plane by the angle corresponding to the cosine of the first included angle to obtain multiple second coordinates; the first plane is a plane in a spatial rectangular coordinate system composed of the vertical and perpendicular directions. For details, please refer to... Figure 1 Step S104 of the illustrated embodiment will not be described again here.

[0113] Step S706: Rotate multiple second coordinates counterclockwise in the negative vertical direction within the second plane by the angle corresponding to the second included angle to obtain multiple third coordinates; the second plane is a plane composed of the horizontal and vertical directions in a spatial rectangular coordinate system. For details, please refer to... Figure 1 Step S104 of the illustrated embodiment will not be described again here.

[0114] Step S707: Overlay the reference coordinates of each inclined shaft segment with the third coordinate of each pixel in the corresponding planar display image of the inclined shaft segment to obtain multiple target coordinates. For details, please refer to [link to relevant documentation]. Figure 1 Step S104 of the illustrated embodiment will not be described again here.

[0115] Step S708 involves identifying multiple point coordinates related to the structural surface among multiple target coordinates, and fitting a three-dimensional plane of the structural surface based on these point coordinates. The attitude elements are then determined based on this three-dimensional plane. For details, please refer to [link to details]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0116] Step S709: Based on the location, classification, and attitude elements of the structural surfaces, construct a structural surface database. Based on the structural surface database, generate detailed construction reports and geological reports, record the strike, dip, and dip angle of the structural surfaces, monitor the inclined shaft in real time, and issue real-time safety warnings.

[0117] In some optional implementations, the fitted structural surfaces are further identified and classified into types such as rock strata, joint surfaces, fault surfaces, and contact surfaces, and a spatial database of structural surfaces is constructed. Based on the calculated structural surface types, the coordinate values ​​of each pixel, and the inclined shaft, a three-dimensional visualization is performed in the geodetic rectangular coordinate system using different legends, thus obtaining a three-dimensional display image of the inclined shaft and its structural surfaces.

[0118] In some optional implementations, during the further excavation and protection of the inclined shaft, the types, orientations, dips, and dip angles of the structural surfaces in the actual project are statistically analyzed. Using the structural surface spatial database and the spatial location, type, and attitude elements of the actual excavated structural surfaces as training samples, and taking the structural surfaces measured during actual excavation as targets, a predictive model for the excavated structural surfaces is established through training using a neural network model (such as deep learning, machine learning, etc.). This predictive model is continuously optimized during the ongoing excavation process. Based on the final predictive model, a structural surface database is constructed, and the predictive data is stored.

[0119] In some optional implementations, by statistically analyzing and comparing the spatial location and spatial morphology of the structural surfaces, a comprehensive comparative analysis of the structural surfaces is conducted. The orientation, dip, and dip angle of the structural surfaces are analyzed, and maps such as joint orientation / dip rose diagrams, joint isodense diagrams, and stereographic projection diagrams are generated. Based on the text content of the maps, detailed construction reports and geological reports are automatically generated.

[0120] In some optional implementations, based on the real-time cavern size, shape, and orientation of the structural surfaces revealed by the enlargement of the inclined shaft, the spatial relationship between the inclined shaft cross section and the intersecting structural surfaces is revealed by stereographic projection. The structural anti-sliding stability of the inclined shaft is determined in real time. If it is unstable, samples are collected at that location to obtain mechanical parameters. Its stability is further determined by methods such as numerical simulation and physical model tests. If it is unstable, an early warning is issued and support suggestions are proposed.

[0121] This embodiment also provides a device for determining the orientation elements of structural surfaces. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0122] This embodiment provides a device for determining the attitude elements of structural planes, such as... Figure 8 As shown, it includes:

[0123] The inclined shaft segmentation module 801 is used to segment the target inclined shaft to obtain multiple inclined shaft segments, and to obtain 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 section of the inclined shaft segment.

[0124] The included angle determination module 802 is used to acquire three-dimensional images of multiple inclined shaft sections and determine a first included angle and a second included angle based on the three-dimensional images. The first included 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 included angle is the angle between the projection result and the due north direction.

[0125] The image unfolding module 803 is used to unfold the three-dimensional images of multiple inclined shaft sections into a planar display image, and determine the three-dimensional polar coordinates of each pixel based on the planar display image; the three-dimensional polar coordinates are the coordinates of each pixel in the planar display image in a preset three-dimensional polar coordinate system.

[0126] The coordinate transformation module 804 is used to transform 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 and second included angles of each inclined shaft segment, so as to obtain multiple target coordinates.

[0127] The attitude element determination module 805 is used to determine the three-dimensional planes of multiple structural surfaces and the attitude elements corresponding to the three-dimensional planes of each structural surface based on multiple target coordinates.

[0128] In some alternative implementations, the inclined shaft segmentation module 801 includes:

[0129] The inclined shaft segmentation unit is used to segment the target inclined shaft according to whether the inclination angle, azimuth angle and cross-sectional shape of the target inclined shaft recorded in the inclined shaft construction drawing are consistent, thus obtaining multiple inclined shaft segments.

[0130] The reference coordinate determination unit is used to identify the geometric center of the upper section of each inclined shaft segment and determine the coordinates of the geometric center as the reference coordinates.

[0131] In some alternative implementations, the included angle determination module 802 includes:

[0132] The imaging route determination unit is used to connect the geometric centers of the upper sections of multiple inclined well segments to obtain the imaging route.

[0133] The image acquisition unit is used to acquire images along the imaging path using a preset 3D image acquisition device to obtain 3D images.

[0134] In some alternative implementations, the image unfolding module 803 includes:

[0135] The center connecting unit is used to connect the geometric center of the upper section and the geometric center of the lower section of each inclined shaft segment to obtain the connection result and determine the vertical plane perpendicular to the connection result.

[0136] The image unfolding unit is used to determine the upper intersection point of the vertical plane and the upper section, and unfolds the three-dimensional image of each inclined shaft section clockwise along the upper intersection point to obtain the initial display image.

[0137] The resampling unit is used to resample each pixel in the initial display image, number and expand the resampled pixels to obtain a planar display image, and determine the Cartesian coordinates of each pixel based on the size distribution of each pixel in the planar display image.

[0138] The data processing unit is used to process and calculate the data of each pixel in the planar display image, so as to transform the planar rectangular coordinates to a preset three-dimensional polar coordinate system and obtain the three-dimensional polar coordinates of each pixel.

[0139] In some alternative implementations, the coordinate transformation module 804 includes:

[0140] The first coordinate transformation unit is used to transform the three-dimensional polar coordinates of each pixel in the planar display of each inclined shaft section to a spatial rectangular coordinate system to obtain the first coordinates.

[0141] The second coordinate transformation unit is used to rotate multiple first coordinates in the first plane around the negative direction of the horizontal direction by the angle corresponding to the cosine of the first included angle to obtain multiple second coordinates; the first plane is a plane composed of the vertical direction and the perpendicular direction in the spatial rectangular coordinate system.

[0142] The third coordinate transformation unit is used to rotate multiple second coordinates counterclockwise around the negative vertical direction in the second plane to obtain multiple third coordinates; the second plane is a plane composed of the horizontal and vertical directions in the spatial rectangular coordinate system.

[0143] The target coordinate determination unit is used to superimpose the reference coordinates of each inclined shaft segment with the third coordinate of each pixel in the planar display image of the corresponding inclined shaft segment to obtain multiple target coordinates.

[0144] In some optional implementations, the attitude element determination module 805 includes:

[0145] The coordinate extraction unit is used to extract the target coordinates corresponding to pixels belonging to the same structural surface, so as to obtain the target coordinate set corresponding to each structural surface.

[0146] The attitude element determination unit is used to fit multiple structural surfaces based on the target coordinate set to obtain a three-dimensional plane of the structural surface, and to determine the attitude elements based on the three-dimensional plane of the structural surface.

[0147] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0148] In this embodiment, the device for determining the orientation elements of the structural plane is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0149] This invention also provides a computer device having the above-described features. Figure 8 A device for determining the orientation elements of the structural plane shown.

[0150] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 9As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 9 Take a processor 10 as an example.

[0151] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0152] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0153] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0154] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0155] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0156] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0157] A portion of this 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 invention through the operation of the computer. Those skilled in the art will 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 executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0158] Although embodiments of the 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 invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method of determining a production element of a structural surface, characterized by, The method comprises: segmenting a target inclined shaft to obtain a plurality of inclined shaft segments, and obtaining a reference coordinate 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; the target inclined shaft is segmented according to whether the inclination, azimuth and cross section shape of the target inclined shaft recorded in the inclined shaft construction drawing are consistent, to obtain a plurality of inclined shaft segments; obtaining a three-dimensional image of a plurality of inclined shaft segments, and determining a first included angle and a second included angle according to the three-dimensional image; 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 on the horizontal plane, and the second included angle is the included angle between the projection result and the north direction; the three-dimensional image of a plurality of inclined shaft segments is obtained by connecting the geometric centers of the upper cross sections of a plurality of inclined shaft segments to obtain an imaging line, and using a preset three-dimensional image acquisition device to acquire images along the imaging line to obtain the three-dimensional image; unfolding the three-dimensional images of a plurality of inclined shaft segments into a plane display image, and determining a three-dimensional polar coordinate of each pixel according to the plane display image; the three-dimensional polar coordinate is the coordinate of each pixel in the plane display image in a preset three-dimensional polar coordinate system; based on the reference coordinate of each inclined shaft segment, converting the three-dimensional polar coordinate of each pixel into a 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; determining a three-dimensional plane of a plurality of structural planes and a three-dimensional plane corresponding to each structural plane according to the plurality of target coordinates.

2. The method of claim 1, wherein, The method comprises: identifying the geometric center of the upper cross section of each inclined shaft segment, and determining the coordinate of the geometric center as the reference coordinate.

3. The method according to claim 1 or 2, characterized in that, The method comprises: connecting the geometric center of the upper cross section and the geometric center of the lower cross section of each inclined shaft segment to obtain a connection result, and determining a vertical plane perpendicular to the connection result; determining the intersection of the vertical plane and the upper cross section, and unfolding the three-dimensional image of each inclined shaft segment along the intersection clockwise to obtain an initial display image; resampling each pixel in the initial display image, numbering and unfolding the resampled pixels to obtain the plane display image, and determining a plane rectangular coordinate of each pixel according to the size distribution of each pixel in the plane display image; performing data processing and calculation on each pixel in the plane display image to convert the plane rectangular coordinate into the preset three-dimensional polar coordinate system to obtain the three-dimensional polar coordinate of each pixel.

4. The method according to claim 1 or 2, characterized in that, The method comprises: Converting the three-dimensional polar coordinates of each pixel in the planar display diagram of each inclined shaft section into a spatial rectangular coordinate system to obtain a first coordinate; Rotating a plurality of the first coordinates in a first plane around a horizontal direction by an angle corresponding to a cosine of the first included angle in a negative clockwise direction to obtain a plurality of second coordinates; the first plane is a plane composed of a vertical direction and a perpendicular direction in the spatial rectangular coordinate system; Rotating a plurality of the second coordinates in a second plane around a vertical direction by an angle corresponding to the second included angle in a negative counterclockwise direction to obtain a plurality of third coordinates; the second plane is a plane composed of a horizontal direction and a vertical direction in the spatial rectangular coordinate system; Superimposing the reference coordinates of each inclined shaft section on the third coordinates of each pixel in the planar display diagram of the corresponding inclined shaft section to obtain a plurality of target coordinates.

5. The method according to claim 1 or 2, characterized in that, The method further includes: Extracting target coordinates corresponding to pixels belonging to the same structure surface to obtain a target coordinate set corresponding to each structure surface; Fitting a plurality of structure surfaces according to the target coordinate set to obtain a three-dimensional plane of the structure surface, and determining the occurrence element corresponding to the three-dimensional plane of each structure surface according to the three-dimensional plane of the structure surface.

6. A device for determining the attitude elements of a structural surface, characterized in that, The device includes: An inclined shaft segmentation module configured to segment a target inclined shaft to obtain a plurality of inclined shaft sections, and obtain reference coordinates of each inclined shaft section; the reference coordinates of the inclined shaft section are coordinates of a geometric center of an upper cross section of the inclined shaft section; the inclined shaft segmentation module includes an inclined shaft segmentation unit configured to segment the target inclined shaft according to an inclination angle, an azimuth angle, and whether cross section shapes are consistent of the target inclined shaft recorded in an inclined shaft construction drawing to obtain a plurality of inclined shaft sections; An included angle determination module configured to obtain three-dimensional images of a plurality of the inclined shaft sections, and determine a first included angle and a second included angle according to the three-dimensional images; the first included angle is an included angle between an imaging route of the three-dimensional images and a projection result of the imaging route in a horizontal plane, and the second included angle is an included angle between the projection result and a north direction; the included angle determination module includes an imaging route determination unit configured to connect geometric centers of upper cross sections of a plurality of inclined shaft sections to obtain an imaging route, and an image acquisition unit configured to acquire images along the imaging route by using a preset three-dimensional image acquisition device to obtain three-dimensional images; An image unfolding module configured to unfold the three-dimensional images of a plurality of the inclined shaft sections into planar display diagrams, and determine three-dimensional polar coordinates of each pixel according to the planar display diagrams; the three-dimensional polar coordinates are coordinates of each pixel in a preset three-dimensional polar coordinate system in the planar display diagrams; 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 shaft section, the first included angle, and the second included angle of each inclined shaft section to obtain a plurality of target coordinates; An occurrence element determination module configured to determine three-dimensional planes of a plurality of structure surfaces and occurrence elements corresponding to the three-dimensional planes of each structure surface according to the plurality of target coordinates.

7. A computer device, characterized by The device includes: An inclined shaft segmentation module configured to segment a target inclined shaft to obtain a plurality of inclined shaft sections, and obtain reference coordinates of each inclined shaft section; the reference coordinates of the inclined shaft section are coordinates of a geometric center of an upper cross section of the inclined shaft section; the inclined shaft segmentation module includes an inclined shaft segmentation unit configured to segment the target inclined shaft according to an inclination angle, an azimuth angle, and whether cross section shapes are consistent of the target inclined shaft recorded in an inclined shaft construction drawing to obtain a plurality of inclined shaft sections; An included angle determination module configured to obtain three-dimensional images of a plurality of the inclined shaft sections, and determine a first included angle and a second included angle according to the three-dimensional images; the first included angle is an included angle between an imaging route of the three-dimensional images and a projection result of the imaging route in a horizontal plane, and the second included angle is an included angle between the projection result and a north direction; the included angle determination module includes an imaging route determination unit configured to connect geometric centers of upper cross sections of a plurality of inclined shaft sections to obtain an imaging route, and an image acquisition unit configured to acquire images along the imaging route by using a preset three-dimensional image acquisition device to obtain three-dimensional images; An image unfolding module configured to unfold the three-dimensional images of a plurality of the inclined shaft sections into planar display diagrams, and determine three-dimensional polar coordinates of each pixel according to the planar display diagrams; the three-dimensional polar coordinates are coordinates of each pixel in a preset three-dimensional polar coordinate system in the planar display diagrams; 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 shaft section, the first included angle, and the second included angle of each inclined shaft section to obtain a plurality of target coordinates; An occurrence element determination module configured to determine three-dimensional planes of a plurality of structure surfaces and occurrence elements corresponding to the three-dimensional planes of each structure surface according to the plurality of target coordinates. The device includes: A memory and a processor which are communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method for determining the attitude element of a structural surface according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to perform the method for determining the attitude element of a structural surface according to any one of claims 1 to 5.

9. A computer program product, characterised in that, The computer readable storage medium stores computer instructions for causing a computer to perform the method for determining the attitude element of a structural surface according to any one of claims 1 to 5.

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