Intelligent planning system and method for abandoned mine restoration based on three-dimensional model

Abstract

The invention discloses an abandoned mine restoration intelligent planning system and method based on a three-dimensional model, and relates to the technical field of mine restoration planning, and the method comprises the steps: carrying out the coordinate system unification of unmanned plane radar data and geological data; performing point cloud registration on the unmanned aerial vehicle radar data, constructing the surface of the abandoned mine to obtain ground model data, and constructing the geology of the abandoned mine based on the geological data of the abandoned mine to obtain geological model data of the abandoned mine; importing the ground model data and the geologic model data into preset three-dimensional software for model fusion to obtain a mine three-dimensional model of the abandoned mine; performing mine restoration planning on the abandoned mine to obtain restoration planning data of the abandoned mine; and obtaining repair planning data, repairing the abandoned mine, evaluating a repair effect of the abandoned mine in combination with the repair target data, and feeding back a repair evaluation result of the abandoned mine to workers.

Description

Technical Field

[0001] The present invention relates to the technical field of mine restoration planning, and in particular to an abandoned mine restoration intelligent planning system and method based on a three-dimensional model. Background Art

[0002] Abandoned mines usually leave behind heavy metals and wastewater, which can lead to soil poisoning and pollution of groundwater and surface water. In addition, because abandoned mines have undergone multiple mining operations, a large number of quarry pits, steep slopes and ponds of varying sizes and shapes are left on the surface of the abandoned mines, causing large areas of the mountain to be exposed, changing the original appearance of the mountain and easily causing a series of safety accidents.

[0003] Therefore, it is particularly important to repair abandoned mines. Conventional planning for the repair of abandoned mines uses very simple data methods, mainly relying on two-dimensional maps measured by manual measurement. It is difficult to fully obtain high-precision three-dimensional terrain, nor can it accurately obtain underground structures. In addition, since various data of abandoned mines are scattered with each other, conventional technical means are difficult to unify these data. This can easily cause the formulated repair plan to be inconsistent with the actual situation of the abandoned mines, which not only wastes a lot of manpower and material resources, but also prevents the abandoned mines from being effectively repaired. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent planning system and method for abandoned mine restoration based on a three-dimensional model to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent planning method for abandoned mine restoration based on a three-dimensional model, the method comprising: Step S100: Obtain drone radar data and geological data of the abandoned mine, obtain coordinate data of the control points of the abandoned mine, and coordinate the drone radar data and geological data. Step S200: performing point cloud registration on the drone radar data, using the registered drone radar data to construct the surface of the abandoned mine to obtain ground model data, constructing the geology of the abandoned mine based on the geological data of the abandoned mine to obtain the geological model data of the abandoned mine, importing the ground model data and the geological model data into a preset 3D software for model fusion to obtain a 3D mine model of the abandoned mine; Step S300: Acquire a three-dimensional mine model, obtain restoration target data of the abandoned mine, perform mine restoration planning on the abandoned mine, and obtain restoration planning data of the abandoned mine; Step S400: Acquire restoration planning data, repair the abandoned mine, and evaluate the restoration effect of the abandoned mine in combination with the restoration target data, and feed back the restoration evaluation results of the abandoned mine to the staff.

[0006] Furthermore, step S100 includes: Step S101: Acquire coordinate data of control points of abandoned mines, wherein the coordinate data are coordinates of the control points in a source coordinate system and a target coordinate system; Step S102: Obtain the coordinate data of each control point of the abandoned mine, and based on the coordinate data of each control point, obtain the parameters of the seven-parameter transformation model, wherein the parameters are translation parameters △X, △Y and △Z, rotation parameter θ X ,θ Y and θ Z , scale factor k; The specific process of obtaining each parameter of the seven-parameter conversion model is as follows: Generate the corresponding control equation for each control point, where the control equation for the i-th control point is: {x i ´-x i =△X+k·x i -θ Z ·y i +θ Y ·z i ,y i ´-y i =△Y+k·y i +θ Z ·x i -θ x ·z i ,z i ´-z i =△Z+k·Z i -θ Y ·x i +θ x ·y i}, where (x i ,y i ,z i ) is the coordinate of the i-th control point in the source coordinate system, (x i ´,y i ´,z i ´) is the coordinate of the i-th control point in the target coordinate system; Get the parameter matrix B=[△X,△Y,△Z,k,θ in the seven-parameter transformation model X ,θ Y ,θ z ] T , obtain the design matrix C and observation vector e of the seven-parameter transformation model; The parameter matrix B is solved using the least squares method, where the specific solution formula is: , And optimize the solved parameter matrix B through the preset optimization tool; Step S103: Obtain the drone radar data and geological data of the abandoned mine, use the seven-parameter transformation model to perform coordinate system one on the drone radar data and the geological data, and transform the coordinates of the point cloud in the drone radar data and the coordinates of the geological points in the geological data into the same coordinate system.

[0007] Furthermore, step S200 includes: Step S201: Obtain the drone radar data passing through coordinate system 1, perform point cloud registration on the drone radar data, and obtain the drone radar data after point cloud registration. The specific registration process is as follows: Preprocess each point cloud in the UAV radar data, obtain the coordinates of each point cloud in the UAV radar data and aggregate them to obtain the source point cloud set P={p γ}, γ = 1, 2, ..., N, where p γ is the coordinate of the i-th point cloud in the source point cloud set P, and N is the total number of point clouds in the source point cloud set; The preprocessing in the above steps is to roughly align the point cloud, thereby reducing the number of iterations required for fine registration and the iteration risk; Step S202: Obtain target point cloud set Q = {q j}, j==1, 2, ..., M, where q j is the coordinate of the i-th point cloud in the target point cloud set Q, and M is the total number of point clouds in the target point cloud set Q; Get the preset feature rotation matrix R' and obtain the objective function L for point cloud registration of UAV radar data: , Among them, q γ is the distance p in the target point cloud set Q γ The coordinates of the nearest point cloud; t is the translation vector; Get the center of mass μ in the source point cloud P p , get the centroid μ of the point cloud corresponding to the source point cloud set P in the target point cloud set Q q , where t = μ q -R´·μ p ; The characteristic rotation matrix R' and translation vector t are continuously solved until the objective function L is minimized; Step S203: De-noising the registered UAV radar data, separating ground points from non-ground points, and triangulating and reconstructing the point cloud of the UAV radar data to obtain a ground model of the abandoned mine. The ground models are aggregated to obtain ground model data of the abandoned mine. Step S204: obtaining geological data of the abandoned mine, preprocessing the geological data, calculating the variogram V'(h) in the geological data, and fitting the variogram V'(h) using a preset fitting model to obtain the fitted theoretical variogram V(h); Use Kriging to estimate the attribute values of unknown points in abandoned mines, and use the grid method to generate a geological model of the abandoned mines. Aggregate the geological models to obtain geological model data. Step S205: obtaining ground model data and geological model data of the abandoned mine, inputting the ground model in the ground model data and the desired geological model in the geological model data into a preset 3D modeling software, fusing the ground model and the geological model to obtain a 3D mine model of the abandoned mine; In the above steps, the point cloud registration of the drone radar data can unify the data obtained by different perspectives, sensors and times in the drone, making the constructed three-dimensional model of the abandoned mine more accurate, thereby making the abandoned mine restoration plan more effective.

[0008] Furthermore, step S300 includes: Step S301: obtaining a three-dimensional model of an abandoned mine and acquiring restoration target data of the abandoned mine; Step S302: Perform mine restoration planning for the abandoned mine to obtain restoration planning data for the abandoned mine. The specific planning process includes: Obtaining a three-dimensional model of the abandoned mine target after restoration from the restoration target data; Step S303: planning the earthwork transportation route and performing a balance constraint on the excavation and filling of the abandoned mine so as to minimize the excavation and filling objective function α of the abandoned mine; Plan the ecological restoration of abandoned mines, obtain the population number of vegetation from the restoration target data, and use the vegetation configuration algorithm to calculate the total planned number of each type of vegetation to be planted; The drainage of abandoned mines is planned, and the design flow of ditches built after the abandoned mine restoration is calculated according to the Manning formula, so that the design flow of each ditch is greater than the preset value in the restoration target data.

[0009] Furthermore, step S400 includes: Step S401: Obtaining restoration planning data of an abandoned mine, repairing the abandoned mine based on the restoration planning data, and obtaining values of various mine indicators of the abandoned mine after restoration; Step S402: Obtaining restoration target data of abandoned mines, and obtaining target values of various mine indicators from the restoration target data; Evaluate the restoration effect of abandoned mines. The specific evaluation process is as follows: Normalize the various mining indicators in the abandoned mines after restoration and the restoration target data, and calculate the mine restoration assessment value F: , Among them, w is the total number of various mining indicators; G y is the target value of the y-th mining indicator in the repair target data; G´ y is the value of the yth mine indicator in the abandoned mine after restoration; Obtain the absolute value of the difference between the value of each mining indicator and the target value to obtain the repair deviation value of each mining indicator; When the restoration assessment value F is less than the preset restoration assessment threshold, it is determined that there is a problem with the restoration of the abandoned mine. When the restoration deviation value of a certain mine indicator is greater than the preset threshold, the certain mine indicator is marked as a marked mine indicator. The marked mine indicators of the abandoned mines in the current cycle are fed back to the staff through the platform. When the restoration assessment value F is greater than or equal to the restoration assessment threshold, the abandoned mine restoration is determined to be completed and feedback is given to the staff through the platform.

[0010] In order to better implement the above method, an abandoned mine restoration intelligent planning system based on a three-dimensional model is also proposed. The system includes a coordinate unification module, a three-dimensional model construction module, a restoration planning module, and a restoration evaluation module. Coordinate unification module, used to unify the UAV radar data and geological data into the same coordinate system; A three-dimensional model construction module is used to construct a three-dimensional model of the abandoned mine based on the drone radar data and geological data to obtain a three-dimensional mine model of the abandoned mine; The restoration planning module is used to obtain the three-dimensional model of the mine, obtain the restoration target data of the abandoned mine, carry out restoration planning for the abandoned mine, and obtain restoration planning data; The restoration assessment module is used to repair abandoned mines according to the restoration planning data, evaluate the restoration effect of abandoned mines in combination with the restoration target data, and feedback the restoration assessment results of abandoned mines to the staff.

[0011] Furthermore, the coordinate unification module includes a model parameter acquisition unit and a coordinate unification unit; A model parameter acquisition unit is used to acquire the coordinate data of the control points of the abandoned mine, and obtain the various parameters of the seven-parameter conversion model by analyzing the coordinate data of the control points; The coordinate unification unit is used to unify the coordinate systems of UAV radar data and geological data according to the seven-parameter transformation model.

[0012] Furthermore, the three-dimensional model construction module includes a mine surface construction unit and a three-dimensional model construction unit; The mine surface construction unit is used to perform point cloud registration on the drone radar data and use the registered drone radar data to construct the surface of the abandoned mine to obtain ground model data; The three-dimensional model construction unit is used to construct the geology of the abandoned mine according to the geological data of the abandoned mine, obtain geological model data, and combine it with the ground model data and use three-dimensional software to perform model fusion to obtain a three-dimensional mine model of the abandoned mine.

[0013] Furthermore, the repair planning module includes a data acquisition unit and a repair planning unit; A data acquisition unit is used to acquire a three-dimensional model of the abandoned mine and to acquire restoration target data of the abandoned mine; The restoration planning unit is used to carry out mine restoration planning for abandoned mines based on the three-dimensional model of the mine and the restoration target data, and obtain restoration planning data for the abandoned mines.

[0014] Further, the repair assessment module includes a repair assessment unit; The restoration evaluation unit is used to repair abandoned mines based on the acquired restoration planning data, evaluate the restoration effect of abandoned mines in combination with the restoration target data, and provide feedback to the staff.

[0015] Compared with the existing technology, the beneficial effects of the present invention are: the present invention realizes the intelligent planning of abandoned mine restoration. In order to construct the three-dimensional model of the abandoned mine more accurately, the drone radar data and geological data of the abandoned mine are used, the coordinate system of the human-machine radar data and the geological data are unified, and the point cloud pairing and fitting models are adopted to process the human-machine radar data and the geological data respectively, so that the constructed three-dimensional model of the abandoned mine is more accurate. In the planning of abandoned mine restoration, planning is carried out from three perspectives: earthwork transportation route, ecological restoration and drainage, so that the restoration is more effective, ensuring that the restored abandoned mine not only changes its morphology, but also its ecosystem is restored. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a method flow chart of an intelligent planning method for abandoned mine restoration based on a three-dimensional model of the present invention; Figure 2 This is a module schematic diagram of an abandoned mine restoration intelligent planning system based on a three-dimensional model of the present invention. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] Example: Figure 1-Figure 2 As shown, the present invention provides a technical solution, an intelligent planning method for abandoned mine restoration based on a three-dimensional model, the method comprising: Step S100: Obtain drone radar data and geological data of the abandoned mine, obtain coordinate data of the control points of the abandoned mine, and coordinate the drone radar data and geological data. Wherein, step S100 includes: Step S101: Acquire coordinate data of control points of abandoned mines, wherein the coordinate data are coordinates of the control points in a source coordinate system and a target coordinate system; Step S102: Obtain the coordinate data of each control point of the abandoned mine, and based on the coordinate data of each control point, obtain the parameters of the seven-parameter transformation model, wherein the parameters are translation parameters △X, △Y and △Z, rotation parameter θ X ,θ Y and θ Z , scale factor k; The specific process of obtaining each parameter of the seven-parameter conversion model is as follows: Generate the corresponding control equation for each control point, where the control equation for the i-th control point is: {x i ´-x i =△X+k·x i -θ Z ·y i +θ Y ·z i ,y i ´-y i =△Y+k·y i +θ Z ·x i -θ x ·z i ,z i ´-z i =△Z+k·Z i -θ Y ·xi +θ x ·y i}, where (x i ,y i ,z i ) is the coordinate of the i-th control point in the source coordinate system, (x i ´,y i ´,z i ´) is the coordinate of the i-th control point in the target coordinate system; Get the parameter matrix B=[△X,△Y,△Z,k,θ in the seven-parameter transformation model X ,θ Y ,θ z ] T , obtain the design matrix C and observation vector e of the seven-parameter transformation model; For example, the design matrix C is specifically: , The observation vector e is specifically: , Among them, (x1, y1, z1) is the coordinate of the first control point in the source coordinate system; (x n ,y n ,z n ) is the coordinate of the n-th control point in the source coordinate system; (x1´, y1´, z1´) is the coordinate of the n-th control point in the target coordinate system; (x n ´,y n ´,z n ´) is the coordinate of the nth control point in the target coordinate system; The parameter matrix B is solved using the least squares method, where the specific solution formula is: , And optimize the solved parameter matrix B through the preset optimization tool; For example, optimization tools can be used using MATLAB; Step S103: Obtain UAV radar data and geological data of the abandoned mine, and use a seven-parameter transformation model to perform coordinate system 1 on the UAV radar data and the geological data, so as to transform the coordinates of the point cloud in the UAV radar data and the coordinates of the geological points in the geological data into the same coordinate system; For example, drone radar data includes the coordinates of the point cloud, ground reflection intensity, number of echoes, etc. For example, geological data include the coordinates, depth, resistivity, lithology, etc. of geological points; For example, the seven-parameter transformation model is used to transform the coordinates (X, Y, Z) of a point cloud in the drone radar data into a coordinate system. The specific formula is: , Among them, R (θ X ,θ Y ,θ Z ) is the rotation matrix of the seven-parameter transformation model, (X´, Y´, Z´) is the coordinate (X, Y, Z) of a point cloud after the coordinate system transformation; Among them, R (θ X ,θ Y ,θ Z ) Specifically: , Step S200: performing point cloud registration on the drone radar data, using the registered drone radar data to construct the surface of the abandoned mine to obtain ground model data, constructing the geology of the abandoned mine based on the geological data of the abandoned mine to obtain the geological model data of the abandoned mine, importing the ground model data and the geological model data into a preset 3D software for model fusion to obtain a 3D mine model of the abandoned mine; Wherein, step S200 includes: Step S201: Obtain the drone radar data passing through coordinate system 1, perform point cloud registration on the drone radar data, and obtain the drone radar data after point cloud registration. The specific registration process is as follows: Preprocess each point cloud in the UAV radar data, obtain the coordinates of each point cloud in the UAV radar data and aggregate them to obtain the source point cloud set P={p γ}, γ = 1, 2, ..., N, where p γ is the coordinate of the i-th point cloud in the source point cloud set P, and N is the total number of point clouds in the source point cloud set; For example, the preprocessing is coarse pairing, which aims to eliminate large-scale deviations between point clouds. The main method is to use FPFH and RANSAC for preliminary alignment; Step S202: Obtain target point cloud set Q = {q j}, j==1, 2, ..., M, where q j is the coordinate of the i-th point cloud in the target point cloud set Q, and M is the total number of point clouds in the target point cloud set Q; Get the preset feature rotation matrix R' and obtain the objective function L for point cloud registration of UAV radar data: , Among them, q γ is the distance p in the target point cloud set Q γ The coordinates of the nearest point cloud; t is the translation vector; Get the center of mass μ in the source point cloud Pp , get the centroid μ of the point cloud corresponding to the source point cloud set P in the target point cloud set Q q , where t = μ q -R´·μ p ; For example, the center of mass μ p The specific formula is: , For example, the center of mass μ q The specific formula is: , The characteristic rotation matrix R' and translation vector t are continuously solved until the objective function L is minimized; Step S203: De-noising the registered UAV radar data, separating ground points from non-ground points, and triangulating and reconstructing the point cloud of the UAV radar data to obtain a ground model of the abandoned mine. The ground models are aggregated to obtain ground model data of the abandoned mine. For example, the ground model acquisition process includes: By simulating the point cloud covered by cloth and separating the ground points according to gravity and reaction forces; Generate a ground model of the abandoned mine using Delaunay triangulation; Step S204: obtaining geological data of the abandoned mine, preprocessing the geological data, calculating the variogram V'(h) in the geological data, and fitting the variogram V'(h) using a preset fitting model to obtain the fitted theoretical variogram V(h); For example, preprocessing includes,processing methods such as denoising; For example, the specific formula of V´(h) is: , Where N(h) is the number of geological points with a spacing of h in the geological data; Z(x i ) is the attribute value of the i-th geological point with a spacing of h in the geological data; Among them, the attribute values include geological attributes such as lithology, mineralization intensity, and soil properties of the i-th geological point; For example, the fitted models include,spherical, exponential or Gaussian models; When the preset fitting model is a spherical model, the theoretical variation function V(h): , Where C0 is the nugget effect in the spherical model, reflecting microscale variation or measurement error; C is the sill value in the spherical model, representing the overall intensity of spatial variation; a is the range in the spherical model, the maximum distance of spatial correlation of attribute values; Use Kriging to estimate the attribute values of unknown points in abandoned mines, and use the grid method to generate a geological model of the abandoned mines. Aggregate the geological models to obtain geological model data. Step S205: obtaining ground model data and geological model data of the abandoned mine, inputting the ground model in the ground model data and the desired geological model in the geological model data into a preset 3D modeling software, fusing the ground model and the geological model to obtain a 3D mine model of the abandoned mine; Step S300: Acquire a three-dimensional mine model, obtain restoration target data of the abandoned mine, perform mine restoration planning on the abandoned mine, and obtain restoration planning data of the abandoned mine; Wherein, step S300 includes: Step S301: obtaining a three-dimensional model of an abandoned mine and acquiring restoration target data of the abandoned mine; For example, the restoration target data includes target values of various mining indicators, safety factors of slopes, and target three-dimensional models; Step S302: Perform mine restoration planning for the abandoned mine to obtain restoration planning data for the abandoned mine. The specific planning process includes: Obtaining a three-dimensional model of the abandoned mine target after restoration from the restoration target data; Step S303: planning the earthwork transportation route and performing a balance constraint on the excavation and filling of the abandoned mine so as to minimize the excavation and filling objective function α of the abandoned mine; For example, the specific formula of the cut-fill objective function α is: , Among them, V i is the volume of the i-th excavation area, V´ j is the volume of the jth fill area; n is the total number of excavation areas in the abandoned mine; m is the total number of fill areas in the abandoned mine; Plan the ecological restoration of abandoned mines, obtain the population number of vegetation from the restoration target data, and use the vegetation configuration algorithm to calculate the total planned number of each type of vegetation to be planted; For example, the total number of planned plantings N for the i-th plant in the repair target data i : , Among them, k i is the competition coefficient of the i-th plant; f i is the proportion of the i-th plant in the plant community; r i is the average crown radius of the i-th plant; C target is the percentage of the canopy projection area of the i-th plant species to the total area of the restoration area after the abandoned mine restoration; Plan the drainage of abandoned mines and calculate the design flow of ditches built after the abandoned mine restoration according to the Manning formula, so that the design flow of each ditch is greater than the preset value in the restoration target data; For example, the design flow Q for the jth ditch is j The calculation formula is: , Where A is the designed water flow area of the j-th ditch; R is the designed hydraulic radius of the j-th ditch; S is the designed hydraulic slope of the j-th ditch; Step S400: Obtain restoration planning data, repair the abandoned mine, and evaluate the restoration effect of the abandoned mine in combination with the restoration target data, and feedback the restoration evaluation results of the abandoned mine to the staff; Wherein, step S400 includes: Step S401: Obtaining restoration planning data of an abandoned mine, repairing the abandoned mine based on the restoration planning data, and obtaining values of various mine indicators of the abandoned mine after restoration; For example, various mining indicators include soil pH, organic matter content, and plant cover; Step S402: Obtaining restoration target data of abandoned mines, and obtaining target values of various mine indicators from the restoration target data; Evaluate the restoration effect of abandoned mines. The specific evaluation process is as follows: Normalize the various mining indicators in the abandoned mines after restoration and the restoration target data, and calculate the mine restoration assessment value F: , Among them, w is the total number of various mining indicators; G y is the target value of the y-th mining indicator in the repair target data; G´ y is the value of the yth mine indicator in the abandoned mine after restoration; Obtain the absolute value of the difference between the value of each mining indicator and the target value to obtain the repair deviation value of each mining indicator; When the restoration assessment value F is less than the preset restoration assessment threshold, it is determined that there is a problem with the restoration of the abandoned mine. When the restoration deviation value of a certain mine indicator is greater than the preset threshold, the certain mine indicator is marked as a marked mine indicator. The marked mine indicators of the abandoned mines in the current cycle are fed back to the staff through the platform. When the restoration assessment value F is greater than or equal to the restoration assessment threshold, the abandoned mine restoration is considered complete and feedback is given to the staff through the platform; In order to better implement the above method, an abandoned mine restoration intelligent planning system based on a three-dimensional model is also proposed. The system includes a coordinate unification module, a three-dimensional model construction module, a restoration planning module, and a restoration evaluation module. Coordinate unification module, used to unify the UAV radar data and geological data into the same coordinate system; A three-dimensional model construction module is used to construct a three-dimensional model of the abandoned mine based on the drone radar data and geological data to obtain a three-dimensional mine model of the abandoned mine; The restoration planning module is used to obtain the three-dimensional model of the mine, obtain the restoration target data of the abandoned mine, carry out restoration planning for the abandoned mine, and obtain restoration planning data; The restoration assessment module is used to restore abandoned mines based on restoration planning data, evaluate the restoration effects of abandoned mines in combination with restoration target data, and provide feedback on the restoration assessment results of abandoned mines to staff; Among them, the coordinate unification module includes a model parameter acquisition unit and a coordinate unification unit; A model parameter acquisition unit is used to acquire the coordinate data of the control points of the abandoned mine, and obtain the various parameters of the seven-parameter conversion model by analyzing the coordinate data of the control points; A coordinate unification unit is used to coordinate the UAV radar data and geological data according to the seven-parameter transformation model; Among them, the three-dimensional model construction module includes a mine surface construction unit and a three-dimensional model construction unit; The mine surface construction unit is used to perform point cloud registration on the drone radar data and use the registered drone radar data to construct the surface of the abandoned mine to obtain ground model data; A three-dimensional model construction unit is used to construct the geology of the abandoned mine based on the geological data of the abandoned mine to obtain geological model data, and combine the ground model data with the three-dimensional software to perform model fusion to obtain a three-dimensional mine model of the abandoned mine; Among them, the repair planning module includes a data acquisition unit and a repair planning unit; A data acquisition unit is used to acquire a three-dimensional model of the abandoned mine and to acquire restoration target data of the abandoned mine; A restoration planning unit is used to carry out mine restoration planning for abandoned mines based on the mine three-dimensional model and restoration target data, and obtain restoration planning data for the abandoned mines; Wherein, the repair assessment module includes a repair assessment unit; The restoration evaluation unit is used to repair abandoned mines based on the acquired restoration planning data, evaluate the restoration effect of abandoned mines in combination with the restoration target data, and provide feedback to the staff.

[0019] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An intelligent planning method for abandoned mine restoration based on a three-dimensional model, characterized in that: The method comprises: Step S100: Acquire drone radar data and geological data of an abandoned mine, acquire coordinate data of control points of the abandoned mine, and coordinate the drone radar data and the geological data. Step S200: performing point cloud registration on the drone radar data, using the registered drone radar data to construct the surface of the abandoned mine to obtain ground model data, constructing the geology of the abandoned mine based on the geological data of the abandoned mine to obtain the geological model data of the abandoned mine, importing the ground model data and the geological model data into a preset three-dimensional software for model fusion to obtain a three-dimensional mine model of the abandoned mine; Step S300: obtaining the three-dimensional model of the mine, obtaining restoration target data of the abandoned mine, performing mine restoration planning on the abandoned mine, and obtaining restoration planning data of the abandoned mine; Step S400: Acquire the restoration planning data, repair the abandoned mine, and evaluate the restoration effect of the abandoned mine in combination with the restoration target data, and feed back the restoration evaluation results of the abandoned mine to the staff.

2. The method for intelligent planning of abandoned mine restoration based on a three-dimensional model according to claim 1 is characterized in that: The step S100 includes: Step S101: Acquire coordinate data of the control point of the abandoned mine, wherein the coordinate data is the coordinates of the control point in the source coordinate system and the target coordinate system; Step S102: Obtain the coordinate data of each control point of the abandoned mine, and based on the coordinate data of each control point, obtain the parameters of the seven-parameter transformation model, wherein each parameter is a translation parameter △X, △Y and △Z, a rotation parameter θ X ,θ Y and θ Z , scale factor k; The specific process of obtaining each parameter of the seven-parameter conversion model is as follows: Generate the corresponding control equation for each control point, where the control equation for the i-th control point is: {x i ´-x i =△X+k·x i -θ Z ·y i +θ Y ·z i ,y i ´-y i =△Y+k·y i +θ Z ·x i -θ x ·z i ,z i ´-z i =△Z+k·Z i -θ Y ·x i +θ x ·y i }, where (x i ,y i ,z i ) is the coordinate of the i-th control point in the source coordinate system, (x i ´,y i ´,z i ´) is the coordinate of the i-th control point in the target coordinate system; Obtain the parameter matrix B=[△X,△Y,△Z,k,θ in the seven-parameter conversion model X ,θ Y ,θ z ] T , obtain the design matrix C and observation vector e of the seven-parameter transformation model; The parameter matrix B is solved using the least squares method, where the specific solution formula is: ， And optimize the parameter matrix B after solution through a preset optimization tool; Step S103: Obtain the drone radar data and geological data of the abandoned mine, use the seven-parameter conversion model to perform coordinate system one on the drone radar data and the geological data, and convert the coordinates of the point cloud in the drone radar data and the coordinates of the geological points in the geological data into the same coordinate system.

3. The method for intelligent planning of abandoned mine restoration based on a three-dimensional model according to claim 2 is characterized in that: The step S200 includes: Step S201: Obtain UAV radar data passing through coordinate system 1, perform point cloud registration on the UAV radar data, and obtain UAV radar data after point cloud registration. The specific registration process is as follows: Each point cloud in the UAV radar data is preprocessed, the coordinates of each point cloud in the UAV radar data are obtained and collected to obtain the source point cloud set P = {p γ }, γ = 1, 2, ..., N, where p γ is the coordinate of the i-th point cloud in the source point cloud set P, and N is the total number of point clouds in the source point cloud set; Step S202: Obtain target point cloud set Q = {q j }, j==1, 2, ..., M, where q j is the coordinate of the i-th point cloud in the target point cloud set Q, and M is the total number of point clouds in the target point cloud set Q; Obtain the preset characteristic rotation matrix R' and obtain the objective function L in the point cloud registration of the UAV radar data: ， Among them, q γ is the distance from the target point cloud set Q to the p γ The coordinates of the nearest point cloud; t is the translation vector; Get the center of mass μ in the source point cloud set P p , obtain the centroid μ of the point cloud corresponding to the source point cloud set P in the target point cloud set Q q , where t = μ q -R´·μ p ; Continuously solving the characteristic rotation matrix R' and the translation vector t until the objective function L is minimized; Step S203: Denoising the registered UAV radar data, separating ground points from non-ground points, and triangulating and reconstructing the point cloud of the UAV radar data to obtain a ground model of the abandoned mine. The ground models are aggregated to obtain ground model data of the abandoned mine. Step S204: obtaining geological data of the abandoned mine, preprocessing the geological data, calculating the variogram V´(h) in the geological data, and fitting the variogram V´(h) using a preset fitting model to obtain a fitted theoretical variogram V(h); Using Kriging to estimate the attribute values of unknown points in the abandoned mine, and using a grid method to generate a geological model of the abandoned mine, and aggregating the geological models to obtain the geological model data; Step S205: Obtain the ground model data and the geological model data of the abandoned mine, input the ground model in the ground model data and the geological model in the geological model data into a preset three-dimensional model software, fuse the ground model and the geological model to obtain a three-dimensional mine model of the abandoned mine.

4. The method for intelligent planning of abandoned mine restoration based on a three-dimensional model according to claim 3 is characterized in that: The step S300 includes: Step S301: obtaining a three-dimensional mine model of the abandoned mine and acquiring restoration target data of the abandoned mine; Step S302: Performing mine restoration planning on the abandoned mine to obtain restoration planning data for the abandoned mine. The specific planning process includes: Acquire a target three-dimensional model of the abandoned mine target after restoration from the restoration target data; Step S303: planning the earthwork transportation route, and performing a balance constraint on the excavation and filling of the abandoned mine, so as to minimize the excavation and filling objective function α of the abandoned mine; Planning the ecological restoration of the abandoned mine, obtaining the population number ζ of vegetation from the restoration target data, and using a vegetation configuration algorithm to calculate the planned total number of various vegetation types to be planted; The drainage of the abandoned mine is planned, and the design flow of the ditches built after the abandoned mine is repaired is calculated according to the Manning formula, so that the design flow of each ditch is greater than the preset value in the repair target data.

5. The method for intelligent planning of abandoned mine restoration based on a three-dimensional model according to claim 4 is characterized in that: The step S400 includes: Step S401: Acquire restoration planning data of the abandoned mine, repair the abandoned mine based on the restoration planning data, and obtain values of various mine indicators of the abandoned mine after restoration; Step S402: Obtain restoration target data of the abandoned mine, and obtain target values of the various mine indicators from the restoration target data; Evaluate the restoration effect of the abandoned mine. The specific evaluation process is as follows: The abandoned mine after restoration and the various mine indicators in the restoration target data are normalized to calculate the restoration assessment value F of the mine: ， Wherein, w is the total number of the mining indicators; G y is the target value of the y-th mining indicator in the repair target data; G´ y is the value of the yth mine indicator in the abandoned mine after restoration; Obtaining the absolute value of the difference between the value of each mining indicator and the target value to obtain the repair deviation value of each mining indicator; When the restoration evaluation value F is less than the preset restoration evaluation threshold, it is determined that there is a problem with the restoration of the abandoned mine. When the restoration deviation value of a certain mine indicator is greater than the preset threshold, the certain mine indicator is marked as a marked mine indicator, and the marked mine indicators of the abandoned mine in the current period are fed back to the staff through the platform; When the restoration evaluation value F is greater than or equal to the restoration evaluation threshold, it is determined that the restoration of the abandoned mine is completed and the restoration is fed back to the staff through the platform.

6. An intelligent planning system for abandoned mine restoration based on a three-dimensional model, used to implement an intelligent planning method for abandoned mine restoration based on a three-dimensional model according to any one of claims 1 to 5, characterized in that: The system includes a coordinate unification module, a three-dimensional model construction module, a restoration planning module, and a restoration assessment module; The coordinate unification module is used to coordinate the UAV radar data and the geological data to unify them into the same coordinate system; The three-dimensional model construction module is used to construct a three-dimensional model of the abandoned mine based on the drone radar data and the geological data to obtain a three-dimensional mine model of the abandoned mine; The restoration planning module is used to acquire a three-dimensional mine model, obtain restoration target data of the abandoned mine, perform restoration planning on the abandoned mine, and obtain restoration planning data; The restoration evaluation module is used to repair the abandoned mine according to the restoration planning data, evaluate the restoration effect of the abandoned mine in combination with the restoration target data, and feed back the restoration evaluation results of the abandoned mine to the staff.

7. The intelligent planning system for abandoned mine restoration based on a three-dimensional model according to claim 6 is characterized in that: The coordinate unification module includes a model parameter acquisition unit and a coordinate unification unit; The model parameter acquisition unit is used to acquire the coordinate data of the control points of the abandoned mine, and acquire the parameters of the seven-parameter conversion model by analyzing the coordinate data of the control points; The coordinate unification unit is used to coordinate the UAV radar data and the geological data according to the seven-parameter conversion model.

8. The intelligent planning system for abandoned mine restoration based on a three-dimensional model according to claim 6 is characterized in that: The three-dimensional model construction module includes a mine surface construction unit and a three-dimensional model construction unit; The mine surface construction unit is used to perform point cloud registration on the drone radar data, and use the registered drone radar data to construct the surface of the abandoned mine to obtain ground model data; The three-dimensional model construction unit is used to construct the geology of the abandoned mine according to the geological data of the abandoned mine, obtain geological model data, and combine the ground model data to perform model fusion using three-dimensional software to obtain a three-dimensional mine model of the abandoned mine.

9. The intelligent planning system for abandoned mine restoration based on a three-dimensional model according to claim 6 is characterized in that: The repair planning module includes a data acquisition unit and a repair planning unit; The data acquisition unit is used to acquire the three-dimensional mine model of the abandoned mine and acquire restoration target data of the abandoned mine; The restoration planning unit is used to carry out mine restoration planning for the abandoned mine according to the three-dimensional mine model and the restoration target data, and obtain restoration planning data for the abandoned mine.

10. The intelligent planning system for abandoned mine restoration based on a three-dimensional model according to claim 6, characterized in that: The repair assessment module includes a repair assessment unit; The restoration evaluation unit is used to repair the abandoned mine according to the acquired restoration planning data, evaluate the restoration effect of the abandoned mine in combination with the restoration target data, and provide feedback to the staff.

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