Three-dimensional real scene geological surveying and mapping method, device, storage medium and equipment

Abstract

The present application relates to a kind of three-dimensional real scene geological surveying and mapping method, device, storage medium and equipment, it is suitable for geological surveying and mapping technical field.The method includes: generating background display window in the background layer of CAD three-dimensional drawing area, the window is opposite the virtual camera of CAD three-dimensional drawing environment, and is used to display the three-dimensional real scene point cloud model of target scene;Real-time acquisition of the position and direction information of virtual camera, and view content is generated based on camera position and direction information;Obtain the screen coordinate point selected by user observation three-dimensional real scene image in background display window, and based on screen coordinate point and the real scene surface triangular net model in background display window, corresponding geological surveying and mapping point is generated in CAD three-dimensional drawing environment;Based on geological surveying and mapping point in CAD three-dimensional drawing environment, preselected geological surveying and mapping tool is combined, and corresponding geological object graph is generated in CAD three-dimensional drawing environment;Based on geological object graph, corresponding geological object information is constructed.

Description

Technical Field

[0001] This invention relates to a three-dimensional real-scene geological mapping method, apparatus, storage medium, and equipment. It is applicable to the field of geological mapping technology. Background Technology

[0002] Geological mapping is the general term for all surveying and mapping work involved in geological investigations and mineral exploration, as well as the compilation of the resulting maps. Through the measurement and analysis of geophysical phenomena, geological mapping identifies and reflects geological conditions and their spatial distribution characteristics, collects and analyzes data, and creates geological maps, providing a scientific basis for resource exploration, engineering design, and construction.

[0003] Traditional geological mapping involves systematically observing, recording, and analyzing surface and subsurface geological features (such as rock strata, structures, minerals, and landforms) through field surveys, remote sensing technology, geophysical and chemical methods, and surveying techniques, and then creating geological maps. Its core objective is to reveal the spatial distribution, formation and evolution patterns, and resource and environmental attributes of geological bodies.

[0004] Traditional geological surveying is divided into two categories based on the work location: 1. Geological fieldwork, which is the main workload. In the field, geologists use measuring tapes, compasses, and surveying instruments to measure the location and shape of the geological site, draw it on drawings, record data, and take samples; 2. Geological officework, which takes place indoors. The field drawings are redrawn into CAD geological maps using CAD, and the data is studied, analyzed, and reported.

[0005] Since the birth of geological science, geological surveying work, even now, has not changed much except for the use of computers for mapping, analysis, calculation, and report writing; its level of digitization is low. Traditional geological surveying operations suffer from the following problems:

[0006] The positioning error is caused by manually estimating the location of the geological surface by visual inspection based on the tape measure (or the on-site measurement and layout stake number). The error often exceeds 0.5m. This is compounded by the error caused by the ±1mm mapping accuracy on the drawing paper (1:200 scale corresponds to ±20cm of the actual location).

[0007] The attitude error is ±5° when the attitude of a geological surface is measured using a geological compass. For many geological surfaces that are difficult to measure directly, the accuracy is even lower when using only a geological compass for remote measurement.

[0008] Using photographs and videos as supplementary data achieves a good reproduction effect, but it is still difficult to restore spatial location information. The entire surveying and mapping process—job preparation -> on-site surveying -> data processing -> submission of results—has a very low degree of digitization, and the accuracy and efficiency are not ideal. Apart from the use of computers to process geological data, there has been little progress in decades.

[0009] Geological surveying is a cumbersome, inefficient, and inaccurate process, and fieldwork often involves harsh or even dangerous environments. Although some geological surveying software and hardware systems have emerged in recent years, they primarily serve auxiliary functions. For example, GPS-assisted positioning and mobile terminals assist in field data recording and mapping do not fundamentally change the traditional geological work model. They merely replace paper and pen with computers and satellite-assisted positioning, offering limited improvements in efficiency and accuracy. Their inconvenience and limited application mean they are not widely adopted. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to provide a three-dimensional real-scene geological mapping method, apparatus, storage medium and equipment to address the above-mentioned problems.

[0011] The technical solution adopted in this invention is: a three-dimensional real-scene geological mapping method, comprising:

[0012] S100. Generate a background display window in the background layer of the CAD 3D drawing area. This background display window faces the virtual camera of the CAD 3D drawing environment and is used to display the 3D real point cloud model of the target scene. Generate a real surface triangular mesh model based on the point cloud model in the 3D real point cloud model.

[0013] S200: Real-time acquisition of the position and orientation information of the virtual camera, and generation of view content based on the camera position and orientation information. The view content includes the background display window and the existing geological object graphics in the CAD 3D drawing environment.

[0014] S300: Obtain the screen coordinates selected by the user observing the three-dimensional real scene image in the background display window, and generate the corresponding geological mapping points in the CAD three-dimensional drawing environment based on the screen coordinates and the real scene surface triangular mesh model in the background display window.

[0015] S400: Based on geological survey points in a CAD 3D drawing environment, and combined with pre-selected geological survey tools, generate corresponding geological object graphics in the CAD 3D drawing environment.

[0016] S500. Based on the geological object graphics, construct corresponding geological object information. This information includes the spatial information of the geological object determined based on the spatial information of the geological object graphics in the CAD 3D drawing environment, as well as the geological object description information entered by the user.

[0017] The positive Z-axis of the coordinate system of the three-dimensional real-world point cloud model displayed in the background display window is the direction of elevation increase, and the positive Y-axis is the known rotation angle α between the true north direction;

[0018] The coordinate system of the 3D real-world point cloud model is consistent with the coordinate system of the 3D CAD drawing environment, and the 3D real-world point cloud model and the 3D CAD drawing environment share the same virtual camera.

[0019] Step S500 includes:

[0020] If the geological object corresponding to the geological mapping tool has an attitude attribute and there are ≥3 geological mapping points, then a triangulation network is formed based on the geological mapping points.

[0021] Calculate the average normal vector of each triangulation network, and then transform the average normal vector into the actual geological occurrence based on the true north direction and superimposed with the true north direction rotation angle α, which is used as the geological occurrence of the geological object.

[0022] The method of generating corresponding geological mapping points in a CAD 3D drawing environment based on screen coordinate points and the real-world surface triangular mesh model in the background display window includes:

[0023] Based on the position and orientation information of the virtual camera, the starting point P0 is determined in the CAD 3D drawing environment;

[0024] Based on the screen coordinates and the position and orientation information of the virtual camera, calculate its spatial coordinates P1 in the CAD 3D drawing environment;

[0025] Determine the ray with P0 as the base point and the P0P1 vector as the direction. The intersection of this ray with the real-world surface triangular mesh model of the target scene in the background display window is the geological mapping point corresponding to the screen coordinate point selected by the user.

[0026] The view content generated based on camera position and orientation information includes a background display window and existing geological object graphics in the CAD 3D drawing environment, including:

[0027] Based on the position and orientation information of the virtual camera, the cloud model data of the 3D real-world point corresponding to the CAD 3D drawing area is downloaded from the cloud server in real time and rendered into an image and displayed in the background display window.

[0028] The view content generated based on camera position and orientation information includes a background display window and drawn geological object graphics in the CAD 3D drawing environment, including:

[0029] Based on the spatial relationship between the real-world surface triangular mesh model corresponding to the 3D real-world point cloud model displayed in the background display window and the geological object graphics drawn in the CAD 3D drawing environment, combined with the position and orientation information of the virtual camera, it is determined whether the real-world surface triangular mesh model covers the geological object graphics, and the uncovered geological object graphics are displayed in the view content.

[0030] The background display window can adjust its shape, size, the range of displayed content, and its position on the view based on the user's window operation requests.

[0031] The background display window can be opened or closed in the CAD 3D drawing area based on the user's window operation request.

[0032] A three-dimensional real-scene geological mapping device, comprising:

[0033] The mapping environment construction module is used to generate a background display window in the background layer of the CAD 3D drawing area. This background display window faces the virtual camera of the CAD 3D drawing environment and is used to display the 3D real point cloud model of the target scene; a real surface triangular mesh model is generated based on the point cloud model in the 3D real point cloud model.

[0034] The camera imaging module is used to acquire the position and orientation information of the virtual camera in real time, and generate view content based on the camera position and orientation information. The view content includes a background display window and existing geological object graphics in the CAD 3D drawing environment.

[0035] The geological mapping point generation module is used to obtain the screen coordinate points selected by the user based on the three-dimensional real scene image in the background display window, and generate the corresponding geological mapping points in the CAD three-dimensional drawing environment based on the screen coordinate points and the real scene surface triangular mesh model in the background display window.

[0036] The geological graphics generation module is used to generate corresponding geological object graphics in the CAD 3D drawing environment based on geological survey points and pre-selected geological survey tools.

[0037] The geological information construction module is used to construct corresponding geological object information based on geological object graphics. This information includes the spatial information of geological objects determined by the spatial information of geological object graphics in the CAD 3D drawing environment, as well as the geological object description information entered by the user.

[0038] A storage medium storing a computer program executable by a processor, wherein the computer program, when executed, implements the three-dimensional real-scene geological mapping method.

[0039] A three-dimensional real-scene geological mapping device has a memory and a processor. The memory stores a computer program that can be executed by the processor. When the computer program is executed, it implements the three-dimensional real-scene geological mapping method.

[0040] The beneficial effects of this invention are as follows: This invention enables geological mapping within a 3D real-scene CAD environment. Most of the geological work that previously had to be done on-site, such as locating geological object feature points, measuring geological surface attitude, dimensional measurement, and textual description, is moved indoors (remotely) and completed on a computer. Utilizing high-precision point clouds from a 3D real-scene environment, it eliminates the inefficient labor of manual on-site positioning and tool measurement, improving efficiency and accuracy (up to millimeter to centimeter level). Simultaneously, it significantly reduces the time geologists spend at work sites with polluted air, hazards, noisy equipment, and exposure to wind, rain, and direct sunlight, improving the working environment and enhancing safety. Furthermore, it leaves behind rich and valuable real-time digital archives of the geological site in 3D real-scene format.

[0041] This invention utilizes new 3D real-scene technology to digitize geological mapping, which not only improves the work efficiency of geologists and indoors most of the field geological work, reducing the intensity of field work, but also improves the accuracy of work, improves the appearance of geological work, and facilitates remote collaboration.

[0042] This invention, within a 3D real-scene CAD environment, locates geological points of geological objects based on laser point clouds, improving accuracy by at least an order of magnitude compared to traditional visual positioning. Geological attitudes are automatically calculated using only three positioning points on the geological surface, eliminating the need for a geological compass; what is visible can be calculated, resulting in high speed and accuracy (±1°). A 3D geological model is directly drawn within the 3D real-scene CAD environment, generating a 2D geological map with a single click, avoiding errors and inefficiencies associated with manual surveying. Furthermore, it incorporates numerous other digital tools for improving geological efficiency, along with centralized data management and remote collaboration, resulting in a comprehensive and effective application. In conclusion, real-scene geological mapping significantly enhances the digitalization level of geological surveying work, increasing efficiency and accuracy several times over. Attached Figure Description

[0043] Figure 1 The flowchart is for an example.

[0044] Figure 2 , 3 This is a schematic diagram of the interface for a three-dimensional real-scene geological mapping in the embodiment (different colors represent different geological objects).

[0045] Figure 4 This is a schematic diagram of the interface after the geological mapping is completed and the background display window is closed, as shown in the example. Detailed Implementation

[0046] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0047] In the description of this invention, "multiple" means two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art.

[0048] 3D Reality Modeling (hereinafter referred to as "3D Reality") technology constructs a high-precision, measurable 3D point cloud model of the real scene through methods such as oblique photogrammetry, LiDAR, and multi-view image fusion, achieving accurate replication of the site. This is a VR (Virtual Reality) technology that has emerged in the last two years. It solves the long-standing technical problem in the surveying and mapping field of the difficulty in integrating realistic vision with precise spatial information. 3D Reality Modeling technology collects comprehensive real-scene photos and laser-scanned spatial point clouds, and then uses computers to organically integrate the two, constructing a 3D point cloud model that integrates three-dimensional space and real-scene vision. This allows for accurate replication of the site to a network digital twin space, helping to improve engineering efficiency and quality, and achieving a visual realism and accuracy that oblique photogrammetry 3D Reality Modeling cannot match.

[0049] Example 1: As Figure 1 As shown in the figure, this embodiment is a three-dimensional real-scene geological mapping method, which specifically includes the following steps:

[0050] S100. Generate a background display window in the background layer of the CAD 3D drawing area. This background display window faces the virtual camera of the CAD 3D drawing environment and is used to display the 3D real-world point cloud model of the target scene.

[0051] In this embodiment, the background display window can adjust its shape, size, and position on the view based on the user's window operation request. For example, the background display window can be adjusted to fill the camera imaging area of ​​the virtual camera, or it can be adjusted to fill only part of the camera imaging area.

[0052] In this example, the background display window can be opened or closed in the CAD 3D drawing area based on the user's window operation request.

[0053] In this embodiment, the positive direction of the Z-axis of the coordinate system of the three-dimensional real-world point cloud model displayed through the background display window is consistent with the direction of elevation increase (vertically upward); the true north direction rotation angle α is calibrated as the clockwise rotation angle of the true north direction in the coordinate north direction. Generally, the coordinate north direction (positive Y-axis direction) is the true north direction, and α=0°.

[0054] In this example, the coordinate system of the 3D real-world point cloud model is consistent with the coordinate system of the 3D CAD drawing environment. The 3D real-world point cloud model and the 3D CAD drawing environment share a virtual camera to ensure that the survey data can accurately reflect the actual situation of the target scene and to ensure the consistency of view display operations.

[0055] In this embodiment, a general-purpose laser real-scene scanning device acquires a three-dimensional real-scene point cloud model of the target scene. The model includes a high-definition three-dimensional real-scene image and a point cloud model of the target scene, and the coordinate systems of the real-scene image and the point cloud model are consistent.

[0056] In this example, the 3D real-world point cloud model is stored on a cloud server and used for geological mapping via a network service. Locally, only the location and orientation information of the virtual camera needs to be downloaded from the cloud server. The high-performance cloud server then performs the imaging, improving imaging efficiency, reducing local hardware and software requirements, and facilitating widespread adoption.

[0057] In this example, a real-world surface triangular mesh model of the target scene is generated based on the point cloud model of the target scene. The real-world surface triangular mesh model is not displayed and is merged with the real-world model.

[0058] In this example, the CAD 3D drawing area is generated based on a virtual camera in the CAD 3D drawing environment. The content of the drawing area consists of the CAD 3D drawing environment from the perspective of the virtual camera and the 3D real-world point cloud model from the perspective of the virtual camera. The image content corresponding to the 3D real-world point cloud model is displayed in the drawing area through a background display window.

[0059] The S200 acquires the position and orientation information of the virtual camera in real time after user operations such as rotation, zoom, translation, and panning, and generates view content based on the camera's position and orientation information. The view content includes a background display window (showing a 3D real-world image, which can be closed) and existing geological object graphics in the CAD 3D drawing environment (such as...). Figure 2 , Figure 3 , Figure 4 As shown in the image, the view is refreshed in real time and can be viewed at will.

[0060] In this embodiment, users can adjust the position and orientation of the virtual camera using a mouse, keyboard, etc., to rotate, pan, and zoom the screen display content.

[0061] In this embodiment, based on the position and orientation information of the virtual camera, the 3D real-world point cloud model data corresponding to the CAD 3D drawing area is downloaded from the cloud server in real time and rendered into a corresponding image and displayed in the background display window.

[0062] In this example, based on the position and orientation information of the virtual camera, combined with the existing geological object graphics in the CAD 3D drawing environment, the view content corresponding to the existing geological object graphics is generated.

[0063] Based on the spatial relationship between the real-world surface triangular mesh model corresponding to the 3D real-world cloud model displayed in the background display window and the existing geological object graphics in the CAD 3D drawing environment, and combined with the position and orientation information of the virtual camera, the geological object graphics located in the part covered by the triangular mesh model are hidden according to the view principle, with the real-world surface triangular mesh model as the boundary. The geological object graphics that are not covered are displayed in the view content, so as to restore the visual effect of the spatial relationship between the real-world model and the geological object graphics.

[0064] S300: Obtain the screen coordinates selected by the user's observation of the three-dimensional real-world point cloud model in the background display window, and generate corresponding geological points in the CAD three-dimensional drawing environment based on the screen coordinates and the real-world surface triangular mesh model in the background display window, thereby realizing the positioning of geological mapping points.

[0065] S310. Based on the position and orientation information of the virtual camera, determine the starting point P0 in the CAD 3D drawing environment;

[0066] S320. Based on the screen coordinates and the position and orientation information of the virtual camera, calculate the corresponding spatial coordinates P1 in the CAD 3D drawing environment.

[0067] S330. Determine the ray with P0 as the base point and the P0P1 vector as the direction, and take the intersection of the ray and the triangular mesh model of the target scene surface in the background display window as the geological point corresponding to the screen coordinate point selected by the user.

[0068] S400: Based on one or more geological points selected in the CAD 3D drawing environment, and combined with pre-selected geological mapping tools, generate corresponding geological object graphics in the CAD 3D drawing environment.

[0069] In this embodiment, the geological mapping tools are classified based on the type of geological object, such as geological line mapping tools, parallel joint mapping tools, dense joint zone mapping tools, fault mapping tools, and dike mapping tools. The geological object graphics drawn by the geological mapping tools contain the characteristics of the corresponding geological object.

[0070] In this embodiment, the user uses geological surveying tools to start surveying, utilizes real-scene visualization positioning to obtain the coordinates of the points needed for surveying, completes the surveying work in real-scene conditions, and improves the quality and efficiency of surveying.

[0071] S500. Based on the geological object graphics, construct corresponding geological object information. This information includes the spatial information of the geological object determined by the spatial information of the geological object graphics in the CAD 3D drawing environment, as well as the geological object description information entered by the user through the dialog box of the pre-selected geological mapping tool.

[0072] In this embodiment, if the geological object corresponding to the geological mapping tool has an attitude attribute, and there are ≥3 geological mapping points corresponding to the geological object, then triangulation is performed based on the geological mapping points to form a triangular network; the normal vector of each triangular network is calculated, and then the average normal vector of all triangular networks is calculated. The average normal vector is then converted into the true geological attitude based on the true north direction and superimposed with the true north direction rotation angle α.

[0073] In this example, for geological objects with attitude, their geological attitude can be automatically calculated from multiple geological mapping points on the geological map, saving the time of manually measuring the attitude and improving accuracy.

[0074] In this embodiment, geological mapping is based on three-dimensional real-scene image observation and positioning. The spatial coordinates are provided by the three-dimensional real-scene point cloud model, which transfers the on-site geological mapping work to the computer model indoors, resulting in higher efficiency and accuracy.

[0075] Example 2: This example is a three-dimensional real-scene geological mapping device, including:

[0076] The mapping environment construction module is used to generate a background display window in the background layer of the CAD 3D drawing area. This background display window faces the virtual camera of the CAD 3D drawing environment and is used to display the 3D real point cloud model of the target scene; a real surface triangular mesh model is generated based on the point cloud model in the 3D real point cloud model.

[0077] The camera imaging module is used to acquire the position and orientation information of the virtual camera in real time, and generate view content based on the camera position and orientation information. The view content includes a background display window and existing geological object graphics in the CAD 3D drawing environment.

[0078] The geological mapping point generation module is used to obtain the screen coordinate points selected by the user based on the three-dimensional real scene image in the background display window, and generate the corresponding geological mapping points in the CAD three-dimensional drawing environment based on the screen coordinate points and the real scene surface triangular mesh model in the background display window.

[0079] The geological graphics generation module is used to generate corresponding geological object graphics in the CAD 3D drawing environment based on geological survey points and pre-selected geological survey tools.

[0080] The geological information construction module is used to construct corresponding geological object information based on geological object graphics. This information includes the spatial information of geological objects determined by the spatial information of geological object graphics in the CAD 3D drawing environment, as well as the geological object description information entered by the user.

[0081] Example 3: This example is a storage medium that stores a computer program that can be executed by a processor. When the computer program is executed, it implements the three-dimensional real-scene geological mapping method described in Example 1.

[0082] Example 4: This example is a CAD mapping device that integrates three-dimensional reality, which has a memory and a processor. The memory stores a computer program that can be executed by the processor. When the computer program is executed, it is the three-dimensional reality geological mapping method described in Example 1.

[0083] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0084] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0085] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0086] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0087] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0088] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0089] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0090] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A three-dimensional real-scene geological mapping method, characterized in that, include: S100. Generate a background display window in the background layer of the CAD 3D drawing area. This background display window faces the virtual camera of the CAD 3D drawing environment and is used to display the 3D real point cloud model of the target scene. Generate a real surface triangular mesh model based on the point cloud model in the 3D real point cloud model. S200: Real-time acquisition of the position and orientation information of the virtual camera, and generation of view content based on the camera position and orientation information. The view content includes the background display window and the existing geological object graphics in the CAD 3D drawing environment. S300: Obtain the screen coordinates selected by the user observing the three-dimensional real scene image in the background display window, and generate the corresponding geological mapping points in the CAD three-dimensional drawing environment based on the screen coordinates and the real scene surface triangular mesh model in the background display window. S400: Based on geological survey points in a CAD 3D drawing environment, and combined with pre-selected geological survey tools, generate corresponding geological object graphics in the CAD 3D drawing environment. S500. Based on the geological object graphics, construct corresponding geological object information. This information includes the spatial information of the geological object determined based on the spatial information of the geological object graphics in the CAD 3D drawing environment, as well as the geological object description information entered by the user.

2. The three-dimensional real-scene geological mapping method according to claim 1, characterized in that, The positive Z-axis of the coordinate system of the three-dimensional real-world point cloud model displayed in the background display window is the direction of elevation increase, and the positive Y-axis is the known rotation angle α between the true north direction; The coordinate system of the 3D real-world point cloud model is consistent with the coordinate system of the 3D CAD drawing environment, and the 3D real-world point cloud model and the 3D CAD drawing environment share the same virtual camera.

3. The three-dimensional real-scene geological mapping method according to claim 2, characterized in that, Step S500 includes: If the geological object corresponding to the geological mapping tool has an attitude attribute and there are ≥3 geological mapping points, then a triangulation network is formed based on the geological mapping points. Calculate the average normal vector of each triangulation network, and then transform the average normal vector into the actual geological occurrence based on the true north direction and superimposed with the true north direction rotation angle α, which is used as the geological occurrence of the geological object.

4. The three-dimensional real-scene geological mapping method according to claim 1, characterized in that, The method of generating corresponding geological mapping points in a CAD 3D drawing environment based on screen coordinate points and the real-world surface triangular mesh model in the background display window includes: Based on the position and orientation information of the virtual camera, the starting point P0 is determined in the CAD 3D drawing environment; Based on the screen coordinates and the position and orientation information of the virtual camera, calculate its spatial coordinates P1 in the CAD 3D drawing environment; Determine the ray with P0 as the base point and the P0P1 vector as the direction. The intersection of this ray with the real-world surface triangular mesh model of the target scene in the background display window is the geological mapping point corresponding to the screen coordinate point selected by the user.

5. The three-dimensional real-scene geological mapping method according to claim 1, characterized in that, The view content generated based on camera position and orientation information includes a background display window and existing geological object graphics in the CAD 3D drawing environment, including: Based on the position and orientation information of the virtual camera, the cloud model data of the 3D real-world point corresponding to the CAD 3D drawing area is downloaded from the cloud server in real time and rendered into an image and displayed in the background display window.

6. The three-dimensional real-scene geological mapping method according to claim 1 or 5, characterized in that, The view content generated based on camera position and orientation information includes a background display window and drawn geological object graphics in the CAD 3D drawing environment, including: Based on the spatial relationship between the real-world surface triangular mesh model corresponding to the 3D real-world point cloud model displayed in the background display window and the geological object graphics drawn in the CAD 3D drawing environment, combined with the position and orientation information of the virtual camera, it is determined whether the real-world surface triangular mesh model covers the geological object graphics, and the uncovered geological object graphics are displayed in the view content.

7. The three-dimensional real-scene geological mapping method according to claim 1, characterized in that, The background display window can adjust its shape, size, the range of displayed content, and its position on the view based on the user's window operation requests.

8. The three-dimensional real-scene geological mapping method according to claim 1, characterized in that, The background display window can be opened or closed in the CAD 3D drawing area based on the user's window operation request.

9. A three-dimensional real-scene geological mapping device, characterized in that, include: The mapping environment construction module is used to generate a background display window in the background layer of the CAD 3D drawing area. This background display window faces the virtual camera of the CAD 3D drawing environment and is used to display the 3D real point cloud model of the target scene; a real surface triangular mesh model is generated based on the point cloud model in the 3D real point cloud model. The camera imaging module is used to acquire the position and orientation information of the virtual camera in real time, and generate view content based on the camera position and orientation information. The view content includes a background display window and existing geological object graphics in the CAD 3D drawing environment. The geological mapping point generation module is used to obtain the screen coordinate points selected by the user based on the three-dimensional real scene image in the background display window, and generate the corresponding geological mapping points in the CAD three-dimensional drawing environment based on the screen coordinate points and the real scene surface triangular mesh model in the background display window. The geological graphics generation module is used to generate corresponding geological object graphics in the CAD 3D drawing environment based on geological survey points and pre-selected geological survey tools. The geological information construction module is used to construct corresponding geological object information based on geological object graphics. This information includes the spatial information of geological objects determined by the spatial information of geological object graphics in the CAD 3D drawing environment, as well as the geological object description information entered by the user.

10. A storage medium having a computer program stored thereon that can be executed by a processor, characterized in that, When the computer program is executed, it implements the three-dimensional real-scene geological mapping method according to any one of claims 1 to 9.

11. A three-dimensional real-scene geological mapping device, comprising a memory and a processor, wherein the memory stores a computer program executable by the processor, characterized in that, When the computer program is executed, it implements the three-dimensional real-scene geological mapping method according to any one of claims 1 to 9.

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