A method for gold mine mining path planning based on 3D modeling design

Abstract

This invention discloses a gold mine mining path planning method based on 3D modeling design, belonging to the field of 3D mine modeling technology. The method includes: performing transparent geological prediction processing on spatial information units in a 3D basic spatial information model of a gold mine to generate extrapolated attribute values ​​and write them into the spatial information units; performing spatial mineability classification judgment processing on the spatial information units based on the extrapolated attribute values, dividing the spatial information units into mineable areas, conditionally mineable areas, and unmineable areas; forming a 3D connected structure based on the mineable areas, conditionally mineable areas, and unmineable areas, constructing node passage costs and connectivity costs, and performing 3D path search processing to obtain the 3D mining path of the gold mine. This invention, by performing transparent geological prediction processing on a 3D basic spatial information model, achieves continuous extrapolation and expression of ore body geometry, grade variation, structural extension, and surrounding rock mechanical state.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional mine modeling technology, and in particular to a method for planning mining paths in gold mines based on three-dimensional modeling design. Background Technology

[0002] Gold mine development path planning falls under the field of mine engineering geological modeling and development design, typically requiring comprehensive information on ore body occurrence morphology, ore grade distribution, geological structure distribution, and surrounding rock engineering characteristics. Conventional methods often utilize borehole geological data, surface survey data, tunnel survey results, and surrounding rock monitoring records to construct ore body geometric models, grade models, and rock mass engineering models. Based on these models, and combined with mining technology, tunnel layout, development system design, and development path planning are completed. With the development of 3D geological modeling and digital measurement technologies, constructing 3D spatial models of mining areas using point cloud data, structural survey lines, and rock mass monitoring data has become an important technical means to support gold mine development design.

[0003] However, existing methods still have two limitations: First, geological, engineering, and mechanical information are usually expressed separately in the 3D modeling process, and it is difficult for different types of spatial data to form a 3D information unit with a consistent structure on a unified spatial scale, thus affecting the ability to coordinate the expression of ore body geometry, grade changes, and structural features. Second, mining route planning often relies on a single perspective of ore body model or engineering layout model, lacking the ability to comprehensively and quantitatively analyze resource abundance, structural stability, and surrounding rock mechanical state based on the same 3D modeling framework, making it difficult to support the coordinated optimization between spatial risk and resource utilization in the route planning process. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a gold mine mining path planning method based on three-dimensional modeling design, which solves the problems of difficulty in uniformly expressing three-dimensional spatial information and lack of multi-factor comprehensive quantification capability in path planning.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] This invention provides a gold mine mining path planning method based on three-dimensional modeling design, which includes: collecting multi-source three-dimensional spatial measured data from the gold mine site and performing data unification processing to generate three-dimensional cubic mesh units and spatial attribute sets; forming spatial information units based on the three-dimensional cubic mesh units and spatial attribute sets; and constructing a three-dimensional basic spatial information model of the gold mine.

[0008] Transparent geological prediction processing is performed on the spatial information units in the three-dimensional basic spatial information model of the gold mine to generate extrapolated attribute values ​​and write them into the spatial information units.

[0009] Based on extrapolated attribute values, spatial information units are classified into exploitable areas, conditionally exploitable areas, and non-exploitable areas.

[0010] A three-dimensional connectivity structure is formed based on the exploitable area, conditionally exploitable area, and non-exploitable area. The node passage cost and connectivity passage cost are constructed, and a three-dimensional path search process is performed to obtain the three-dimensional mining path of the gold mine.

[0011] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the multi-source three-dimensional spatial measured data collected at the gold mine site includes surface measurement point cloud data, borehole data, roadway three-dimensional scanning data, goaf three-dimensional scanning data, geological structure survey line data, and surrounding rock mechanics monitoring data.

[0012] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the step of performing unified data processing to generate three-dimensional cubic mesh units and spatial attribute sets includes performing coordinate system unified processing, measurement error correction processing and time reference synchronization processing on multi-source three-dimensional spatial measured data, converting the spatial sampling point coordinates of multi-source three-dimensional spatial measured data to a unified coordinate system, correcting spatial position deviations and unifying the acquisition time format.

[0013] Based on multi-source three-dimensional spatial measured data that has undergone coordinate system unification processing, measurement error correction processing, and time reference synchronization processing, three-dimensional spatial mesh generation processing is performed. The three-dimensional spatial coverage of the mining area is determined according to the coordinate values ​​of spatial sampling points, and three-dimensional cubic mesh units are divided.

[0014] Spatial attribute structuring is performed, and the coordinates of spatial sampling points are split and labeled according to geological, engineering and mechanical attributes to generate a spatial attribute set.

[0015] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the step of forming spatial information units based on three-dimensional cubic grid units and spatial attribute sets, and constructing a three-dimensional basic spatial information model of the gold mine includes classifying the coordinates of spatial sampling points recorded in the spatial attribute set according to the spatial range of the three-dimensional cubic grid units, and writing geological attributes, engineering attributes and mechanical attributes into the corresponding three-dimensional cubic grid units.

[0016] After all the attributes of the three-dimensional cubic mesh units are recorded, each three-dimensional cubic mesh unit is combined with the corresponding geological, engineering and mechanical attributes to form a spatial information unit. The three-dimensional cubic mesh units are then combined according to their arrangement in three-dimensional space to form a three-dimensional basic spatial information model of the gold mine.

[0017] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the transparent geological prediction processing includes: constructing a spatial extrapolation range based on the spatial center coordinates of spatial information units and the side length of three-dimensional cubic grid units; retrieving neighboring spatial information units within the spatial extrapolation range; and performing geometric extrapolation processing, grade extrapolation processing, structural extrapolation processing, and stability extrapolation processing on geological attributes, engineering attributes, and mechanical attributes, respectively.

[0018] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the step of generating extrapolated attribute values ​​and writing them into the spatial information unit includes, in the geometric extrapolation process, generating ore body geometric extrapolation values ​​based on the spatial positional relationship between the lithological interface position and the spatial center coordinates, and the spatial positional relationship between the ore body exposure position and the spatial center coordinates, and writing them into the geological attributes of the spatial information unit.

[0019] In the grade extrapolation process, the grade extrapolation value is generated based on the spatial positional relationship between the gold grade detection information and the spatial center coordinates, and then written into the geological attributes of the spatial information unit.

[0020] In the structural extrapolation process, based on the spatial positional relationship between fault location, fault strike, fault dip angle, joint combination, tunnel spatial morphology, goaf boundary morphology and spatial center coordinates, structural extrapolation offset is generated and written into the geological attributes of the spatial information unit.

[0021] In the stability extrapolation process, stability extrapolation values ​​are generated based on the spatial positional relationship between the surrounding rock displacement record, the surrounding rock fissure change record, the surrounding rock stress change record and the spatial center coordinates, and then written into the mechanical properties of the spatial information unit.

[0022] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the step of performing spatial mineability classification judgment processing on spatial information units based on extrapolated attribute values ​​includes: when the geometric extrapolation value of the ore body is less than zero, the spatial information unit is located inside the ore body; when the geometric extrapolation value of the ore body is greater than zero, the spatial information unit is located outside the ore body.

[0023] When a spatial information unit is located inside a ore body, and the grade extrapolation value is greater than the reference grade value of the economic grade, the absolute value of the structural extrapolation offset is greater than or equal to the reference distance of the structurally unstable zone, and the stability extrapolation value is greater than the reference stability value of the surrounding rock safety state, the spatial information unit is determined to be a mineable area.

[0024] When a spatial information unit is located outside the ore body and meets any of the following conditions: the grade extrapolation value is lower than the reference grade value of the economic grade, or the absolute value of the structural extrapolation offset is less than the reference distance of the structurally unstable zone and the structural extrapolation offset is less than zero, or the stability extrapolation value is lower than the reference stability value of the surrounding rock safety state, the spatial information unit is determined to be an unminable area.

[0025] When a spatial information unit is neither determined to be a exploitable area nor an unexploitable area, it is determined to be a conditionally exploitable area.

[0026] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the step of forming a three-dimensional connected structure based on the mineable area, the conditionally mineable area and the non-mineable area includes forming a mining candidate spatial information unit set by combining spatial information units belonging to the mineable area and spatial information units belonging to the conditionally mineable area, and forming an avoidance spatial information unit set by combining spatial information units belonging to the non-mineable area.

[0027] The spatial center coordinates of the candidate spatial information units are extracted from the set of mining to form a three-dimensional node set. The node adjacency relationship is established according to the spatial adjacency relationship of the three-dimensional cubic grid unit to form a three-dimensional connected structure. The spatial center coordinates and their node adjacency relationships belonging to the avoidance spatial information unit set are deleted.

[0028] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the construction of node access value and connectivity access cost includes: constructing the node access value of each spatial center coordinate in the three-dimensional connected structure based on the spatial distance from each spatial information unit in the set of mining candidate spatial information units to the ore body boundary, the gold grade recorded in each spatial information unit, the surrounding rock mechanical state quantity of each spatial information unit, and the spatial distance from each spatial information unit to the fitted structural plane;

[0029] In a three-dimensional connected structure, the connectivity cost of each node adjacency relationship is calculated based on the node travel cost corresponding to the coordinates of adjacent spatial centers and the three-dimensional Euclidean distance between the coordinates of the spatial centers.

[0030] As a preferred embodiment of the gold mine mining path planning method based on three-dimensional modeling design described in this invention, the step of performing three-dimensional path search processing to obtain the three-dimensional mining path of the gold mine includes determining the candidate starting point and candidate ending point of the mining path based on the geometric extrapolation value of the ore body recorded in the set of mining candidate spatial information units.

[0031] A three-dimensional path search process is performed from the candidate starting point to the candidate ending point of the mining path. The spatial center coordinates are selected according to the principle of gradually decreasing the cumulative value of connectivity and passage cost, forming a three-dimensional mining path point string. The three-dimensional mining path point string is then connected according to its spatial order to form a three-dimensional mining path for the gold mine.

[0032] The beneficial effects of this invention are as follows: By constructing a three-dimensional basic spatial information model of a gold mine, the geological attributes, engineering attributes, and mechanical attributes are combined and expressed in a unified three-dimensional modeling framework, enabling the ore body geometry, grade variation, and structural features to be continuously expressed at a consistent spatial scale, thereby supporting the collaborative modeling of spatial information units; by performing transparent geological prediction processing on the three-dimensional basic spatial information model, the continuous extrapolation and expression of the ore body geometry, grade variation, structural extension, and surrounding rock mechanical state are realized, enabling spatial information units to obtain an extrapolated attribute system that reflects the resource abundance and stability characteristics at a unified three-dimensional scale. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A flowchart of a gold mine mining path planning method based on 3D modeling.

[0035] Figure 2 A flowchart for transparent geological prediction processing.

[0036] Figure 3 This is a flowchart for the spatial exploitability classification and judgment process.

[0037] Figure 4 This is a flowchart for 3D path search processing. Detailed Implementation

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0041] Reference Figures 1-4 This is one embodiment of the present invention, which provides a gold mine mining path planning method based on three-dimensional modeling design, including the following steps:

[0042] S1. Collect multi-source three-dimensional spatial measurement data from the gold mine site and perform data unification processing to generate three-dimensional cubic mesh units and spatial attribute sets. Based on the three-dimensional cubic mesh units and spatial attribute sets, form spatial information units and construct a three-dimensional basic spatial information model of the gold mine.

[0043] Furthermore, multi-source three-dimensional spatial measurement data were collected from the gold mine site. The multi-source three-dimensional spatial measurement data included surface measurement point cloud data, borehole data, roadway three-dimensional scanning data, goaf three-dimensional scanning data, geological structure survey line data, and surrounding rock mechanical monitoring data.

[0044] Surface point cloud data refers to three-dimensional point cloud data of the surface acquired by UAV aerial photogrammetry equipment or ground-based lidar measurement equipment, including but not limited to data that can express the surface morphology of the mining area, such as changes in surface elevation, topographic relief, slope characteristics, and topographic boundaries. Borehole data refers to three-dimensional spatial exposure information obtained through drilling operations, geological logging, and ore sample analysis, including but not limited to borehole spatial location, borehole trajectory, lithological interface location, ore body exposure location, and gold grade detection results, which can express the geometric structure of the ore body and the distribution of ore grade. Three-dimensional tunnel scanning data refers to three-dimensional point cloud data of tunnels acquired by three-dimensional laser scanning equipment, including but not limited to the cross-sectional morphology of excavated tunnels, tunnel extension direction, and surrounding rock contours, which can express the spatial structure of the tunnels. Three-dimensional scanning data of goaf areas refers to three-dimensional point cloud data of goaf areas obtained through three-dimensional laser scanning equipment or downhole scanning robots, including but not limited to data that can express the geometric morphology of goaf areas such as boundary morphology, spatial volume morphology, and connectivity structure; geological structure survey data refers to three-dimensional spatial survey data obtained through geological mapping, geological structure exploration, and geophysical surveys, including but not limited to data that can express the distribution of geological structures such as fault location, fault strike, fault dip angle, joint combination, and fold geometric features; surrounding rock mechanical monitoring data refers to three-dimensional spatial monitoring values ​​obtained through convergence monitoring points, stress monitoring instruments, vibration monitoring instruments, and micro-deformation monitoring equipment, including but not limited to data that can express changes in surrounding rock stability such as surrounding rock displacement, surrounding rock stress, and surrounding rock vibration response.

[0045] Furthermore, the surface measurement point cloud data, borehole data, tunnel 3D scanning data, goaf 3D scanning data, geological structure survey line data, and surrounding rock mechanics monitoring data are subjected to unified data processing. The unified data processing includes coordinate system unification processing, measurement error correction processing, time reference synchronization processing, 3D spatial grid division processing, and spatial attribute structuring processing.

[0046] A unified coordinate system was implemented, using the coordinates of 3D control points in the surface survey point cloud data as the 3D spatial reference for the mining area. Observation point coordinates were extracted from borehole data, 3D scan data of roadways, 3D scan data of goaf areas, geological structure survey data, and surrounding rock mechanics monitoring data. Using commonly used 3D point set registration techniques, translation and rotation amounts were derived based on the spatial correspondence between the 3D control point coordinates and the observation point coordinates. These translation and rotation amounts were then used to perform 3D coordinate transformation on the observation point coordinates, ensuring that all observation point coordinates were expressed in the same 3D coordinate system. Specifically, the coordinates of the surface survey point cloud data... Three-dimensional control point coordinates refer to the coordinates of three-dimensional spatial markers with fixed physical locations within the mining area, including but not limited to permanent ground markers, ground survey stakes, and artificially deployed surface reflection markers. Observation point coordinates in borehole data, roadway three-dimensional scanning data, goaf three-dimensional scanning data, geological structure survey line data, and surrounding rock mechanics monitoring data refer to the coordinates of spatial sampling points recorded during the acquisition process, including the sampling coordinates of borehole trajectory points, the coordinates of measurement points in roadway point clouds, the coordinates of measurement points in goaf scanning point clouds, the coordinates of geological structure survey line sampling points, and the coordinates of the installation location of surrounding rock mechanics monitoring equipment.

[0047] Measurement error correction processing involves identifying and correcting positional deviations in borehole data, 3D scan data of roadways, 3D scan data of goaf areas, geological structure survey lines, and surrounding rock mechanics monitoring data. For borehole data, discrete trajectory sampling coordinates deviating from the borehole direction are identified and deleted through borehole trajectory fitting, and the borehole trajectory sampling coordinates are updated using the fitted trajectory. For roadway and goaf 3D scan data, isolated noise points are removed through point cloud density detection, and the remaining point cloud sampling coordinates are corrected using neighborhood averaging to ensure continuous point clouds at roadway and goaf boundaries. For geological structure survey line data, structural survey line sampling point coordinates deviating from the structural direction are deleted through survey line direction consistency checks. For surrounding rock mechanics monitoring data, monitoring records with abnormal positional shifts are deleted by comparing with historical monitoring locations, and the stable installation location is used as the spatial representation of the surrounding rock mechanics monitoring equipment.

[0048] Time reference synchronization processing unifies the acquisition times of 3D scan data of roadways, 3D scan data of goaf areas, and surrounding rock mechanics monitoring data into a consistent time format and organizes them according to the acquisition time. The acquisition frequency of 3D scan data of roadways and goaf areas is usually lower than that of surrounding rock mechanics monitoring data. In time reference synchronization processing, the acquisition time is extracted from the 3D scan data of roadways and goaf areas respectively, and the monitoring time closest to each acquisition time is found in the acquisition time of surrounding rock mechanics monitoring data. When there is a time interval between the acquisition time of surrounding rock mechanics monitoring data and the acquisition time of 3D scan data of roadways or goaf areas, linear interpolation is performed between adjacent acquisition times of surrounding rock mechanics monitoring data to generate surrounding rock mechanics monitoring records corresponding to the acquisition time. This ensures that the 3D scan data of roadways, 3D scan data of goaf areas, and surrounding rock mechanics monitoring data correspond to the spatial state of the same time node under a unified time format.

[0049] The three-dimensional spatial meshing process involves determining the three-dimensional spatial coverage of the mining area based on the coordinate values ​​of spatial sampling points from multi-source three-dimensional spatial measured data that have undergone coordinate system unification, measurement error correction, and time reference synchronization. The coverage of the mining area in three-dimensional space is determined by the minimum and maximum spatial coordinate values ​​among all spatial sampling points. Within the three-dimensional spatial coverage of the mining area, cubic mesh units are continuously arranged according to their side lengths to form three-dimensional cubic mesh units, ensuring that the three-dimensional cubic mesh units cover the entire mining area. Multi-source three-dimensional spatial measured data fall into their respective three-dimensional cubic mesh units according to their spatial coordinate values, and a spatial positional correspondence is established between the multi-source three-dimensional spatial measured data and the three-dimensional cubic mesh units.

[0050] Spatial attribute structuring involves splitting and labeling the coordinates of spatial sampling points in multi-source 3D spatial measured data according to geological, engineering, and mechanical attributes. Geological attributes are derived from lithological descriptions, ore body exposure information, and ore grade detection information recorded in borehole data, as well as geological structural information such as fault location, fault strike, fault dip angle, and joint combinations recorded in geological structural survey data. These attributes are used to express the geometric structure of the ore body, the trend of ore grade variation, and the spatial distribution of geological structures. Engineering attributes are derived from the spatial morphology information of roadways recorded in 3D roadway scanning data and the spatial morphology information of goaf areas recorded in 3D goaf area scanning data. These attributes are used to express the engineering excavation structure and its spatial characteristics within the spatial information unit. The morphological and mechanical properties are derived from the surrounding rock displacement records, surrounding rock fissure change records, and surrounding rock stress change records recorded in the surrounding rock mechanical monitoring data. They are used to express the mechanical response, mechanical change trend, and stability change characteristics of the surrounding rock within the spatial information unit. Specifically, the spatial attributes are structured by extracting fields that can be used for geological, engineering, and mechanical attributes from the surface measurement point cloud data, borehole data, tunnel 3D scanning data, goaf 3D scanning data, geological structure survey line data, and surrounding rock mechanical monitoring data. All types of attributes are written into the spatial attribute set in a unified format, so that the spatial attribute set can simultaneously express spatial location characteristics, geological characteristics, engineering structure characteristics, and surrounding rock mechanical characteristics under a single structural format.

[0051] Furthermore, the spatial sampling point coordinates and the spatial range of the three-dimensional cubic mesh cells recorded in the spatial attribute set are classified grid by grid.

[0052] In the grid-by-grid classification process, the spatial attribute set record's spatial sampling point coordinates are determined to the three-dimensional cube grid cell based on the spatial range of the three-dimensional cube grid cell. When the spatial sampling point coordinates of the spatial attribute set record fall within the spatial range of any three-dimensional cube grid cell, the geological, engineering, and mechanical attributes corresponding to the spatial sampling point coordinates are classified into the attribute records of the corresponding three-dimensional cube grid cell.

[0053] After all the attributes of the three-dimensional cubic mesh units are recorded, each three-dimensional cubic mesh unit is combined with the corresponding geological, engineering and mechanical attributes to form a spatial information unit. All spatial information units are combined according to the arrangement of the three-dimensional cubic mesh units in three-dimensional space to form a three-dimensional basic spatial information model of the gold mine.

[0054] S2. Perform transparent geological prediction processing on the spatial information units in the three-dimensional basic spatial information model of the gold mine, generate extrapolated attribute values ​​and write them into the spatial information units.

[0055] Furthermore, the spatial information units in the three-dimensional basic spatial information model of the gold mine are used as the calculation units for transparent geological prediction processing. In the transparent geological prediction processing, the geological attributes, engineering attributes, and mechanical attributes recorded in the spatial information units are called in sequence as the input attributes for transparent geological prediction processing. Geometric extrapolation processing, grade extrapolation processing, structural extrapolation processing, and stability extrapolation processing are performed on the geological bodies and surrounding rock conditions within the three-dimensional spatial range of the mining area, and the extrapolated attribute values ​​obtained from each extrapolation processing are written into the corresponding spatial information units.

[0056] Based on the side length of the three-dimensional cubic grid unit recorded in the three-dimensional basic spatial information model of the gold mine, the side length of the three-dimensional cubic grid unit is used as the distance scale to measure the spatial proximity relationship between spatial information units. According to the spatial center coordinates of the spatial information unit and the side length of the three-dimensional cubic grid unit, a spatial extrapolation range is constructed in three-dimensional space according to several times the side length of the three-dimensional cubic grid unit. Within the spatial extrapolation range, other spatial information units are retrieved according to the spatial distance between the spatial center coordinates to form the range of neighboring spatial information units used for extrapolation processing. The spatial extrapolation range serves as the neighborhood construction method for all extrapolation processing in transparent geological prediction processing, ensuring that the extrapolation processing is carried out under a unified spatial scale.

[0057] Furthermore, in the geometric extrapolation process, spatial information units recording the location of lithological interfaces and spatial information units recording the location of ore body exposure are selected from the geological attributes within the range of neighboring spatial information units as the attribute source for geometric extrapolation.

[0058] Based on the spatial relationship between the lithological interface position and the spatial center coordinates in the spatial information unit recording the lithological interface position, the three-dimensional least squares fitting plane method is used to perform plane fitting on the lithological interface position to obtain the fitting plane representing the spatial morphology of the lithological interface, and the interface extension direction is determined according to the normal vector of the fitting plane of the spatial morphology of the lithological interface.

[0059] Based on the spatial relationship between the ore body exposure location and the spatial center coordinates in the spatial information unit recording the ore body exposure location, a spatial point string of ore body exposure locations is constructed according to the spatial distribution order of the spatial center coordinates. The ore body boundary extension direction is determined by calculating the main direction vector of the spatial point string.

[0060] The interface extension direction and the ore body boundary extension direction are superimposed and normalized to form the ore body geometric extrapolation direction of the spatial information unit. The fitting plane is used as the reference geometric object in the ore body geometric extrapolation direction. The sign distance from the spatial center coordinates to the fitting plane is calculated. The sign distance from the spatial center coordinates to the fitting plane is used as the ore body geometric extrapolation value. The ore body geometric extrapolation value is written into the geological attributes of the spatial information unit.

[0061] Furthermore, in the grade extrapolation process, spatial information units that record gold grade detection information are selected from the geological attributes within the range of neighboring spatial information units as the attribute source for grade extrapolation.

[0062] Based on the spatial relationship between gold grade detection information and spatial center coordinates, a three-dimensional inverse distance interpolation method is used to perform three-dimensional inverse distance interpolation on the gold grade detection information to form the grade interpolation quantity of the spatial information unit. A spatial point string is constructed according to the arrangement order of the spatial center coordinates in the grade extrapolation neighborhood. By calculating the spatial change rate of the gold grade detection information in the spatial point string, the gold grade change direction is formed. In the gold grade change direction, the spatial change rate of the gold grade detection information is superimposed on the grade interpolation quantity to form the grade extrapolation value, and the grade extrapolation value is written into the geological attributes of the spatial information unit.

[0063] Furthermore, in the structural extrapolation process, spatial information units recording fault location, fault strike, fault dip angle, and joint combination are selected from the geological attributes within the range of neighboring spatial information units, and spatial information units recording tunnel extension direction, tunnel cross-sectional shape, and goaf boundary shape are selected from the engineering attributes, which serve as the geological information source and engineering information source for structural extrapolation, respectively.

[0064] Based on the spatial relationship between the fault location and the spatial center coordinates recorded by geological information sources, a three-dimensional least squares fitting method is used to perform plane fitting on the fault location to obtain the fitted structural plane. The structural extension direction is determined by the normal vector of the fitted structural plane. The direction vector representing the spatial direction of the fault is determined by the fault strike direction vector and the fault dip angle recorded by geological information sources.

[0065] Based on the tunnel extension direction and tunnel cross-sectional shape recorded from the engineering information sources, the tunnel centerline direction vector is extracted in three-dimensional space, and the goaf boundary extension direction is extracted based on the goaf boundary shape. The tunnel centerline direction vector and the goaf boundary extension direction are superimposed and normalized to form the engineering extension direction expression.

[0066] The structural extension direction, fault spatial orientation, and engineering extension direction are subjected to directional synthesis and normalization to form the structural extrapolation direction of the spatial information unit. In the structural extrapolation direction, the sign distance from the spatial center coordinates of the spatial information unit to the fitted structural plane is calculated. The sign distance from the spatial center coordinates of the spatial information unit to the fitted structural plane is used as the structural extrapolation offset, and the structural extrapolation offset is written into the geological attributes of the spatial information unit.

[0067] Furthermore, in the stability extrapolation process, spatial information units recording surrounding rock displacement, surrounding rock fissure changes, and surrounding rock stress changes are selected from the mechanical properties within the range of neighboring spatial information units as the attribute source for stability extrapolation.

[0068] Based on the spatial relationship between the surrounding rock displacement record, the surrounding rock fissure change record, the stress change record, and the spatial center coordinates, the surrounding rock displacement change gradient, fissure change gradient, and stress change gradient are calculated in three-dimensional space according to the coordinate axis directions to form the mechanical change direction. A three-dimensional inverse distance interpolation method is used to perform three-dimensional inverse distance interpolation processing on the surrounding rock displacement record, fissure change record, and stress change record to form the mechanical interpolation quantity. The mechanical change gradient is then superimposed onto the mechanical interpolation quantity according to the mechanical change direction to form a stability extrapolation value, which is then written into the mechanical properties of the spatial information unit.

[0069] S3. Based on the extrapolated attribute values, perform spatial exploitability classification judgment on the spatial information units, and divide the spatial information units into exploitable areas, conditionally exploitable areas, and unexploitable areas.

[0070] Furthermore, the geometric extrapolation value, grade extrapolation value, structural extrapolation offset, and stability extrapolation value of the ore body recorded in the spatial information unit are used as the basis for judging spatial exploitability.

[0071] For the geometric extrapolation value of the ore body, the sign of the geometric extrapolation value is used to distinguish whether the spatial information unit is located inside or outside the ore body. When the geometric extrapolation value of the ore body is less than zero, the spatial information unit is located inside the ore body. When the geometric extrapolation value of the ore body is greater than zero, the spatial information unit is located outside the ore body. The absolute value of the geometric extrapolation value of the ore body is used as the spatial distance from the spatial information unit to the boundary of the ore body, which is used to represent the spatial position of the spatial information unit relative to the boundary of the ore body.

[0072] For grade extrapolation values, the grade extrapolation value represents the gold grade of a spatial information unit, which is used to represent the abundance level of gold resources within the spatial information unit.

[0073] For the construction extrapolation offset, the sign of the construction extrapolation offset is used to distinguish whether the spatial information unit is located on the pointing side or the reverse side of the normal vector of the fitted construction plane. When the construction extrapolation offset is less than zero, the spatial information unit is located on the reverse side of the normal vector of the fitted construction plane, and when the construction extrapolation offset is greater than zero, the spatial information unit is located on the pointing side of the normal vector of the fitted construction plane. In engineering applications, spatial information units located on the reverse side of the normal vector usually correspond to areas with greater influence from tectonic activity, while spatial information units located on the pointing side of the normal vector usually correspond to areas with relatively stable structures. The absolute value of the construction extrapolation offset is used as the spatial distance from the spatial information unit to the fitted construction plane to represent the distance relationship between the spatial information unit and the unstable structure.

[0074] For stability extrapolation values, the stability extrapolation values ​​represent the mechanical state of the surrounding rock of the spatial information unit, and the stability extrapolation values ​​are used as the mechanical stability characteristics of the surrounding rock. The larger the stability extrapolation value, the closer the surrounding rock is to a safe and stable state, and the smaller the stability extrapolation value, the closer the surrounding rock is to an unstable state.

[0075] Furthermore, based on the geometric extrapolation value of the ore body, the grade extrapolation value, the structural extrapolation offset, and the stability extrapolation value, the spatial information unit is subjected to spatial exploitability classification and judgment processing, and the spatial information unit is divided into exploitable area, conditionally exploitable area, and non-exploitable area.

[0076] When a spatial information unit is located inside a ore body (the geometric extrapolation value of the ore body is less than zero) and the grade extrapolation value is greater than the reference grade value used to define the economic grade, and the absolute value of the structural extrapolation offset is greater than or equal to the reference distance of the structurally unstable zone, and the stability extrapolation value is greater than the reference stability value of the surrounding rock safety state, the spatial information unit is determined to be a mineable area.

[0077] When a spatial information unit is located outside the ore body (the geometric extrapolation value of the ore body is greater than zero) and meets any of the following conditions, the spatial information unit is determined to be an unminable area: the grade extrapolation value is lower than the reference value used to define the economic grade; the absolute value of the structural extrapolation offset is less than the reference distance of the structurally unstable zone, and the structural extrapolation offset is less than zero; the stability extrapolation value is lower than the reference stability value of the surrounding rock safety state.

[0078] When a spatial information unit is neither determined to be a exploitable area nor an unexploitable area, it is determined to be a conditionally exploitable area.

[0079] The conditionally exploitable area indicates that the spatial information unit has some limitations in terms of the geometric location of the ore body, gold grade, unstable structure and surrounding rock stability. The spatial information unit is exploitable after taking engineering measures such as surrounding rock reinforcement, pressure relief and load reduction or adjustment of mining sequence.

[0080] In areas where mining is feasible, spatial information units with geometric extrapolation values ​​of less than zero and grade extrapolation values ​​close to the reference grade value used to define the economic grade can be prioritized as potential mining targets. The mining sequence can be comprehensively arranged by combining the sign of the structural extrapolation offset, the absolute value of the structural extrapolation offset, and the specific value of the stability extrapolation value.

[0081] It should be noted that the reference grade value used to define the economic grade comes from the mining enterprise's setting of the economic recovery limit for gold grade, which is jointly determined by mining costs, beneficiation recovery rate and market gold price, and belongs to the quantifiable engineering parameters in mine design; the reference distance of the structurally unstable zone comes from the results of the mine rock mass engineering classification, and is determined according to the width range of fault fracture zone, shear zone or dense joint zone, representing the minimum safe distance between the spatial information unit and the unstable structure; the reference stability quantity of the surrounding rock safety state comes from the monitoring data of the surrounding rock mechanical parameters, and is determined according to the acceptable range of surrounding rock displacement, fracture change and stress change, representing the minimum mechanical quantity value of the surrounding rock that can maintain a stable state.

[0082] The reference grade value used to define the economic grade, the reference distance of the structurally unstable zone, and the reference stability quantity of the surrounding rock safety status are all quantifiable engineering parameters commonly used in the mine engineering design stage. These engineering parameters have clear value methods in technical standards such as mine development feasibility studies, ore body engineering classification, and surrounding rock stability analysis. Those skilled in the art can directly determine their numerical range according to the specific conditions of the mining area.

[0083] S4. Based on the exploitable area, conditionally exploitable area, and non-exploitable area, a three-dimensional connected structure is formed. The node passage cost and connection passage cost are constructed, and a three-dimensional path search process is performed to obtain the three-dimensional mining path of the gold mine.

[0084] Furthermore, in the three-dimensional basic spatial information model of the gold mine, spatial information units belonging to the exploitable area and spatial information units belonging to the conditionally exploitable area are combined into a set of mining candidate spatial information units, and spatial information units belonging to the non-exploitable area are combined into a set of avoidance spatial information units.

[0085] The set of candidate spatial information units for mining is used to provide spatial locations that the mining path can pass through, while the set of avoidance spatial information units is used to provide spatial locations that the mining path needs to avoid.

[0086] Furthermore, the spatial center coordinates of each spatial information unit are extracted from the set of mining candidate spatial information units and denoted as mining candidate spatial coordinates. The mining candidate spatial center coordinates are then combined into a three-dimensional node set. Based on the spatial adjacency relationship of the three-dimensional cubic mesh units in the three-dimensional basic spatial information model of the gold mine, node adjacency relationships are established for the spatial information units adjacent to the mining candidate spatial center coordinates in the three-dimensional node set, forming a three-dimensional connected structure that represents the spatial connectivity between mining candidate spatial information units.

[0087] Based on the set of avoidance spatial information units, the spatial center coordinates and their corresponding node adjacency relationships belonging to the set of avoidance spatial information units are deleted from the three-dimensional connected structure, so that the three-dimensional connected structure retains only the spatial connected paths that can be used for mining.

[0088] Furthermore, based on the spatial distance from the spatial information unit to the ore body boundary, the gold grade recorded by the spatial information unit, the surrounding rock mechanical state of the spatial information unit, and the spatial distance from the spatial information unit to the fitted structural plane, the node access cost of each spatial center coordinate in the three-dimensional connected structure is constructed, expressed as:

[0089] ;

[0090] in, For spatial information units The value of node access. For spatial information units The spatial distance to the boundary of the ore body, i.e., the absolute value of the geometric extrapolation of the ore body. This is the statistical median of the absolute value of the geometric extrapolation of the ore body across all spatial information units, used to scale different spatial distances to a comparable order of magnitude. For spatial information units The amount of gold grade, that is, the extrapolated value of grade, This serves as a reference grade value for defining economic grade. For spatial information units The mechanical state parameters of the surrounding rock, i.e., the stability extrapolation values. This serves as a reference stability measure for the safe state of the surrounding rock. This represents the spatial distance from the spatial information unit to the fitted construction plane, i.e., the absolute value of the construction extrapolation offset. The reference distance for constructing the unstable zone, It is a very small positive number, used to avoid the denominator being zero.

[0091] The node passage cost refers to the passage penalty coefficient assigned to a node when the spatial center coordinates of a spatial information unit are used as a node in a three-dimensional connected structure. It is used to characterize the comprehensive passage difficulty and comprehensive safety risk corresponding to the mining path crossing the spatial information unit. The node passage cost is a dimensionless relative cost that does not correspond to a single physical quantity or direct monetary cost. The value of the node passage cost is used to guide the route selection preference in three-dimensional path search. The smaller the node passage cost, the easier the spatial information unit is to pass and the lower the risk. The larger the node passage cost, the more unsuitable the spatial information unit is to pass and the more necessary it is to detour.

[0092] The node access cost increases with the increase of spatial distance from the spatial information unit to the ore body boundary, decreases with the increase of gold grade, increases with the decrease of the mechanical state of the surrounding rock, and increases with the decrease of spatial distance from the spatial information unit to the fitted structural plane. This allows the structural environment to participate in the calculation of the node access cost in the form of the ratio of reference distance to actual distance, so that the node access cost can be driven by the ore body location, resource abundance, surrounding rock stability and structural environment.

[0093] In a three-dimensional connected structure, the connectivity cost of each node adjacency relationship is calculated based on the node travel cost corresponding to the coordinates of adjacent spatial centers and the three-dimensional Euclidean distance between the spatial center coordinates, and is expressed as:

[0094] ;

[0095] in, For spatial information units and adjacent spatial information units The connectivity cost when traversing nodes along their adjacency relationships. For adjacent spatial information units The value of node access. For spatial information units and adjacent spatial information units The three-dimensional Euclidean distance between the spatial center coordinates, is the side length of a three-dimensional cubic mesh cell.

[0096] Furthermore, in the three-dimensional connected structure, based on the geometric extrapolation values ​​of the ore body recorded by the spatial information units, the spatial information units with smaller absolute values ​​of the geometric extrapolation values ​​and negative geometric extrapolation values ​​are taken as the upper boundary positions of the ore body, and the spatial information units with smaller absolute values ​​of the geometric extrapolation values ​​and positive geometric extrapolation values ​​are taken as the lower boundary positions of the ore body.

[0097] The spatial center coordinates corresponding to the upper boundary of the ore body are used as the candidate starting point of the mining path, and the spatial center coordinates corresponding to the lower boundary of the ore body are used as the candidate ending point of the mining path.

[0098] In a three-dimensional connected structure, based on the node travel cost and the connectivity cost corresponding to the node connectivity relationship, a three-dimensional path search process is performed from the candidate starting point of the mining path to the candidate ending point of the mining path. The spatial center coordinates are selected according to the principle of gradually decreasing the cumulative value of connectivity cost, forming a three-dimensional mining path point string representing the mining path.

[0099] The spatial information units corresponding to the three-dimensional mining path point string are used as the spatial information units through which the mining path passes. The three-dimensional mining path point string is connected according to its spatial order to form a three-dimensional mining path for gold mines that passes through exploitable spatial information units and avoids non-exploitable spatial information units.

[0100] It should also be noted that during the gold mine mining process, when new surface measurement point cloud data, borehole data, roadway 3D scanning data, goaf 3D scanning data, geological structure survey line data, or surrounding rock mechanics monitoring data are added to the gold mine site, the spatial information unit attributes in the gold mine's 3D basic spatial information model are updated through unified processing of multi-source 3D spatial measured data. Transparent geological prediction processing and spatial mineability classification judgment processing are then re-executed, so that the geometric extrapolation value of the ore body, grade extrapolation value, structural extrapolation offset, stability extrapolation value recorded by the spatial information unit, as well as the status of the spatial information unit being divided into mineable areas, conditionally mineable areas, or non-mineable areas, are dynamically updated.

[0101] Based on the updated exploitable area, conditionally exploitable area, and non-exploitable area, the set of candidate spatial information units for mining and the set of avoidance spatial information units are reconstructed, and a new three-dimensional connectivity structure is generated. Based on the updated spatial distance from the spatial information units to the ore body boundary, the gold grade recorded by the spatial information units, the surrounding rock mechanical state of the spatial information units, and the spatial distance from the spatial information units to the fitted structural plane, the node passage cost and connectivity passage cost are updated. In the updated three-dimensional connectivity structure, three-dimensional path search processing is performed again to obtain the updated three-dimensional mining path point string and the three-dimensional mining path of the gold mine.

[0102] By dynamically updating the three-dimensional mining path of a gold mine in real time according to the changes in the geological, engineering and mechanical properties of the spatial information unit, the three-dimensional mining path of the gold mine can continuously meet the needs of resource utilization, safety control requirements and spatial constraints of the gold mine mining structure throughout the entire mining cycle.

[0103] In summary, this invention achieves the combined expression of geological, engineering, and mechanical attributes within a unified three-dimensional modeling framework by constructing a three-dimensional basic spatial information model of a gold mine. This enables the ore body's geometric shape, grade variation, and structural features to be continuously expressed at a consistent spatial scale, thereby supporting the collaborative modeling of spatial information units. Furthermore, by performing transparent geological prediction processing on the three-dimensional basic spatial information model, it enables the continuous extrapolation and expression of the ore body's geometric shape, grade variation, structural extension, and surrounding rock mechanical state. This allows spatial information units to obtain an extrapolated attribute system that reflects resource abundance and stability characteristics at a unified three-dimensional scale.

[0104] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for planning mining paths in gold mines based on 3D modeling design, characterized in that: include, Collect multi-source three-dimensional spatial measurement data from the gold mine site and perform unified data processing to generate three-dimensional cubic mesh units and spatial attribute sets. Based on the three-dimensional cubic mesh units and spatial attribute sets, form spatial information units and construct a three-dimensional basic spatial information model of the gold mine. Transparent geological prediction processing is performed on the spatial information units in the three-dimensional basic spatial information model of the gold mine to generate extrapolated attribute values ​​and write them into the spatial information units. The transparent geological prediction process includes constructing a spatial extrapolation range based on the spatial center coordinates of the spatial information unit and the side length of the three-dimensional cubic grid unit, retrieving neighboring spatial information units within the spatial extrapolation range, and performing geometric extrapolation, grade extrapolation, structural extrapolation, and stability extrapolation on the geological attributes, engineering attributes, and mechanical attributes, respectively. Based on extrapolated attribute values, spatial information units are classified into exploitable areas, conditionally exploitable areas, and non-exploitable areas. A three-dimensional connectivity structure is formed based on the exploitable area, conditionally exploitable area and non-exploitable area. The node passage cost and connectivity passage cost are constructed and three-dimensional path search processing is performed to obtain the three-dimensional mining path of the gold mine. The constructed node access value and connectivity access cost include, based on the spatial distance from the spatial information unit to the ore body boundary, the gold grade recorded by the spatial information unit, the surrounding rock mechanical state of the spatial information unit, and the spatial distance from the spatial information unit to the fitted structural plane, the node access value of each spatial center coordinate in the constructed three-dimensional connectivity structure is expressed as: ； in, For spatial information units The value of node access. For spatial information units The spatial distance to the boundary of the ore body, i.e., the absolute value of the geometric extrapolation of the ore body. This is the statistical median of the absolute value of the geometric extrapolation of the ore body across all spatial information units, used to scale different spatial distances to a comparable order of magnitude. For spatial information units The amount of gold grade, that is, the extrapolated value of grade, This serves as a reference grade value for defining economic grade. For spatial information units The mechanical state parameters of the surrounding rock, i.e., the stability extrapolation values. This serves as a reference stability measure for the safe state of the surrounding rock. This represents the spatial distance from the spatial information unit to the fitted construction plane, i.e., the absolute value of the construction extrapolation offset. The reference distance for constructing the unstable zone, It is a very small positive number, used to avoid the denominator being zero; In a three-dimensional connected structure, the connectivity cost of each node adjacency relationship is calculated based on the node travel cost corresponding to the coordinates of adjacent spatial centers and the three-dimensional Euclidean distance between the spatial center coordinates, and is expressed as: ； in, For spatial information units and adjacent spatial information units The connectivity cost when traversing nodes along their adjacency relationships. For adjacent spatial information units The value of node access. For spatial information units and adjacent spatial information units The three-dimensional Euclidean distance between the spatial center coordinates, is the side length of a three-dimensional cubic mesh cell.

2. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 1, characterized in that: The multi-source three-dimensional spatial measurement data collected at the gold mine site includes surface measurement point cloud data, borehole data, three-dimensional scan data of roadways, three-dimensional scan data of goaf areas, geological structure survey line data, and surrounding rock mechanical monitoring data.

3. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 2, characterized in that: The execution of data unification processing to generate three-dimensional cubic mesh units and spatial attribute sets includes performing coordinate system unification processing, measurement error correction processing and time reference synchronization processing on multi-source three-dimensional spatial measured data, converting the spatial sampling point coordinates of multi-source three-dimensional spatial measured data to a unified coordinate system, correcting spatial position deviations and unifying the acquisition time format; Based on multi-source three-dimensional spatial measured data that has undergone coordinate system unification processing, measurement error correction processing, and time reference synchronization processing, three-dimensional spatial mesh generation processing is performed. The three-dimensional spatial coverage of the mining area is determined according to the coordinate values ​​of spatial sampling points, and three-dimensional cubic mesh units are divided. Spatial attribute structuring is performed, and the coordinates of spatial sampling points are split and labeled according to geological, engineering and mechanical attributes to generate a spatial attribute set.

4. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 3, characterized in that: The process of forming spatial information units based on three-dimensional cubic mesh units and spatial attribute sets, and constructing a three-dimensional basic spatial information model for gold mines, includes classifying the coordinates of spatial sampling points recorded in the spatial attribute set according to the spatial range of the three-dimensional cubic mesh units, and writing geological attributes, engineering attributes, and mechanical attributes into the corresponding three-dimensional cubic mesh units. After all the attributes of the three-dimensional cubic mesh units are recorded, each three-dimensional cubic mesh unit is combined with the corresponding geological, engineering and mechanical attributes to form a spatial information unit. The three-dimensional cubic mesh units are then combined according to their arrangement in three-dimensional space to form a three-dimensional basic spatial information model of the gold mine.

5. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 4, characterized in that: The process of generating extrapolated attribute values ​​and writing them into the spatial information unit includes, in the geometric extrapolation process, generating geometric extrapolated values ​​of the ore body based on the spatial positional relationship between the lithological interface location and the spatial center coordinates, and the spatial positional relationship between the ore body exposure location and the spatial center coordinates, and writing them into the geological attributes of the spatial information unit. In the grade extrapolation process, the grade extrapolation value is generated based on the spatial positional relationship between the gold grade detection information and the spatial center coordinates, and then written into the geological attributes of the spatial information unit. In the structural extrapolation process, based on the spatial positional relationship between fault location, fault strike, fault dip angle, joint combination, tunnel spatial morphology, goaf boundary morphology and spatial center coordinates, structural extrapolation offset is generated and written into the geological attributes of the spatial information unit. In the stability extrapolation process, stability extrapolation values ​​are generated based on the spatial positional relationship between the surrounding rock displacement record, the surrounding rock fissure change record, the surrounding rock stress change record and the spatial center coordinates, and then written into the mechanical properties of the spatial information unit.

6. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 5, characterized in that: The process of performing spatial mineability classification judgment on spatial information units based on extrapolated attribute values ​​includes: when the geometric extrapolation value of the ore body is less than zero, the spatial information unit is located inside the ore body; when the geometric extrapolation value of the ore body is greater than zero, the spatial information unit is located outside the ore body. When a spatial information unit is located inside a ore body, and the grade extrapolation value is greater than the reference grade value of the economic grade, the absolute value of the structural extrapolation offset is greater than or equal to the reference distance of the structurally unstable zone, and the stability extrapolation value is greater than the reference stability value of the surrounding rock safety state, the spatial information unit is determined to be a mineable area. When a spatial information unit is located outside the ore body and meets any of the following conditions: the grade extrapolation value is lower than the reference grade value of the economic grade, or the absolute value of the structural extrapolation offset is less than the reference distance of the structurally unstable zone and the structural extrapolation offset is less than zero, or the stability extrapolation value is lower than the reference stability value of the surrounding rock safety state, the spatial information unit is determined to be an unminable area. When a spatial information unit is neither determined to be a exploitable area nor an unexploitable area, it is determined to be a conditionally exploitable area.

7. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 6, characterized in that: The process of forming a three-dimensional connected structure based on the exploitable area, the conditionally exploitable area, and the non-exploitable area includes forming a set of mining candidate spatial information units from spatial information units belonging to the exploitable area and spatial information units belonging to the conditionally exploitable area, and forming a set of avoidance spatial information units from spatial information units belonging to the non-exploitable area. The spatial center coordinates of the candidate spatial information units are extracted from the set of mining to form a three-dimensional node set. The node adjacency relationship is established according to the spatial adjacency relationship of the three-dimensional cubic grid unit to form a three-dimensional connected structure. The spatial center coordinates and their node adjacency relationships belonging to the avoidance spatial information unit set are deleted.

8. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 7, characterized in that: The construction node access value and connectivity access cost include the node access value of each spatial center coordinate in the three-dimensional connectivity structure, based on the spatial distance from each spatial information unit in the set of mining candidate spatial information units to the ore body boundary, the gold grade recorded by each spatial information unit, the surrounding rock mechanical state of each spatial information unit, and the spatial distance from each spatial information unit to the fitted structural plane. In a three-dimensional connected structure, the connectivity cost of each node adjacency relationship is calculated based on the node travel cost corresponding to the coordinates of adjacent spatial centers and the three-dimensional Euclidean distance between the coordinates of the spatial centers.

9. The gold mine mining path planning method based on three-dimensional modeling design as described in claim 8, characterized in that: The process of performing a three-dimensional path search to obtain a three-dimensional mining path for a gold mine includes determining the candidate starting point and candidate ending point of the mining path based on the geometric extrapolation values ​​of the ore body recorded in the set of mining candidate spatial information units. A three-dimensional path search process is performed from the candidate starting point to the candidate ending point of the mining path. The spatial center coordinates are selected according to the principle of gradually decreasing the cumulative value of connectivity and passage cost, forming a three-dimensional mining path point string. The three-dimensional mining path point string is then connected according to its spatial order to form a three-dimensional mining path for the gold mine.

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