Rock mass structural plane occurrence interpretation method, system and equipment and storage medium

Abstract

The invention provides a rock mass structural plane occurrence interpretation method, system and device and a storage medium, and relates to the technical field of geological prospecting, and the method comprises the steps: obtaining a plurality of optical images of the hole wall of an inclined hole of a rock mass and azimuth data corresponding to each optical image; performing rotation correction and splicing processing on the optical images according to the azimuth data of each optical image to form a continuous hole wall plane image; performing three-dimensional modeling processing on the hole wall plane image to form a hole wall three-dimensional image, and establishing a space coordinate system of the hole wall three-dimensional image; selecting a preset number of feature points in the hole wall three-dimensional image, and performing rotation transformation based on initial space coordinates of the feature points in a space coordinate system to obtain target space coordinates corresponding to the feature points; and determining a normal vector of the rock mass structural plane according to the target space coordinates of the feature points, and performing interpretation based on the normal vector to obtain inclination angle, tendency and trend parameters of the rock mass structural plane. According to the method, high-precision interpretation of the rock mass structural plane occurrence is realized.

Description

Technical Field

[0001] This invention relates to the field of geological exploration technology and can be used in multiple industries such as hydropower, railways, highways, and mining. Specifically, it relates to a method, system, equipment, and storage medium for interpreting the occurrence of rock mass structural planes. Background Technology

[0002] The attitude of rock mass structural planes is a key quantitative indicator describing the spatial location of geological structural planes, consisting of three parameters: strike, dip, and dip angle. Therefore, accurately acquiring and analyzing rock mass structural plane attitude data is fundamental to rock mass engineering design, construction, and geological hazard prevention. The attitude of rock mass structural planes is typically measured using optical images of the vertical borehole wall.

[0003] In related technologies, the in-hole camera lens is prone to rotation when moving, making it difficult to seamlessly stitch images together, which in turn makes it difficult to accurately and efficiently interpret the attitude parameters of the rock mass structure. Summary of the Invention

[0004] The problem solved by this invention is how to interpret the attitude of rock mass structural planes based on oblique borehole images.

[0005] To address the aforementioned problems, this invention provides a method, system, device, and storage medium for interpreting the attitude of rock mass structural planes.

[0006] In a first aspect, the present invention provides a method for interpreting the attitude of rock mass structural planes, comprising: Acquire multiple optical images of the wall of the oblique aperture and the orientation data corresponding to each optical image; The optical images are rotated, corrected, and stitched together based on the orientation data of each optical image to form a continuous aperture wall plane image. The planar image of the hole wall is subjected to three-dimensional modeling processing to form a three-dimensional image of the hole wall, and a spatial coordinate system of the three-dimensional image of the hole wall is established. A predetermined number of feature points are selected in the three-dimensional image of the hole wall, and a rotation transformation is performed based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points; The normal vector of the rock mass structural surface is determined based on the target spatial coordinates of the feature points, and the dip angle, dip direction, and strike parameters of the rock mass structural surface are obtained by interpreting the normal vector.

[0007] Optionally, acquiring multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image includes: The borehole camera device equipped with an orientation measurement module is moved along the axis of the inclined borehole at a preset step size. At each preset acquisition position, the borehole wall is imaged circumferentially to obtain image data corresponding to each preset acquisition position. The three-dimensional attitude information of the borehole camera device at the preset acquisition position is determined by the orientation measurement module. The optical image of the inclined hole wall is drawn using the image data corresponding to all the preset acquisition positions, and the three-dimensional attitude information of the camera device in the hole at the acquisition position is used as the orientation data of the optical image corresponding to the preset acquisition position.

[0008] Optionally, the optical images are rotated and stitched together based on the orientation data of each optical image to form a continuous aperture wall planar image, including: The rotation offset angle of the optical image is determined based on the three-dimensional pose information corresponding to each optical image; For each optical image, the optical image is rotated in the opposite direction according to the rotation offset angle to obtain the rotated optical image; All the rotated optical images are edge-matched and seamlessly stitched according to the depth of the preset acquisition position corresponding to the rotated optical images to obtain the hole wall plane image.

[0009] Optionally, the planar image of the hole wall is subjected to three-dimensional modeling processing to form a three-dimensional image of the hole wall, including: Based on the actual aperture parameters of the inclined hole, the modeling radius of the cylindrical surface corresponding to the planar image of the hole wall is determined; The planar image of the hole wall is rolled into a closed cylindrical surface along a direction parallel to the axis of the inclined hole to form a cylindrical surface model; The cylindrical model is placed in a preset spatial orientation to obtain a three-dimensional image of the hole wall; wherein, the preset spatial orientation includes the axis of the cylindrical model being located on a horizontal plane and the bottom of the hole being due north.

[0010] Optionally, establishing the spatial coordinate system of the three-dimensional image of the hole wall includes: The origin of the coordinate system is the center point of the opening of the cylindrical surface model; The first geographical orientation is defined as the direction along the central axis of the cylindrical model and pointing towards the bottom of the hole in the cylindrical model. The first geographical orientation is due north, and the central axis towards the bottom of the hole is defined as the positive direction of the first coordinate axis X. The direction perpendicular to the central axis and pointing due east from the first geographical direction at the origin of the coordinate system is taken as the positive direction of the second coordinate axis Y. The third geographical location, which is perpendicular to the central axis and forms a 90° angle with the first geographical location east, is taken as the positive direction of the third coordinate axis Z, that is, the vertically upward direction. The spatial coordinate system of the three-dimensional image of the hole wall is constructed based on the first coordinate axis, the second coordinate axis, and the third coordinate axis.

[0011] Optionally, a predetermined number of feature points are selected in the three-dimensional image of the hole wall, and a rotation transformation is performed based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points, including: Determine the intersection line between the rock mass structural surface and the cylindrical surface model in the three-dimensional image of the borehole wall; At least three feature points are selected along the intersection line; Based on the roll angle of the feature points and the radius parameters of the cylindrical surface model, the initial spatial coordinates of each feature point in the spatial coordinate system are determined; Based on the actual inclination angle of the inclined hole, the initial spatial coordinates of each feature point are rotated clockwise along the second coordinate axis of the spatial coordinate system to obtain the intermediate spatial coordinates of each feature point. Based on the actual inclination of the inclined hole, the intermediate spatial coordinates of each feature point are rotated clockwise along the third coordinate axis of the spatial coordinate system to obtain the target spatial coordinates corresponding to each feature point.

[0012] Optionally, the normal vector of the rock mass structural surface is determined based on the target spatial coordinates of the feature points, and the dip angle, dip direction, and strike parameters of the rock mass structural surface are obtained based on the normal vector, including: Based on the target spatial coordinates of any two of the feature points, determine the spatial vector of the extension direction of the feature points pointing to the rock mass structural surface; Perform a cross product operation on the two spatial vectors to obtain a normal vector perpendicular to the rock mass structural plane; Based on the angle between the normal vector and the vertical direction in the spatial coordinate system, the angle between the rock mass structural surface and the horizontal plane is determined, and the angle is taken as the dip angle of the rock mass structural surface. Based on the horizontal component information of the normal vector, the initial angle of the dip of the rock mass structural surface is determined, and then the initial angle is normalized to a complete circumference range through the angle correction rule to obtain the dip of the rock mass structural surface. Based on the fixed angular relationship between the dip and the strike, the angle offset of the dip is calculated to obtain the strike parameters of the rock mass structural surface.

[0013] Secondly, the present invention provides a rock mass structural plane orientation interpretation system, comprising: The acquisition unit is used to acquire multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image; An image processing unit is used to perform rotation correction and stitching processing on the optical images based on the orientation data of each optical image to form a continuous aperture wall plane image; A 3D modeling unit is used to perform 3D modeling processing on the planar image of the hole wall to form a 3D image of the hole wall and to establish a spatial coordinate system for the 3D image of the hole wall. The feature point extraction and transformation unit is used to select a preset number of feature points in the three-dimensional image of the hole wall, and perform rotation transformation based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points. The structural surface parameter interpretation unit is used to determine the normal vector of the rock mass structural surface based on the target spatial coordinates of the feature points, and to interpret the dip angle, dip direction and strike parameters of the rock mass structural surface based on the normal vector.

[0014] Thirdly, an electronic device according to the present invention includes: a processor and a memory, the memory being used to store a computer program; When the computer program is loaded by the processor, it causes the processor to execute the rock mass structural plane attitude interpretation method as described above.

[0015] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the rock mass structural plane attitude interpretation method as described above.

[0016] The rock mass structural plane attitude interpretation method, system, equipment, and storage medium of this invention perform rotational correction on images using azimuth data to ensure consistent orientation across all images, thereby achieving high-quality image stitching. This solves the problem of inconsistent image orientation in inclined boreholes and provides an accurate two-dimensional basis for subsequent processing. Furthermore, based on high-quality borehole wall planar images, a three-dimensional model is created to form a three-dimensional image of the borehole wall, and a unified spatial coordinate system is established. This allows feature points in the image to be accurately transformed into three-dimensional space, providing a reliable framework for subsequent geometric analysis. Simultaneously, feature points are selected in the three-dimensional model, and their target spatial coordinates are obtained through rotational transformation, ensuring the accurate position of the feature points in three-dimensional space and providing precise data support for the interpretation of structural plane parameters. Then, based on the target spatial coordinates of the feature points, the normal vector of the rock mass structural plane is calculated, and the dip angle, dip direction, and strike parameters are interpreted. This process achieves high-precision interpretation of the rock mass structural plane attitude, providing accurate data support for engineering applications.

[0017] In summary, this invention, through precise image stitching, 3D modeling, and feature point localization, can accurately interpret the dip angle, dip direction, and strike parameters of rock mass structural surfaces, significantly improving the accuracy of parameter interpretation. Simultaneously, the automated and systematic processing reduces manual operation and errors, significantly improving interpretation efficiency and enabling rapid processing of large amounts of inclined borehole image data, thus solving the problem of traditional methods' difficulty in accurately interpreting the attitude of structural surfaces in inclined borehole environments. Attached Figure Description

[0018] Figure 1 This is a schematic flowchart of the rock mass structure plane orientation interpretation method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of four frames of images captured in an embodiment of the present invention; Figure 3 This is a schematic diagram of stitching four uncorrected stitched images according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the hole wall image obtained by correcting and stitching four frames of images according to an embodiment of the present invention; Figure 5 This is a three-dimensional schematic diagram of the hole wall image according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the spatial coordinate system and coordinate representation of the feature points of the rock mass structure surface in an embodiment of the present invention; Figure 7 This is a schematic diagram of the projection and spatial coordinate transformation of any point after rotation along the y-axis in an embodiment of the present invention. Figure 8 This is a schematic diagram of the projection of point A' onto the XY plane and the spatial coordinate transformation after rotation along the z-axis according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the rock mass structure plane orientation interpretation system according to an embodiment of the present invention. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] Combination Figure 1 As shown, an embodiment of the present invention provides a method for interpreting the attitude of rock mass structural planes, comprising: Multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image are acquired.

[0024] Specifically, a drilling and imaging device is used to capture multiple optical images of the borehole wall along the depth direction inside the inclined hole. At the same time, the three-dimensional gyroscope inside the camera probe is used to obtain the azimuth data such as the roll angle corresponding to each frame of the image. This azimuth data is used to reflect the rotation state of the image in space, providing key information for subsequent image processing.

[0025] The optical images are rotated, corrected, and stitched together based on the orientation data of each optical image to form a continuous planar image of the aperture wall.

[0026] Specifically, rotation correction is performed on each frame of the image based on the roll angle obtained from the 3D gyroscope. Assuming four frames of images are obtained... Figure 2 As shown, assuming a row has N pixels and each pixel occupies 3 bytes, then each row occupies 3N bytes. Assuming 'a' represents the corresponding orientation data, the bottom width 'a / 360' of each frame is moved to the top of the image, and then each frame is stitched together sequentially according to depth. Here, 'a' is the orientation data recorded by the 3D gyroscope during image processing, and the circumference angle is the complete rotation cycle of the image corresponding to 360°.

[0027] In this embodiment, this processing method is used to correct images that were originally difficult to align due to camera lens rotation. Figure 3 The image shown is corrected, and the corrected images are stitched together to form a continuous planar image of the hole wall, as shown below. Figure 4 As shown, the splicing misalignment phenomenon has been eliminated.

[0028] The planar image of the hole wall is processed into a three-dimensional model to form a three-dimensional image of the hole wall, and a spatial coordinate system of the three-dimensional image of the hole wall is established.

[0029] Specifically, in combination Figure 5 As shown, the stitched planar image of the borehole wall is rolled into a horizontal cylindrical shape to form a three-dimensional image of the borehole wall. A spatial coordinate system is established with the center point of the borehole opening as the origin, the bottom direction of the borehole as the x-axis, the eastward direction as the y-axis, and the vertically upward direction as the z-axis. At the same time, the roll angle in the vertically upward Z-axis direction is defined as 0, the roll angle in the eastward direction is 0.5π radians, the roll angle in the vertically downward direction is π radians, and the roll angle in the westward direction is 1.5π radians. This ensures that each point in the three-dimensional image of the borehole wall can find its corresponding position in this spatial coordinate system, providing a basis for subsequent selection of feature point roll angles and spatial coordinate transformation.

[0030] A predetermined number of feature points are selected in the three-dimensional image of the hole wall, and a rotation transformation is performed based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points.

[0031] Specifically, three feature points A, B, and C are selected in the three-dimensional image of the borehole wall, located on the intersection line of the rock mass structural plane and the cylindrical surface. Their initial spatial coordinates are assumed to be A (…). B () ), C ( Then, based on the inclination angle of the hole... and tendencies These feature points are then rotated along the y-axis and z-axis respectively. Taking point A as an example, first rotate it clockwise along the y-axis. The radius is used to obtain point A', and then rotated clockwise along the z-axis. The radian is used to obtain point A". Through a series of geometric calculations, the target spatial coordinates of feature points A", B", and C" are finally obtained. These coordinates can accurately reflect the position of the feature points in space.

[0032] The normal vector of the rock mass structural surface is determined based on the target spatial coordinates of the feature points, and the dip angle, dip direction, and strike parameters of the rock mass structural surface are obtained by interpreting the normal vector.

[0033] Specifically, using the target spatial coordinates of feature points A", B", and C" after rotation transformation, the normal vector of the rock mass structural surface is determined through vector operations. Then, based on the normal vector, the dip angle β, dip direction α, and strike γ of the rock mass structural surface are calculated. The dip angle β is obtained by calculating the angle between the normal vector and the horizontal plane. The rock mass structural plane attitude interpretation method in this embodiment uses azimuth data to perform rotational correction on the images, ensuring that all images are oriented in the same direction, thereby achieving high-quality image stitching and providing an accurate two-dimensional basis for subsequent processing. Furthermore, a three-dimensional model is created based on the high-quality borehole wall planar image, forming a three-dimensional image of the borehole wall, and a unified spatial coordinate system is established. This allows feature points in the image to be accurately transformed into three-dimensional space, providing a reliable framework for subsequent geometric analysis. Simultaneously, feature points are selected in the three-dimensional model, and their target spatial coordinates are obtained through rotational transformation, ensuring the accurate position of the feature points in three-dimensional space and providing precise data support for the interpretation of structural plane parameters. Then, based on the target spatial coordinates of the feature points, the normal vector of the rock mass structural plane is calculated, and the dip angle, dip direction, and strike parameters are interpreted. This process achieves high-precision interpretation of the rock mass structural plane attitude, providing accurate data support for engineering applications.

[0034] In summary, this embodiment, through precise image stitching, 3D modeling, and feature point localization, can accurately interpret the dip angle, dip direction, and strike parameters of rock mass structural surfaces, significantly improving the accuracy of parameter interpretation. Simultaneously, the automated and systematic processing reduces manual operation and errors, significantly improving interpretation efficiency and enabling rapid processing of large amounts of inclined borehole image data, thus solving the problem of traditional methods' difficulty in accurately interpreting the attitude of structural surfaces in inclined borehole environments.

[0035] Optionally, acquiring multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image includes: The borehole camera device equipped with an orientation measurement module is moved along the axis of the inclined borehole at a preset step size. At each preset acquisition position, the borehole wall is imaged circumferentially to obtain image data corresponding to each preset acquisition position. The three-dimensional attitude information of the borehole camera device at the preset acquisition position is determined by the orientation measurement module. The optical image of the inclined hole wall is drawn using the image data corresponding to all the preset acquisition positions, and the three-dimensional attitude information of the camera device in the hole at the acquisition position is used as the orientation data of the optical image corresponding to the preset acquisition position.

[0036] Specifically, this embodiment employs an in-hole camera device with an orientation measurement module, such as a three-dimensional gyroscope. This device can move along the axis of the inclined hole at set step sizes, for example, at regular intervals. At each preset acquisition position, the camera device performs circumferential imaging of the hole wall, i.e., captures a panoramic image of the hole wall. Simultaneously, the orientation measurement module records the three-dimensional attitude information of the camera device at each acquisition position in real time, including roll angle, pitch angle, and yaw angle. This attitude information can accurately describe the spatial orientation of the camera device within the inclined hole, providing basic data for subsequent image rotation correction.

[0037] Image data captured by the camera device at multiple preset acquisition positions within the inclined borehole are collected to form a set of optical images of the borehole wall. Simultaneously, the three-dimensional attitude information corresponding to each image, such as roll angle, pitch angle, and yaw angle, is recorded as the azimuth data for that image. This azimuth data will be used in subsequent image processing steps, such as rotation correction and stitching, to ensure that the images accurately reflect the true morphology of the borehole wall. In this way, this embodiment can acquire high-quality optical images of the inclined borehole wall and their corresponding roll angles, providing a reliable data foundation for subsequent interpretation of the rock mass structural plane attitude.

[0038] In this optional embodiment, an orientation measurement module, such as a 3D gyroscope, is installed on the in-hole camera device. This module allows the device to move along the inclined borehole axis at preset step lengths and perform circumferential imaging of the borehole wall at each preset acquisition position, while simultaneously recording the 3D attitude information of the camera device. This process not only acquires multiple optical images of the inclined borehole wall but also accurately records the orientation data corresponding to each image, such as roll angle, pitch angle, and yaw angle. This orientation data provides crucial reference for subsequent image rotation correction and stitching, enabling accurate image correction even when the camera lens rotates complexly within the inclined borehole, avoiding stitching errors, and thus forming high-quality continuous planar images of the borehole wall. This embodiment effectively solves the image stitching problem caused by the rotation of the camera lens within the inclined borehole, providing a reliable data foundation for subsequent 3D modeling and rock mass structural surface attitude interpretation, significantly improving the accuracy and efficiency of rock mass structural surface attitude interpretation.

[0039] Optionally, the optical images are rotated and stitched together based on the orientation data of each optical image to form a continuous aperture wall planar image, including: The rotation offset angle of the optical image is determined based on the three-dimensional pose information corresponding to each optical image; For each optical image, the optical image is rotated in the opposite direction according to the rotation offset angle to obtain the rotated optical image; All the rotated optical images are edge-matched and seamlessly stitched according to the depth of the preset acquisition position corresponding to the rotated optical images to obtain the hole wall plane image.

[0040] Specifically, by analyzing the three-dimensional attitude information corresponding to each optical image, such as roll angle, pitch angle and yaw angle, the coordinate system relative to a unified geographic coordinate system is calculated, such as a coordinate system with north as 0° and east as 90°.

[0041] In this embodiment, for each optical image, a reverse rotation operation is performed based on its rotation offset angle relative to a unified geographic coordinate system. For example, if the rotation offset angle of an image is α degrees, the image is rotated by -α degrees using an image processing algorithm to ensure that each image is aligned with the geographic coordinate system after rotation correction. In this way, the image misalignment problem caused by camera lens rotation is solved, providing a foundation for subsequent image stitching. After completing the rotation correction of all optical images, these images are edge-matched and seamlessly stitched sequentially according to the depth information of the preset acquisition position corresponding to each image, in depth order. During the stitching process, image processing technology is used to perform feature matching on the edges of adjacent images to ensure continuity and consistency at the stitching point. For example, by calculating the pixel similarity of the edges of adjacent images, the stitching position of the images is adjusted, ultimately forming a continuous hole wall plane image, such as... Figure 4 As shown. This process not only eliminates splicing errors caused by camera lens rotation, but also ensures the integrity and accuracy of the hole wall images.

[0042] In this optional embodiment, the image misalignment problem caused by the rotation of the camera lens within the inclined borehole is effectively solved by utilizing the three-dimensional pose information of the optical images for rotation correction and stitching processing. Specifically, firstly, by accurately calculating the rotation offset angle of each image relative to a unified geographic coordinate system, accurate parameters are provided for the reverse rotation of the images, ensuring that each image can be accurately aligned. Subsequently, based on the rotation-corrected images, edge matching and seamless stitching are performed according to the depth of the acquisition location, forming a high-quality continuous borehole wall planar image. This embodiment not only significantly improves the accuracy and efficiency of image stitching but also provides a reliable foundation for subsequent three-dimensional modeling and rock mass structural surface attitude interpretation, thereby improving the accuracy and reliability of the entire rock mass structural surface parameter interpretation process.

[0043] Optionally, the planar image of the hole wall is subjected to three-dimensional modeling processing to form a three-dimensional image of the hole wall, including: Based on the actual aperture parameters of the inclined hole, the modeling radius of the cylindrical surface corresponding to the planar image of the hole wall is determined; The planar image of the hole wall is rolled into a closed cylindrical surface along a direction parallel to the axis of the inclined hole to form a cylindrical surface model; The cylindrical model is placed in a preset spatial orientation to obtain a three-dimensional image of the hole wall; wherein, the preset spatial orientation includes the axis of the cylindrical model being located on a horizontal plane and the bottom of the hole being due north.

[0044] Specifically, the cylindrical modeling radius corresponding to the borehole wall planar image is determined based on the actual borehole diameter parameters. The borehole diameter parameters are known geometric parameters during drilling, typically represented by the borehole diameter d. The cylindrical modeling radius r can be directly determined through the borehole diameter parameters; that is, the radius of the cylinder is equal to half the borehole diameter. This radius is used to subsequently roll the borehole wall planar image into a cylindrical model, ensuring that the model's geometric dimensions are consistent with the actual borehole. Using the determined cylindrical modeling radius, the borehole wall planar image is rolled into a closed cylinder along a direction parallel to the borehole axis by mapping each pixel on the planar image to its corresponding position on the cylinder. In this way, the entire borehole wall planar image is rolled into a cylindrical model, providing a foundation for subsequent 3D visualization and analysis. Furthermore, the rolled-up cylindrical model is placed in a preset spatial orientation, ensuring that its axis coincides with the actual axis of the borehole. Simultaneously, it is ensured that the bottom surface of the cylindrical model faces a preset geographical orientation, such as north. In this embodiment, this process is achieved through 3D coordinate transformation, ensuring that the cylindrical model's orientation in space is consistent with the actual borehole. In this way, the resulting three-dimensional image of the borehole wall not only matches the actual inclined borehole in geometry, but also matches the actual geological environment in spatial orientation, providing an accurate three-dimensional background for subsequent interpretation of rock mass structural parameters.

[0045] In this embodiment of the invention, the roll angle obtained by a three-dimensional gyroscope is used to perform rotation correction on the corresponding frame images, and finally, they are stitched together sequentially according to depth to form a planar image of the hole wall. For example, when the camera lens moves inside the hole, it rotates continuously, making it difficult to align the captured images, such as obtaining... Figure 2 The four images shown can be stitched together directly without correction to obtain the following result: Figure 3 The image shown exhibits misalignment in its stitching. If the stitching is corrected according to the corresponding roll angle before re-stitching, the result will be as follows: Figure 4 The image is continuous and without breaks. In a preferred embodiment of the invention, combined with... Figure 5 As shown, put Figure 4 The image is rolled into a cylindrical shape with a radius of r, forming a shape like... Figure 5 The image shown is a three-dimensional image of the borehole wall. It is placed horizontally with the bottom of the borehole facing north. The coordinate system is based on the center of the borehole opening as the origin, the bottom of the borehole as the x-axis, the east direction as the y-axis, and the vertical upward direction as the z-axis. The middle part of the three-dimensional image of the borehole wall is the fault.

[0046] In this optional embodiment, the accurate construction of a three-dimensional image of the borehole wall is achieved by rolling the planar image of the borehole wall into a cylindrical model and placing it in a preset spatial posture. Specifically, firstly, the cylindrical modeling radius is determined based on the actual borehole diameter parameters, ensuring that the geometric dimensions of the three-dimensional model are consistent with the actual borehole; secondly, the planar image of the borehole wall is rolled into a closed cylinder, completely restoring the geometric shape of the borehole wall; finally, by placing the cylindrical model in a preset spatial posture, an accurate three-dimensional background is provided for the subsequent interpretation of rock mass structural surface parameters, significantly enhancing the reliability of the interpretation of the rock mass structural surface attitude.

[0047] Optionally, establishing the spatial coordinate system of the three-dimensional image of the hole wall includes: The origin of the coordinate system is the center point of the opening of the cylindrical surface model; The first geographical orientation is defined as the direction along the central axis of the cylindrical model and pointing towards the bottom of the hole in the cylindrical model. The first geographical orientation is due north, and the central axis towards the bottom of the hole is defined as the positive direction of the first coordinate axis X. The direction perpendicular to the central axis and pointing due east from the first geographical direction at the origin of the coordinate system is taken as the positive direction of the second coordinate axis Y. The third geographical location, which is perpendicular to the central axis and forms a 90° angle with the first geographical location east, is taken as the positive direction of the third coordinate axis Z, that is, the vertically upward direction. The spatial coordinate system of the three-dimensional image of the hole wall is constructed based on the first coordinate axis, the second coordinate axis, and the third coordinate axis.

[0048] Specifically, a direction is defined at the origin as the first coordinate axis. This direction is perpendicular to the central axis of the cylindrical model and points eastward to a predetermined first geographical orientation. In this way, the first coordinate axis is aligned with the geographical orientation eastward, providing a clear reference direction for subsequent spatial positioning. A second coordinate axis is defined at the origin, also perpendicular to the central axis and forming a 90° angle with the first coordinate axis, pointing to another predetermined geographical orientation. In this way, the second coordinate axis is orthogonal to the first coordinate axis, further refining the two-dimensional planar portion of the coordinate system and ensuring its orthogonality and correlation with geographical orientation. Furthermore, a third coordinate axis is defined along the central axis of the cylindrical model and points to the bottom of the hole. This coordinate axis is perpendicular to the first and second coordinate axes, forming a complete three-dimensional coordinate system. By pointing the third coordinate axis to the bottom of the hole, it ensures that this coordinate axis is consistent with the actual spatial orientation of the inclined hole, providing an accurate depth direction for subsequent spatial coordinate calculations. By defining the first, second, and third coordinate axes, a complete spatial coordinate system is constructed. The coordinate system uses the midpoint of the central axis of the cylindrical model as its origin, with the first and second axes pointing to two orthogonal geographical directions, north and east, respectively, and the third axis pointing vertically upwards. This definition of the coordinate system ensures its correlation with geographical orientation, providing an accurate reference framework for subsequent calculation of the spatial coordinates of feature points and interpretation of rock mass structural parameters in the 3D image of the borehole wall.

[0049] In a preferred embodiment of the present invention, combined with Figure 6 As shown, a mathematical coordinate system is established to facilitate obtaining the spatial coordinates of characteristic points on the rock mass structural surfaces. (Same as above) Figure 5 With the center of the hole as the origin of the coordinate system, north is the x-axis, east is the y-axis, and the vertical upward direction is the z-axis. The upward Z-direction roll angle is defined as 0 radians, north as 0 radians, east as 0.5π radians, downward as π radians, and west as 1.5π radians.

[0050] In this optional embodiment, a spatial coordinate system construction method adapted to the borehole wall is designed to provide an accurate reference framework for the three-dimensional image of the borehole wall that is closely related to the actual geological environment. Specifically, this embodiment uses the midpoint of the borehole opening of the cylindrical model as the origin of the coordinate system, ensuring that the center of the coordinate system is aligned with the geometric center of the borehole wall model, thus enhancing the symmetry and stability of the model. Pointing the first and second coordinate axes to orthogonal geographical locations not only achieves the orthogonality of the coordinate system but also directly links it to geographical coordinates, facilitating subsequent geological analysis and data comparison. The first coordinate axis points along the central axis to the bottom of the borehole, providing an accurate reference for depth measurement and analysis. This coordinate system construction method not only improves the accuracy and reliability of rock mass structural surface parameter interpretation but also simplifies the subsequent three-dimensional spatial analysis process.

[0051] Optionally, a predetermined number of feature points are selected in the three-dimensional image of the hole wall, and a rotation transformation is performed based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points, including: Determine the intersection line between the rock mass structural surface and the cylindrical surface model in the three-dimensional image of the borehole wall; At least three feature points are selected along the intersection line; Based on the roll angle of the feature points and the radius parameters of the cylindrical surface model, the initial spatial coordinates of each feature point in the spatial coordinate system are determined; Based on the actual inclination angle of the inclined hole, the initial spatial coordinates of each feature point are rotated clockwise along the second coordinate axis of the spatial coordinate system to obtain the intermediate spatial coordinates of each feature point. Based on the actual inclination of the inclined hole, the intermediate spatial coordinates of each feature point are rotated clockwise along the third coordinate axis of the spatial coordinate system to obtain the target spatial coordinates corresponding to each feature point.

[0052] Specifically, the intersection line between the rock mass structural surface and the cylindrical surface model is identified and determined in the 3D image of the borehole wall. Determining this intersection line provides a clear geometric basis for the subsequent selection of feature points. Simultaneously, at least three nearly uniformly distributed feature points are selected along the determined intersection line. These feature points are used for subsequent spatial coordinate calculations and rotation transformations. Uniformly distributed feature points better reflect the overall morphology of the rock mass structural surface, improving the accuracy and reliability of parameter interpretation. Feature point selection can be accomplished through automated image processing algorithms or manual assistance, ensuring a near-uniform distribution of feature points along the intersection line. Furthermore, based on the established spatial coordinate system and the geometric parameters of the cylindrical surface model, such as radius and roll angle, the initial spatial coordinates of each feature point in the spatial coordinate system are determined.

[0053] In an alternative embodiment, these coordinates can be obtained through geometric calculations, for example, by using the positional information of feature points on the cylinder surface, such as depth and circumferential angle combined with the cylinder radius, to calculate their coordinate values ​​in three-dimensional space. The initial spatial coordinates provide reference data for subsequent rotational transformations.

[0054] Simultaneously, based on the actual dip angle of the inclined borehole, the initial spatial coordinates of each feature point are transformed clockwise along the first coordinate axis of the spatial coordinate system through geometric calculations. Specifically, the coordinate components of the feature points on the first and third coordinate axes are adjusted according to the borehole dip angle value to obtain intermediate spatial coordinates, providing intermediate data for subsequent transformations. Then, based on the actual dip of the inclined borehole, the intermediate spatial coordinates of each feature point are transformed clockwise along the third coordinate axis of the spatial coordinate system. Through geometric calculations, the coordinate components of the feature points on the first and second coordinate axes are adjusted according to the dip value to finally obtain the target spatial coordinates. This process ensures that the spatial position of the feature points reflects the actual dip of the inclined borehole, thereby accurately describing the position and orientation of the rock mass structural surface in three-dimensional space. The target spatial coordinates provide accurate data support for subsequent interpretation of rock mass structural surface parameters.

[0055] In a preferred embodiment of the present invention, it is assumed that A ( ), B ( ), C ( The three points () are on the intersection line of the fault base and the cylindrical surface, with coordinates as follows: in: = , = rsinθ A , = rcosθ A ; = , = rsinθ B , = rcosθ B ; = , = rsinθ C , = rcosθ C ; Where r is the radius of the cylindrical surface model of the oblique hole. , and These represent the depth values ​​along the axis of the inclined hole at points A, B, and C, respectively. θ A , θ B , θ CThese are the circumferential angles of points A, B, and C on the cross-section of the cylinder.

[0056] Combination Figure 7 As shown, assuming the hole inclination angle is V0, the projection of point A onto the ZOX plane is M ( The angle between OM and OZ is assumed to be... Point A rotates clockwise along the Y-axis. Arrival after the arc point, The projection of point N onto the ZOX plane is ( ), Depend on = = rcosθ A , = = Therefore, we can conclude that: =atan( / =atan( / rcosθ A ), OM=[ 2 + 2 ] 0.5 =[( rcosθ A ) 2 + 2 ] 0.5 , , = = OMcos ( v A +v 0), = = rsinθ A , A The spatial coordinates of the point are [ OMsin ( v A +v 0) rsinθ A ,OMcos ( v A +v 0)]; Combination Figure 8 As shown, assuming the hole inclination is... , The angle between OP and the X-axis. The projection of point P onto the XOY plane is ( , , ),but = = , = =rsinθ A ; After rotating the point clockwise by u0 radians along the Z-axis, it becomes , The projection of point onto the XOY plane is Q ( , , ).

[0057] in, =atan ( / ) =atan { rsinθ A / [ sin ( + )]}; OP= ( 2 + 2 ) 0.5 = [ OMsin ( + ) 2 + ( rsinθ A ) 2 ] 0.5 ; OQ=OP= [ OMsin ( + ) 2 + ( rsinθ A ) 2 ] 0.5 ; = = ; = = ; = = ; The spatial coordinates are ( ， ， ).

[0058] In this optional embodiment, the intersection line between the rock mass structural surface and the cylindrical surface model is determined in the three-dimensional image of the borehole wall, and at least three nearly uniformly distributed feature points are selected along the intersection line, thus achieving precise positioning of the feature points of the rock mass structural surface. Furthermore, based on the actual dip angle and dip direction of the inclined borehole, the initial spatial coordinates of the feature points are subjected to two clockwise rotation transformations, adjusting their positions along the first and second coordinate axes respectively, ultimately obtaining the target spatial coordinates. This process not only ensures that the feature points accurately reflect the true position and orientation of the rock mass structural surface in three-dimensional space, but also provides a precise data foundation for the subsequent interpretation of the rock mass structural surface parameters.

[0059] Optionally, the normal vector of the rock mass structural surface is determined based on the target spatial coordinates of the feature points, and the dip angle, dip direction, and strike parameters of the rock mass structural surface are obtained based on the normal vector, including: Based on the target spatial coordinates of any two of the feature points, determine the spatial vector of the extension direction of the feature points pointing to the rock mass structural surface; Perform a cross product operation on the two spatial vectors to obtain a normal vector perpendicular to the rock mass structural plane; Based on the angle between the normal vector and the vertical direction in the spatial coordinate system, the angle between the rock mass structural surface and the horizontal plane is determined, and the angle is taken as the dip angle of the rock mass structural surface. Based on the horizontal component information of the normal vector, the initial angle of the dip of the rock mass structural surface is determined, and then the initial angle is normalized to a complete circumference range through the angle correction rule to obtain the dip of the rock mass structural surface. Based on the fixed angular relationship between the dip and the strike, the angle offset of the dip is calculated to obtain the strike parameters of the rock mass structural surface.

[0060] Specifically, the target spatial coordinates of the feature points selected in the 3D image of the borehole wall are known after rotation transformation. By calculating the coordinate difference between any two feature points, a spatial vector is obtained, which points to the extension direction of the rock mass structural surface. Then, the cross product of the two spatial vectors is used to obtain the normal vector perpendicular to the rock mass structural surface. The angle between the normal vector N and the vertical direction (the third coordinate axis, usually the z-axis) in the spatial coordinate system is calculated.

[0061] In a preferred embodiment of the present invention, the normal vector of the rock mass structural surface is considered. Determination: Repeat the above for point A and Similarly, by processing the points, we can obtain B after rotating it along the y-axis and z-axis. Point coordinates and C ” Point coordinates .

[0062] A B and C The normal vectors of the rock mass structural planes where the three points are located for: ; Where i, j, and k are the unit orthogonal basis vectors in the three coordinate axes of the spatial rectangular coordinate system.

[0063] Regarding the determination of the dip angle β of the rock mass structural plane: ; ; ; ; in, , and Normal vectors The components in the x-axis, y-axis and z-axis directions of the spatial coordinate system.

[0064] The angle β between the plane and the horizontal plane satisfies the following formula: *180 / π, unit: °; α=Atan( n x , n y )*180 / π, in degrees; It should be noted that, in the embodiments of the present invention, regarding the determination of the strike γ of the rock mass structural plane, the strike of the structural plane differs from the dip by 90°. The strike of the structural plane in geological data has bidirectionality, and the specified value is in the range of [0 to 180). Then the strike γ = α + 90, and the unit is °. If it is greater than 180, subtract 180; if it is less than 0, add 180.

[0065] Combination Figure 9 As shown, an embodiment of the present invention provides a rock mass structural plane orientation interpretation system, comprising: The acquisition unit is used to acquire multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image; An image processing unit is used to perform rotation correction and stitching processing on the optical images based on the orientation data of each optical image to form a continuous aperture wall plane image; A 3D modeling unit is used to perform 3D modeling processing on the planar image of the hole wall to form a 3D image of the hole wall and to establish a spatial coordinate system for the 3D image of the hole wall. The feature point extraction and transformation unit is used to select a preset number of feature points in the three-dimensional image of the hole wall, and perform rotation transformation based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points. The structural surface parameter interpretation unit is used to determine the normal vector of the rock mass structural surface based on the target spatial coordinates of the feature points, and to interpret the dip angle, dip direction and strike parameters of the rock mass structural surface based on the normal vector.

[0066] The rock mass structural plane orientation interpretation system of the present invention has the same advantages over the prior art as the rock mass structural plane orientation interpretation method described above, and will not be repeated here.

[0067] This invention provides an electronic device, including: a processor and a memory, wherein the memory is used to store computer programs; When the computer program is loaded by the processor, it causes the processor to execute the rock mass structural plane attitude interpretation method as described above.

[0068] The electronic device of the present invention has the same advantages over the prior art as the above-mentioned rock mass structure plane orientation interpretation method, and will not be repeated here.

[0069] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the rock mass structural plane attitude interpretation method as described above.

[0070] The computer-readable storage medium of the present invention has the same advantages over the prior art as the above-mentioned rock mass structure plane attitude interpretation method, and will not be repeated here.

[0071] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for interpreting the attitude of rock mass structural planes, characterized in that, include: Acquire multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image; The optical images are rotated, corrected, and stitched together based on the orientation data of each optical image to form a continuous aperture wall plane image. The planar image of the hole wall is subjected to three-dimensional modeling processing to form a three-dimensional image of the hole wall, and a spatial coordinate system of the three-dimensional image of the hole wall is established. A predetermined number of feature points are selected in the three-dimensional image of the hole wall, and a rotation transformation is performed based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points; The normal vector of the rock mass structural surface is determined based on the target spatial coordinates of the feature points, and the dip angle, dip direction, and strike parameters of the rock mass structural surface are obtained by interpreting the normal vector.

2. The method for interpreting the attitude of rock mass structural planes according to claim 1, characterized in that, The acquisition of multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image includes: The borehole camera device equipped with an orientation measurement module is moved along the axis of the inclined borehole at a preset step size. At each preset acquisition position, the borehole wall is imaged circumferentially to obtain image data corresponding to each preset acquisition position. The three-dimensional attitude information of the borehole camera device at the preset acquisition position is determined by the orientation measurement module. The optical image of the inclined hole wall is drawn using the image data corresponding to all the preset acquisition positions, and the three-dimensional attitude information of the camera device in the hole at the acquisition position is used as the orientation data of the optical image corresponding to the preset acquisition position.

3. The method for interpreting the attitude of rock mass structural planes according to claim 2, characterized in that, The step of rotating and stitching the optical images based on the orientation data of each optical image to form a continuous aperture wall planar image includes: The rotation offset angle of the optical image is determined based on the three-dimensional pose information corresponding to each optical image; For each optical image, the optical image is rotated in the opposite direction according to the rotation offset angle to obtain the rotated optical image; All the rotated optical images are edge-matched and seamlessly stitched according to the depth of the preset acquisition position corresponding to the rotated optical images to obtain the hole wall plane image.

4. The method for interpreting the attitude of rock mass structural planes according to claim 2, characterized in that, The step of performing three-dimensional modeling processing on the planar image of the hole wall to form a three-dimensional image of the hole wall includes: Based on the actual aperture parameters of the inclined hole, the modeling radius of the cylindrical surface corresponding to the planar image of the hole wall is determined; The planar image of the hole wall is rolled into a closed cylindrical surface along a direction parallel to the axis of the inclined hole to form a cylindrical surface model; The cylindrical model is placed in a preset spatial orientation to obtain a three-dimensional image of the hole wall; wherein, the preset spatial orientation includes the axis of the cylindrical model being located on a horizontal plane and the bottom of the hole being due north.

5. The method for interpreting the attitude of rock mass structural planes according to claim 4, characterized in that, The establishment of the spatial coordinate system for the three-dimensional image of the hole wall includes: The origin of the coordinate system is the center point of the opening of the cylindrical surface model; The first geographical orientation is defined as the direction along the central axis of the cylindrical model and pointing towards the bottom of the hole in the cylindrical model. The first geographical orientation is due north, and the central axis towards the bottom of the hole is defined as the positive direction of the first coordinate axis X. The direction perpendicular to the central axis and pointing due east from the first geographical direction at the origin of the coordinate system is taken as the positive direction of the second coordinate axis Y. The third geographical location, which is perpendicular to the central axis and forms a 90° angle with the first geographical location east, is taken as the positive direction of the third coordinate axis Z, that is, the vertically upward direction. The spatial coordinate system of the three-dimensional image of the hole wall is constructed based on the first coordinate axis, the second coordinate axis, and the third coordinate axis.

6. The method for interpreting the attitude of rock mass structural planes according to claim 5, characterized in that, The step of selecting a predetermined number of feature points in the three-dimensional image of the hole wall and performing a rotation transformation based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points includes: Determine the intersection line between the rock mass structural surface and the cylindrical surface model in the three-dimensional image of the borehole wall; At least three feature points are selected along the intersection line; Based on the roll angle of the feature points and the radius parameters of the cylindrical surface model, the initial spatial coordinates of each feature point in the spatial coordinate system are determined; Based on the actual inclination angle of the inclined hole, the initial spatial coordinates of each feature point are rotated clockwise along the second coordinate axis of the spatial coordinate system to obtain the intermediate spatial coordinates of each feature point. Based on the actual inclination of the inclined hole, the intermediate spatial coordinates of each feature point are rotated clockwise along the third coordinate axis of the spatial coordinate system to obtain the target spatial coordinates corresponding to each feature point.

7. The method for interpreting the attitude of rock mass structural planes according to claim 6, characterized in that, The step of determining the normal vector of the rock mass structural surface based on the target spatial coordinates of the feature points, and interpreting the normal vector to obtain the dip angle, dip direction, and strike parameters of the rock mass structural surface, includes: Based on the target spatial coordinates of any two of the feature points, determine the spatial vector of the extension direction of the feature points pointing to the rock mass structural surface; Perform a cross product operation on the two spatial vectors to obtain a normal vector perpendicular to the rock mass structural plane; Based on the angle between the normal vector and the vertical direction in the spatial coordinate system, the angle between the rock mass structural surface and the horizontal plane is determined, and the angle is taken as the dip angle of the rock mass structural surface. Based on the horizontal component information of the normal vector, the initial angle of the dip of the rock mass structural surface is determined, and then the initial angle is normalized to a complete circumference range through the angle correction rule to obtain the dip of the rock mass structural surface. Based on the fixed angular relationship between the dip and the strike, the angle offset of the dip is calculated to obtain the strike parameters of the rock mass structural surface.

8. A rock mass structural plane orientation interpretation system, characterized in that, include: The acquisition unit is used to acquire multiple optical images of the inclined borehole wall of the rock mass and the azimuth data corresponding to each optical image; An image processing unit is used to perform rotation correction and stitching processing on the optical images based on the orientation data of each optical image to form a continuous aperture wall plane image; A 3D modeling unit is used to perform 3D modeling processing on the planar image of the hole wall to form a 3D image of the hole wall and to establish a spatial coordinate system for the 3D image of the hole wall. The feature point extraction and transformation unit is used to select a preset number of feature points in the three-dimensional image of the hole wall, and perform rotation transformation based on the initial spatial coordinates of the feature points in the spatial coordinate system to obtain the target spatial coordinates corresponding to the feature points. The structural surface parameter interpretation unit is used to determine the normal vector of the rock mass structural surface based on the target spatial coordinates of the feature points, and to interpret the dip angle, dip direction and strike parameters of the rock mass structural surface based on the normal vector.

9. An electronic device, characterized in that, include: Processor and memory, the memory being used to store computer programs; When the computer program is loaded by the processor, it causes the processor to execute the rock mass structural plane orientation interpretation method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the rock mass structural plane attitude interpretation method as described in any one of claims 1-7.

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