CN104376598A - Open-pit mine mining and stripping quantity calculating method utilizing plane image aerial-photographing - Google Patents
Open-pit mine mining and stripping quantity calculating method utilizing plane image aerial-photographing Download PDFInfo
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- CN104376598A CN104376598A CN201410749287.8A CN201410749287A CN104376598A CN 104376598 A CN104376598 A CN 104376598A CN 201410749287 A CN201410749287 A CN 201410749287A CN 104376598 A CN104376598 A CN 104376598A
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- G—PHYSICS
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Abstract
The invention belongs to the technical field of mine production management, and particularly relates to an open-pit mine mining and stripping quantity calculating method utilizing plane image aerial-photographing. The method includes utilizing plane image aerial-photographing technology; performing plane flight path planning and designing according to geographic conditions of an open-pit mine; checking a digital camera carried by a plane; controlling the digital camera for aerial photographing and image acquiring and storing at the same time; recording plane position and posture information provided during photographing; building an open-pit mine earth surface three-dimensional point cloud model. The open-pit mine earth surface three-dimensional point cloud model can be built without adopting a bundle adjustment method of control points, an open-pit mine earth surface irregular triangular net model is built, mining quantity and rock discharging quantity are automatically measured and recorded, accumulated volume values of the open-pit mine earth surface triangular net model at different times are subtracted to accurately calculate earth-rock quantity of an excavating or backfilling body, calculating of open-pit mine mining and stripping quantity is realized, open-pit mine measuring work efficiency is improved, and statistical accuracy of mining and stripping quantity is improved.
Description
Technical field
The invention belongs to mine management technical field, especially relate to a kind of Mining amount computing method utilizing aircraft aerial images.
Background technology
Current national is carrying out the research of geographical national conditions monitoring aspect, and open-pit mine stope mine surveying and the monitoring of ore deposit feelings are one of them important directions.Due to exploitation continue carry out, surface mine topography variation speed is very fast, and carries out due to mining and mine tailing accumulation simultaneously, and topography variation is more complicated also.The measuring technique of current Open Pit Mines At Home And Abroad mining overburden amount is still with total powerstation, GPS spot measurement, and rough Statistics is main, and need a large amount of artificial field process, measuring period is long, data processing cycle is long.Up-to-date aircraft takes photo by plane new survey technique development rapidly, achieve good test result, prove that such new technology can significantly improve surveying work efficiency, but also have portion of techniques achievement to need to explore and research for mine surveying, not yet form mine surveying new technology normalization working service flow process.
Summary of the invention
The object of this invention is to provide a kind of stripping amount of adopting computing method of the three-dimensional mine model utilizing aircraft aerial images to build, in mining production process, mining amount and row's rock amount are automatically measured and added up, promotes opencast survey work efficiency, improve and adopt stripping amount statistical precision.
The object of the invention is to be realized by following technical proposals:
The Mining amount computing method utilizing aircraft aerial images of the present invention, is characterized in that, comprise the steps:
A) mission planning: according to surface mine geographic basis, carries out aircraft track planning and design; Calibration is carried out to the digital camera that aircraft carries, measures camera focus, principal point, pixel dimension parameter;
B) data acquisition: control to carry taking off of digital camera, flying height 100-500 rice; Control digital camera to take photo by plane, focusing mode is arranged to auto-focusing, screening-mode is automatic shooting continuously, ensure that sequential images is along ship's control >=60%, sidelapping degree >=40%, carry out image capturing and storage simultaneously, record take pictures the moment fly to control provide aircraft position, attitude information;
C) surface mine modeling: take photo by plane to aircraft and cover after whole open-pit mine stope, aircraft landing, from camera copy sequential images input computing machine, carries out Yunnan snub-nosed monkey, filtering and noise reduction sound, deletes image of makeing mistakes; Surface mine earth's surface three-dimensional point cloud model is built by the beam optimum adjustment Algorithm without the need to reference mark; A cloud is built into TIN, sets up surface mine earth's surface three-dimensional model;
D) adopt stripping gauge to calculate: the surface mine earth's surface three-dimensional model based on different time sequence calculates surface mine mining and row's rock total amount.
The described beam optimum adjustment Algorithm without the need to reference mark is key one step of the photogrammetric analysis based on image sequence, effectively can improve the precision of three-dimensional reconstruction, it is using a photographic light flux (i.e. a photo) as the elementary cell of compensating computation, based on collinearity condition equation, first measure the picpointed coordinate of each reference mark and pass point on photo after, carry out the budgetary estimate of regional network, to determine the elements of exterior orientation of each photo and the approximate value of closed points coordinate in region, then according to collinear condition, by reference mark and pass point row error equation respectively, carry out region-wide consistance optimized algorithm of randomly drawing and carry out nonlinear optimization calculating, calculate the elements of exterior orientation of each photo and the ground coordinate (X of pass point, Y, Z).
The described beam optimum adjustment Algorithm without the need to reference mark adopts and randomly draws consistance optimized algorithm iterative estimate model parameter, and its basic step is as follows:
1) the minimum sampling of initialization model parameter integrates as n, and sample number # (D) the > n of set D, randomly draws the subset S initialization model M (S) of the D comprising n data point from D;
2) complementary set SC=D the sample set of geometric distance < threshold value t in S and between model M (S) and S jointly form S set *, S* thinks interior point set, is called the consistent collection of model instance M (S);
3) if consistent number # (the S*) >=threshold value T collecting data point in S*, then the methods such as least square are adopted to reappraise model M with S set *; If # (S*)≤threshold value T, returns step 1);
4) after K random sampling, select maximum consistent collection S*, and reappraise model M with S*.
The described employing of the beam optimum adjustment Algorithm without the need to reference mark is randomly drawed consistance optimized algorithm and is solved fundamental matrix F, and reject Mismatching point, its basic step is as follows:
Described TIN adopts data point insertion algorithm gradually, first in the polygon comprising all data points, sets up the initial triangulation network, is then inserted one by one by the point of remainder, forms TIN.
The described surface mine earth's surface three-dimensional model based on different time sequence calculates surface mine mining and row's rock total amount, refer to carry out measuring method of the present invention to the same area different time, after utilizing the altitude figures once observing arbitrarily and obtaining and standard bottom surface to build three-dimensional model, carry out topology to subtract each other, the situation of change of mineral products in region during calculating observation, described method is that the tri-prismoid accumulation by calculating the different times triangulation network is respectively value added, being subtracted each other by volume accumulated value can accurate Calculation changeable volume, obtains the earthwork adopting stripping.
Advantage of the present invention:
The Mining amount computing method of aircraft aerial images that utilize of the present invention utilize aircraft to take photo by plane image technology, according to surface mine geographic basis, carry out aircraft track planning and design, calibration is carried out to the digital camera that aircraft carries, control digital camera to take photo by plane, carry out image capturing and storage, record is taken pictures the aircraft position and attitude information that the moment provides, thus builds surface mine earth's surface three-dimensional point cloud model simultaneously.The present invention builds surface mine earth's surface three-dimensional point cloud model without the need to the bundle adjustment algorithm at reference mark, set up surface mine earth's surface Triangulated irregular network model, mining amount and row's rock amount are automatically measured and added up, the volume accumulated value of different time surface mine Triangulation Network Model is subtracted each other the earthwork that accurate Calculation obtains excavating (backfill) body, realize Mining gauge to calculate, promote opencast survey work efficiency, improve and adopt stripping amount statistical precision.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention.
Fig. 2 of the present inventionly overlooks direction Image registration relation schematic diagram.
Fig. 3 is that side-looking direction of the present invention three-dimensional point cloud generates schematic diagram.
Fig. 4 is the surface mine three-dimensional point cloud difference of elevation distribution plan that different time is set up.
Fig. 5 is a cloud absolute error (unit: m; Transverse axis is period).
Fig. 6 is a cloud relative error (unit: mm/m; Transverse axis is line segment number).
Fig. 7 calculates schematic diagram for adopting stripping gauge.
Embodiment
The specific embodiment of the present invention is further illustrated below in conjunction with accompanying drawing.
The Mining amount computing method utilizing aircraft aerial images of the present invention, is characterized in that, comprise the steps:
A) mission planning: according to surface mine geographic basis, carries out aircraft track planning and design; Calibration is carried out to the digital camera that aircraft carries, measures camera focus, principal point, pixel dimension parameter;
B) data acquisition: control to carry taking off of digital camera, flying height 100-500 rice; Control digital camera to take photo by plane, focusing mode is arranged to auto-focusing, screening-mode is automatic shooting continuously, ensure that sequential images is along ship's control >=60%, sidelapping degree >=40%, carry out image capturing and storage simultaneously, record take pictures the moment fly to control provide aircraft position, attitude information;
C) surface mine modeling: take photo by plane to aircraft and cover after whole open-pit mine stope, aircraft landing, from camera copy sequential images input computing machine, carries out Yunnan snub-nosed monkey, filtering and noise reduction sound, deletes image of makeing mistakes; Surface mine earth's surface three-dimensional point cloud model is built by the beam optimum method of adjustment without the need to reference mark; A cloud is built into TIN, sets up surface mine earth's surface three-dimensional model;
D) adopt stripping gauge to calculate: the surface mine earth's surface three-dimensional model based on different time sequence calculates surface mine mining and row's rock total amount.
Described Mining amount computing method, are applicable to outdoor metallic ore, open coal mine described in it.
Described Mining amount computing method, C described in it) beam optimum method of adjustment without the need to reference mark in step is a kind of nonlinear optimization method, based on collinearity condition equation, collinearity equation refers in the ideal case, photography moment picture point, projection centre, object point are located on the same line, and the mathematic(al) representation describing this three point on a straight line is referred to as collinearity condition equation.
Wherein f is focal length, (a
i, b
i, c
i) be conversion parameter, (X, Y, Z) is ground coordinate, and (x, y) is picpointed coordinate in image, and (Xs, Ys, Zs) is camera elements of exterior orientation.
First on each photo, automatically extract the picpointed coordinate of same place, carry out Image Matching, beam optimum method of adjustment without the need to reference mark of the present invention adopts and randomly draws consistance optimized algorithm, estimate the fundamental matrix F of a robust, further rejecting Mismatching point, finally be met the matching characteristic point pair of Epipolar geometry constraint, improve coupling accuracy.
Suppose the matching double points x=(u, v, 1) in given any two width images
t, x=(u, v, 1)
t, basic square
Battle array
Meet EQUATION x
tfx=0.One group of corresponding point equation can be expressed as following form:
uuf
11+vuf
12uf
13+uvf
21vvf
22+vf
23uf
31+vf
32f
33+0
Obtain
f＝(f
11,f
12,f
13,f
21,f
22,f
23,f
31,f
32,f
33)
T
Given n, to homonymy matching point, can obtain system of linear equations:
Wherein A is N 9 matrix, (u
i, v
i) be matrixing parameter.
In practice, directly can not determine fundamental matrix by solving system of linear equations, but pass through in constraint condition ‖ f ‖=1 time solving equation group, namely satisfy condition:
min‖Af‖
subject to‖f‖＝1
The singular value of A (SVD) is made to be decomposed into A=UDV
t, then last column vector of V is the solution of above formula, i.e. f=v
9, then matrix F can according to f=v
9structure.
An important restrictions character of fundamental matrix F is order is 2, but in reality, there is the corresponding error of point, making by the determined matrix F of above formula is full rank, therefore need to be 2 by an order and make the minimum F of ‖ F F ‖ go to replace F to estimate as fundamental matrix, specific practice, for carry out SVD decomposition to matrix F, makes F=UDV
t, and have D=diag (r, s, t), r s t, then F=Udiag (r, s, 0) V
t.Sum up above-mentioned discussion, estimate that the algorithm flow of fundamental matrix is as follows:
Because match point concentrates the Mismatching point that can there is some to (i.e. exterior point), the fundamental matrix directly estimated can produce very large error, and the Epipolar geometry relation namely recovering to obtain is incorrect.Therefore the present invention proposes the fundamental matrix F cancelling noise data randomly drawed consistance optimized algorithm and estimate, concrete grammar concentrates from one group of sample data comprising abnormal data, by the mathematical model parameter of iterative manner estimation random sample collection, obtain the algorithm of effective sample data.Randomly draw consistance optimized algorithm be not adopt as far as possible comprise point not in the know go a little estimation model optimal parameter, but calculate model with the least possible intra-office point and expand consistent data collection as much as possible, randomly drawing consistance optimized algorithm is a kind of robustness arbitrary sampling method having fault-tolerant ability, can improve the accuracy of matching double points.
Suppose model M to be estimated and containing noisy measurement data point set D, adopt the basic step randomly drawing consistance optimized algorithm iterative estimate model parameter as follows:
1) the minimum sampling of initialization model parameter integrates as n, and sample number # (D) the > n of set D, randomly draws the subset S initialization model M (S) of the D comprising n data point from D;
2) complementary set SC=D the sample set of geometric distance < threshold value t in S and between model M (S) and S jointly form S set *, S* thinks interior point set, is called the consistent collection of model instance M (S);
3) if consistent number # (the S*) >=threshold value T collecting data point in S*, then the methods such as least square are adopted to reappraise model M with S set *; If # (S*)≤threshold value T, returns step 1);
4) after K random sampling, select maximum consistent collection S*, and reappraise model M with S*.
The present invention's employing is randomly drawed consistance optimized algorithm and is solved fundamental matrix F, and rejecting Mismatching point algorithm flow is as follows:
Complete the budgetary estimate of regional network with above-mentioned steps after, determine the elements of exterior orientation of each photo and the approximate value of closed points coordinate in region, then according to collinear condition, by reference mark and pass point row error equation respectively, carry out region-wide unified optimization compensating computation, calculate the elements of exterior orientation of each photo and the ground coordinate (X, Y, Z) of three-dimensional point cloud.Concrete steps are as follows:
Under pinhole camera model, any space three-dimensional point X
jplane of delineation picture point x is projected to through transitting probability
j, then have:
In formula: be scale factor; R
i, t
irepresent camera C respectively
irotation, translation matrix; K
ifor camera C
iintrinsic Matrix, it comprises focal distance f
iwith two radial distortion parameter k
1iand k
2i.
But due to the existence of noise various in reality, make space three-dimensional point X
jafter projecting to the plane of delineation according to formula, image projecting point q
ijwith the image characteristic point P (C detected
i, X
j) between there is certain distance, be referred to as re-projection error.Suppose that camera to be asked and scenario parameters are respectively C={C
1, C
2..., C
nand X={X
1, X
2..., X
m, definition re-projection error function is the quadratic sum of re-projection error, then re-projection error function can be write as:
Wherein: v
ijas a variable, as spatial point X
jat camera C
iin visible time be 1, otherwise be 0; Function f (P (C
i, X
j), q
ij)=‖ P (C
i, X
j) q
ij‖ represents an X
jat camera C
ion re-projection error.Constantly minimize the re-projection error between subpoint and observed image point by progressive alternate, calculate best camera position, attitude, obtain scene ground coordinate (X, Y, Z).
In described Mining amount computing method, C described in it) in step based on the TIN that cloud data builds, decrease the data redundancy that regular grid brings, be better than again pure in isocontour method simultaneously in calculating (as the gradient) efficiency.TIN can change the density of sampled point and determine the position of sampled point with the complicacy of landform fluctuations, thus data redundancy when it can avoid topographic relief smooth, again can by terrain feature point as ridge, valley route, the representative digit elevation features such as topography variation line.Adopt data point insertion algorithm gradually, first in the polygon comprising all data points, set up the initial triangulation network, then the point of remainder is inserted one by one, form TIN.
In described Mining amount computing method, D described in it) in step, surface mine earth's surface three-dimensional model based on different time sequence calculates surface mine mining and row's rock total amount, refer to carry out measuring method of the present invention to the same area different time, after the altitude figures utilizing any twice observation to obtain and standard bottom surface build three-dimensional model, carry out topology to subtract each other, the situation of change of mineral products in region during calculating twice observation.The tri-prismoid accumulation calculating the different times triangulation network is respectively value added, can accurate Calculation changeable volume by value added for two individual accumulation subtracting each other, and obtains the earthwork adopting stripping.
As shown in Figure 1, be process flow diagram of the present invention, step comprises trajectory planning and design, camera verification, image capturing and storage (comprise moment of taking pictures fly control provide the information such as position, attitude), Yunnan snub-nosed monkey, beam optimum method of adjustment surface mine surface three dimension Model Reconstruction, adopt and shell gauge and calculate;
As shown in Figure 2, overlook direction Image registration relation schematic diagram, flight boat takes the photograph sessions, acquisition and the storage of target image is completed according to set flight path route, simultaneously flight control system record camera is in the information such as flight position, attitude in moment of taking pictures, these auxiliary datas with often open image and keep corresponding, and to be automatically saved in track documents, as shown in table 1, be respectively numbering (correspondence often opens image), image photo opporunity, latitude and longitude coordinates and flight attitude parameter information.
The auxiliary data of table 1 Airplane Flight Control System ' record
Image processing stages is the core of airplane measuring systems, specifically comprise Yunnan snub-nosed monkey, image feature point extract and mate, the position that provides based on flight control system and attitude information carries out target localization and three-dimensional structure is rebuild and model accuracy is assessed.
Fig. 3 is that side-looking direction of the present invention some cloud generates schematic diagram, adopts flux of light method to optimize the non-linear least square problem of method of adjustment solution objective function.Constantly minimize the re-projection error between subpoint and observed image point by progressive alternate, calculate best camera position, attitude, obtain scene three-dimensional point cloud coordinate.
Described flow process is as follows: from sequential images, select the wider and image that matching characteristic point number is more of two width baselines, utilizes to fly the initial internal reference of control information and estimate, sets up camera initial attitude parameter, utilizes triangulation to calculate initial three-dimensional point cloud coordinate; Progressively add all the other images in initial configuration, and constantly update camera parameters and initial configuration; The beam optimum method of adjustment without reference mark is utilized to be optimized whole reconstruction model.
Fig. 4 is the surface mine three-dimensional point cloud difference of elevation distribution plan that different time is set up, have chosen some land marking points as reference mark, carry out measuring (precision 1mm) with GPS RTK, compare and measure the some cloud coordinate that value and the present invention build, error is as shown in table 2.
The point cloud error of coordinate table of table 2GPS RTK measured value and structure
Fig. 5 is some cloud absolute error, and through verification experimental verification, the point cloud model that the inventive method builds is compared with actual measured results, and absolute error is less than 0.2m, meets mine management requirement.
Fig. 6 is for some cloud relative error is through verification experimental verification, and the point cloud model that the inventive method builds is compared with actual measured results, and relative error is less than 4 ‰, meets mine management requirement.
Fig. 7 calculates schematic diagram for adopting stripping gauge, can find out that depth capacity reaches 44m comparatively large close to the local change in depth at the bottom of ore deposit, and this causes because exploitation makes the hole end degree of depth obviously increase.The earthwork 4256751 cubic metres that accurate Calculation obtains adopting stripping is subtracted each other by value added for two individual accumulation.
The Mining amount computing method of aircraft aerial images that utilize of the present invention utilize aircraft to take photo by plane image technology, according to surface mine geographic basis, carry out aircraft track planning and design, calibration is carried out to the digital camera that aircraft carries, control digital camera to take photo by plane, carry out image capturing and storage, record is taken pictures the aircraft position and attitude information that the moment provides, thus builds surface mine earth's surface three-dimensional point cloud model simultaneously.The present invention builds surface mine earth's surface three-dimensional point cloud model without the need to the beam optimum method of adjustment at reference mark, set up surface mine earth's surface Triangulated irregular network model, mining amount and row's rock amount are automatically measured and added up, the volume accumulated value of different time surface mine Triangulation Network Model is subtracted each other the earthwork that accurate Calculation obtains adopting stripping, realize Mining gauge to calculate, promote opencast survey work efficiency, improve and adopt stripping amount statistical precision.
Claims (6)
1. utilize Mining amount computing method for aircraft aerial images, it is characterized in that, comprise the steps:
A) mission planning: according to surface mine geographic basis, carries out aircraft track planning and design; Calibration is carried out to the digital camera that aircraft carries, measures camera focus, principal point, pixel dimension parameter;
B) data acquisition: control to carry taking off of digital camera, flying height 100-500 rice; Control digital camera to take photo by plane, focusing mode is arranged to auto-focusing, screening-mode is automatic shooting continuously, ensure that sequential images is along ship's control >=60%, sidelapping degree >=40%, carry out image capturing and storage simultaneously, record take pictures the moment fly to control provide aircraft position, attitude information;
C) surface mine modeling: take photo by plane to aircraft and cover after whole open-pit mine stope, aircraft landing, from camera copy sequential images input computing machine, carries out Yunnan snub-nosed monkey, filtering and noise reduction sound, deletes image of makeing mistakes; Surface mine earth's surface three-dimensional point cloud model is built by the beam optimum adjustment Algorithm without the need to reference mark; A cloud is built into TIN, sets up surface mine earth's surface three-dimensional model;
D) adopt stripping gauge to calculate: the surface mine earth's surface three-dimensional model based on different time sequence calculates surface mine mining and row's rock total amount.
2. the Mining amount computing method utilizing aircraft aerial images according to claim 1, it is characterized in that the described beam optimum adjustment Algorithm without the need to reference mark is key one step of the photogrammetric analysis based on image sequence, effectively can improve the precision of three-dimensional reconstruction, it is using a photographic light flux (i.e. a photo) as the elementary cell of compensating computation, based on collinearity condition equation, first measure the picpointed coordinate of each reference mark and pass point on photo after, carry out the budgetary estimate of regional network, to determine the elements of exterior orientation of each photo and the approximate value of closed points coordinate in region, then according to collinear condition, by reference mark and pass point row error equation respectively, carry out region-wide consistance optimized algorithm of randomly drawing and carry out nonlinear optimization calculating, calculate the elements of exterior orientation of each photo and the ground coordinate (X of pass point, Y, Z).
3. the Mining amount computing method utilizing aircraft aerial images according to claim 1 and 2, it is characterized in that the described beam optimum adjustment Algorithm without the need to reference mark adopts and randomly draw consistance optimized algorithm iterative estimate model parameter, its basic step is as follows:
1) the minimum sampling of initialization model parameter integrates as n, and sample number # (D) the > n of set D, randomly draws the subset S initialization model M (S) of the D comprising n data point from D;
2) complementary set SC=D the sample set of geometric distance < threshold value t in S and between model M (S) and S jointly form S set *, S* thinks interior point set, is called the consistent collection of model instance M (S);
3) if consistent number # (the S*) >=threshold value T collecting data point in S*, then the methods such as least square are adopted to reappraise model M with S set *; If # (S*)≤threshold value T, returns step 1);
4) after K random sampling, select maximum consistent collection S*, and reappraise model M with S*.
4. the Mining amount computing method utilizing aircraft aerial images according to claim 1,2 or 3, it is characterized in that the described employing of the beam optimum adjustment Algorithm without the need to reference mark is randomly drawed consistance optimized algorithm and solved fundamental matrix F, reject Mismatching point, its basic step is as follows:
5. the Mining amount computing method utilizing aircraft aerial images according to claim 1, it is characterized in that described TIN adopts data point insertion algorithm gradually, first in the polygon comprising all data points, set up the initial triangulation network, then the point of remainder is inserted one by one, form TIN.
6. the Mining amount computing method utilizing aircraft aerial images according to claim 1, it is characterized in that the described surface mine earth's surface three-dimensional model based on different time sequence calculates surface mine mining and row's rock total amount, refer to carry out measuring method of the present invention to the same area different time, after utilizing the altitude figures once observing arbitrarily and obtaining and standard bottom surface to build three-dimensional model, carry out topology to subtract each other, the situation of change of mineral products in region during calculating observation, described method is that the tri-prismoid accumulation by calculating the different times triangulation network is respectively value added, being subtracted each other by volume accumulated value can accurate Calculation changeable volume, obtain the earthwork adopting stripping.
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