CN108346181B - Mine three-dimensional full roadway blurring and facility equipment display method - Google Patents
Mine three-dimensional full roadway blurring and facility equipment display method Download PDFInfo
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- CN108346181B CN108346181B CN201810286787.0A CN201810286787A CN108346181B CN 108346181 B CN108346181 B CN 108346181B CN 201810286787 A CN201810286787 A CN 201810286787A CN 108346181 B CN108346181 B CN 108346181B
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
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Abstract
The invention discloses a mine three-dimensional full roadway blurring and facility equipment display method, which comprises the following steps: s1: respectively constructing a three-dimensional roadway model set of a mine roadway and a facility equipment model set in the mine; s2: acquiring coordinate information in a mine roadway by using a camera, starting at a camera coordinate point, forming a viewing cone with a mapping relation with the three-dimensional roadway model set and the facility equipment model set by cutting a plane in front of a space and a cutting plane in back of the space, wherein the roadway and the facility equipment model in the viewing cone are three-dimensional models needing to be displayed, and obtaining a residual roadway three-dimensional model set and a residual facility equipment model set by cutting the viewing cone; s3: calculating the spatial position relation between the residual three-dimensional model set and the camera points, blurring a roadway surface wall image of the roadway facing the camera points according to the calculation result, and displaying a roadway surface wall image of the roadway facing away from the camera points; s4: and finishing the display of the residual roadway set and the residual facility equipment.
Description
Technical Field
The invention relates to a mine three-dimensional full roadway blurring and facility equipment display method.
Background
The three-dimensional visualization technology can express a large amount of data in the form of diagrams and images, so that the originally abstract data becomes more specific and direct; the mine three-dimensional visualization has the characteristics of intuition, clear spatial position relation and large information amount, and the information query function can be added to comprehensively understand the conditions of the mine such as the production environment, the production process, the equipment distribution, the equipment state, the earth surface industrial square and the like. The three-dimensional model construction technology integrates various dynamic operation data of a coal mine, and utilizes the three-dimensional technology to comprehensively construct a simulation and simulation system of various professional subsystems of mining, digging, mechanical movement, transportation and communication of the mine, so that the integration of monitoring, control, management and guarantee of the whole mine is realized.
The three-dimensional visualization of the coal mine mainly builds two contents:
1. and constructing a three-dimensional visual basic environment of the coal mine.
The ground and underground coal mine is realized based on mine foundation geographic information and ground survey information; the integrated three-dimensional display of indoor and outdoor mining areas, roadways and driving faces achieves the coal mine three-dimensional scene which can be visually displayed and accurately positioned.
2. The three-dimensional virtual simulation environment realizes the virtual roaming of the surface mining area virtual environment and the underground coal seam environment, the virtual roaming of the tunnel and the production management.
At present, in the three-dimensional simulation system of coal mines in China, a tunnel and facility equipment display method mostly adopts a simulation global tunnel model, then performs tunnel virtual roaming, and displays a small amount of facility equipment in a certain tunnel; the display mode cannot meet the requirement of the current mine managers on the overall control of the mine;
based on the factors, a display method which is stable in performance and capable of displaying all underground mine facility equipment is needed, and the method has very important significance for improving the mine production management level and improving the production working efficiency.
Disclosure of Invention
The invention aims to provide a mine three-dimensional full roadway blurring and facility equipment display method to solve the problem that at present, mine managers and technicians cannot accurately acquire image information of all equipment in a mine roadway.
In order to solve the technical problems, the invention provides a mine three-dimensional full roadway blurring and facility equipment display method,
s1: acquiring a three-dimensional model to be displayed and world coordinates thereof in a mine three-dimensional scene, and respectively constructing a three-dimensional roadway model set S of a mine roadway and a facility equipment model set G in the mine;
s2: acquiring coordinate information in a mine roadway by using a camera, starting at a camera coordinate point, forming a viewing cone V which has a mapping relation with the three-dimensional roadway model set S and the facility equipment model set G by cutting planes in front of a space and cutting planes behind the space, wherein the roadway and the facility equipment model within the viewing cone V are three-dimensional models to be displayed, and cutting the viewing cone V to obtain a residual roadway three-dimensional model set S 'and a residual facility equipment model set G';
s3: calculating the spatial position relation between the residual three-dimensional model set S' and the camera points, blurring a roadway surface wall image of the roadway facing the camera points according to the calculation result, and displaying a roadway surface wall image of the roadway back to the camera points;
s4: and finishing the display of the residual roadway set S 'and the residual facility equipment G'.
Further, the step S3 specifically includes:
s31: acquiring a camera world coordinate vector v (x, y, z);
s32: obtaining a single three-dimensional roadway model in the set S 'to obtain a world coordinate vector u (x', y ', z');
s33: subtracting v from u to obtain a camera direction vector d (x ', y', z '), calculating an included angle between the three-dimensional rectangular roadway surface and the vector d (x', y ', z'), and blurring the roadway surface wall image if the included angle is smaller than 180 degrees; and otherwise, displaying the roadway face wall image.
Further, the display method further comprises:
s5: when the camera view angle is moved after the step S4 is completed, the operation of the steps S2-S4 is returned until the display of all the facility equipment in the mine roadway is completed.
Further, the viewing pyramid V in step S2 is a pyramid, and the camera is located at the vertex of the pyramid.
And further rendering all the facility equipment in the mine roadway after blurring the roadway surface wall image of the roadway facing the camera point.
The invention has the beneficial effects that: by blurring the roadway face wall, all the facility equipment in the roadway under the coal mine are displayed, so that mine managers can master the distribution condition of the facility equipment in the whole mine from the overall visual angle, and compared with the prior art that only a single roadway can be roamed, a small amount of facility equipment in the roadway is displayed, the mine three-dimensional display technology can more intuitively express the spatial relationship of the mine and has larger information amount; the information of the coal mine can be more comprehensively mastered; the method has very important significance for improving the mine production management level and improving the production work efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of a method for mine three-dimensional full roadway blurring and facility equipment display according to the present invention;
FIG. 2 is a schematic view of a view frustum of one embodiment of the present invention;
FIG. 3 is a schematic view of a view calculation according to an embodiment of the present invention;
fig. 4 is a three-dimensional schematic diagram of a mine roadway after blurring according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, a mine three-dimensional full roadway blurring and facility equipment display method includes the following steps:
s1: three-dimensional roadway model set S ═ S for constructing mine roadway1,s2,...snAnd a set of facility equipment models in the mine G ═ G1,g2,...gn}；
S2: acquiring coordinate information in a mine tunnel by using a camera, constructing a view cone V (shown in figure 2) having a mapping relation (f: V → G, f: V → S) with the three-dimensional tunnel model set S and the facility equipment model set G at a camera point, and cutting the view cone V to obtain a residual tunnel three-dimensional model set S' ═ S { (S) }1′,s2′,...sn'} and a set of remaining facility equipment models G' ═ G1′,g2′,...gn′}；
S3: as shown in FIG. 3, a set S 'of remaining three-dimensional models is calculated'i(i ═ 1,2, K n) and the camera point, blurring the roadway surface wall image of the roadway facing the camera point according to the calculation result, and displaying the roadway surface wall image of the roadway facing away from the camera point, wherein the calculation result is shown in fig. 4;
s4: and finishing the display of the residual roadway set S 'and the residual facility equipment G'.
According to an embodiment of the present application, the display method further includes:
s5: when the camera position or the camera angle of view is changed to move after the step S4 is completed, the operation returns to the steps S2 to S4 until the display of all the facility devices in the mine roadway is completed.
And after the position or the visual angle of the camera is moved, reconstructing a three-dimensional view cone, performing space calculation, cutting out a view cone external roadway and a mine facility equipment model again to obtain a roadway model to be displayed, performing blurring operation, and finally forming a new display visual angle.
According to an embodiment of the present application, the viewing pyramid V described in step S2 is a three-dimensional pyramid, and the camera is located at the vertex of the pyramid. The most common is to use a projection type, perspective projection, such that objects near the camera are projected larger, while objects further from the camera are projected smaller. Perspective projection uses a pyramid as the view frustum, with the camera located at the vertex of the pyramid. The pyramid is truncated by two planes, one in front of the other, forming a Frustum called View Frustum, only the model inside the Frustum being visible.
According to one embodiment of the application, the method further comprises rendering all facility equipment in the mine roadway after blurring the roadway face wall image of the roadway facing the camera point.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. A mine three-dimensional full roadway blurring and facility equipment display method is characterized by comprising the following steps:
s1: acquiring a three-dimensional model to be displayed and world coordinates thereof in a mine three-dimensional scene, and respectively constructing a three-dimensional roadway model set S of a mine roadway and a facility equipment model set G in the mine;
s2: acquiring coordinate information in a mine roadway by using a camera, starting at a camera coordinate point, forming a viewing cone V which has a mapping relation with the three-dimensional roadway model set S and the facility equipment model set G by cutting planes in front of a space and cutting planes behind the space, wherein the roadway and the facility equipment model within the viewing cone V are three-dimensional models to be displayed, and cutting the viewing cone V to obtain a residual roadway three-dimensional model set S 'and a residual facility equipment model set G';
s3: calculating the spatial position relation between the residual three-dimensional model set S' and the camera points, blurring a roadway surface wall image of the roadway facing the camera points according to the calculation result, and displaying a roadway surface wall image of the roadway back to the camera points; the step S3 specifically includes:
s31: acquiring a camera world coordinate vector v (x, y, z);
s32: obtaining a single three-dimensional roadway model in the set S 'to obtain a world coordinate vector u (x', y ', z');
s33: subtracting v from u to obtain a camera direction vector d (x ', y', z '), calculating an included angle between the three-dimensional rectangular roadway surface and the vector d (x', y ', z'), and blurring the roadway surface wall image if the included angle is smaller than 180 degrees; otherwise, displaying the roadway face wall image;
s4: and finishing the display of the residual roadway set S 'and the residual facility equipment G'.
2. The method for displaying the mine three-dimensional full roadway blurring and facility equipment according to claim 1, further comprising:
s5: when the view angle of the camera is moved after the step S4 is completed, the operation returns to the step S2-step S4 until the display of all the facility equipment in the mine roadway is completed.
3. The method for mine three-dimensional full roadway blurring and facility equipment displaying according to claim 1, wherein the viewing pyramid V in step S2 is a pyramid, and the camera is located at a vertex of the pyramid.
4. The mine three-dimensional full roadway blurring and facility equipment displaying method according to claim 1 or 2, further comprising rendering all facility equipment in the mine roadway after blurring the roadway face wall image of the roadway facing the camera point.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105894566A (en) * | 2015-12-01 | 2016-08-24 | 乐视致新电子科技（天津）有限公司 | Model rendering method and device |
| CN107564089A (en) * | 2017-08-10 | 2018-01-09 | 腾讯科技（深圳）有限公司 | Three dimensional image processing method, device, storage medium and computer equipment |
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| CN102622526B (en) * | 2012-04-06 | 2015-03-25 | 中国矿业大学(北京) | Digital mine tunneling search prediction method |
| CN107705364A (en) * | 2016-08-08 | 2018-02-16 | 国网新疆电力公司 | A kind of immersion virtual display system based on three-dimensional geographic information |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105894566A (en) * | 2015-12-01 | 2016-08-24 | 乐视致新电子科技（天津）有限公司 | Model rendering method and device |
| CN107564089A (en) * | 2017-08-10 | 2018-01-09 | 腾讯科技（深圳）有限公司 | Three dimensional image processing method, device, storage medium and computer equipment |
Non-Patent Citations (1)
| Title |
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| 基于OpenSceneGraph的数字矿井三维可视化系统的研究与开发;查小菲;<中国优秀硕士学位论文全文数据库信息科技辑>;20110915;第I138-769页 * |
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