CN109993832A - A kind of construction method of Seams fining threedimensional model - Google Patents
A kind of construction method of Seams fining threedimensional model Download PDFInfo
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- CN109993832A CN109993832A CN201910289752.7A CN201910289752A CN109993832A CN 109993832 A CN109993832 A CN 109993832A CN 201910289752 A CN201910289752 A CN 201910289752A CN 109993832 A CN109993832 A CN 109993832A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
Abstract
The invention discloses a kind of construction methods of Seams fining threedimensional model, belong to the unmanned production technique field of coal mine.Coal seam seismic survey data, laneway laser scan data, down-hole drilling sampled data, coal mine construction data are comprehensively utilized, building Seams refine threedimensional model.Construction method includes: that (1) obtains the geologic data of fully-mechanized mining working to be exploited and optimizes processing to it；(2) the fining triangulation network in coal seam, tomography/fold, tunnel is constructed respectively；(3) it calculates the topological relation between each triangulation network and is associated analysis to it, realize the seamless fusion between each triangulation network；(4) the fused triangulation network is verified, building Seams refine threedimensional model.Advantage: can quickly and effectively establish working face coal seam fining threedimensional model, obtain high-precision coal seam information, provide accurate seam data for the unmanned exploitation of fully-mechanized mining working.
Description
Technical field
The present invention relates to a kind of construction methods of Seams fining threedimensional model, and belonging to coal mine, nobody melts
Adopt technical field.
Background technique
The unmanned exploitation of coal mine is the cutting edge technology that international field of coal mining is pursued jointly, is to reduce casualties, protect
The important means of barrier safety in production is also that China's coal-mine realizes safe and efficient, lasting exploit effective way.Currently, restricting coal
The major technology bottleneck of unmanned exploitation is Coal-Rock Interface Recognition under mine, from the sixties in last century, main coal producer, the world
(Britain, the U.S., Australia, China, former Soviet Union etc.) successively proposes gamma-rays method, radioisotope method, radar detection
More than 20 kinds of method, stress pick analytic approach, infrared thermography, supercritical ultrasonics technology, high-pressure water jet method, Multi-sensor Fusion method etc.
Different Coal-rock identification methods, however made due to the complexity of coal-rock interface and fully-mechanized mining working adverse circumstances etc. existing
There is coal petrography identification technology not applied in fully mechanized coal face.
Currently, can mutually be tied using memory cut with artificial remote intervention in the relatively simple fully-mechanized mining working of geological conditions
Conjunction mode adjusts coal mining machine roller height, realizes automation coal cutting, but the geological conditions of China's major part fully-mechanized mining working is non-
Often complicated (such as coal seam fluctuations are big, and there are the dangerous geological structures such as tomography, fold), leads to the coalcutter based on memory cut
Automatic Height-Adjusting method is similar to " taking a part for the whole ", has only remembered upper knife coal cutting track, and next knife coal seam information is unknown,
The fully-mechanized mining working of coal bed texture complexity is not adapted to.Therefore, there is an urgent need to study that accurate coal seam information can be provided for coalcutter
Coal seam refine three-dimensional modeling method, realize coalcutter and coal seam threedimensional model interactive perception, be fully-mechanized mining working nobody
Melt the key technology adopted.
Summary of the invention
Technical problem: the invention aims to overcome shortcoming in the prior art, one kind is provided and adapts to coal seam
Complicated fully-mechanized mining working is quickly obtained high-precision coal seam information, provides accurately for the unmanned exploitation of fully-mechanized mining working
Seam data Seams fining threedimensional model construction method.
Technical solution: to achieve the goals above, the building of Seams fining threedimensional model of the invention
Method, comprehensive utilization coal seam seismic survey data, laneway laser scan data, down-hole drilling sampled data and coal mine construction number
According to building Seams refine threedimensional model, and specific steps include:
(1) fully-mechanized mining working geologic data to be exploited is obtained, and processing is optimized to fully-mechanized mining working geologic data；
The geologic data includes: coal seam seismic survey data, laneway laser scan data, down-hole drilling sampled data, coal mine construction
Data, coal mine construction data include bottom plate contour line data and tomography/fold data；
(2) the coal seam fining triangulation network, tomography/fold fining triangulation network and stope drift active workings essence of fully-mechanized mining working are constructed
Refine the triangulation network；
(3) the coal seam triangulation network of building, the topological relation of tomography/between the fold triangulation network and the tunnel triangulation network, benefit are calculated
Successively tomography/fold, the tunnel triangulation network are embedded into the triangulation network of coal seam with grid index method, make tomography/fold triangulation network and
The tunnel triangulation network becomes a local restriction region in the triangulation network of coal seam, and is embedded in local constraint using constrained polygon
Algorithm is optimized and is improved, and realizes the coal seam fining triangulation network, tomography/fold fining triangulation network and stope drift active workings fining
Seamless fusion between the triangulation network；
(4) the fining triangulation network in fused coal seam, tomography/fold and stope drift active workings is verified, it is smart to fusion is unsatisfactory for
Degree re-starts triangulation network building, meets fusion accuracy, continues to carry out the triangulation network smooth transition processing, completes fully mechanized mining work
Make the building of face coal seam fining threedimensional model.
Optimization processing in the step 1 includes: to be carried out using action difference method removal noise spot, mean filter method
Smothing filtering, cubic spline interpolation carry out data modification.
Building coal seam in the step 2 refines the step of triangulation network and includes:
1. coal seam seismic survey data are first read, according to the coal seam boundary constraint information of detection in conjunction with the high line number of bottom plate
According to utilizing the method that combines of regular grid and irregular triangle network to realize the triangulation of Seam Roof And Floor；
2. introduce regular virtual borehole data to the triangulation network node in Seam Roof And Floor space spatially statistical analysis method and
Kriging technique carries out interpolation, carries out trigonometric ratio interpolation to the region recycling Kriging technique not being triangulated；
3. the vertex being embedded on triangle net stencil and three arms of angle construct the Seams fining triangulation network.
The step of building tomography in the step 2/fold fining triangulation network includes:
1. first reading tomography/fold data, coal seam seismic survey data, down-hole drilling sampled data and the high line number of bottom plate
According to, then disk cross surface line and lower wall cross surface line on tomography/fold are obtained from bottom plate contour map in order, and project to the triangulation network
On grid template；
2. the upper disk cross surface line and lower wall cross surface line on tomography/fold and stratum are embedded into triangle gridding as constraint condition
In template, tomography containing part/fold face coal bed triangulation network without elevation information is formed through constraint triangulation；
3. carrying out subregion to coal seam using coal bed triangulation network boundary line and tomography/fold line as boundary；
4. carrying out elevation interpolation by certain rule and algorithm to the vertex on coal seam/each subregion of the fold face triangulation network；
5. the region to non-trigonometric ratio on tomography/fold face carries out trigonometric ratio by Kriging technique, then is embedded in triangle net stencil
On vertex and three arms of angle, further refine tomography/fold face triangulation network, to the vertex inside tomography/fold face triangulation network into
Row elevation interpolation constructs working face bedding fault/fold fining triangulation network.
In the step 2, constructing the step of tunnel refines the triangulation network includes:
1. first reading laser scanning tunnel three dimensional point cloud, barycentric coodinates and the point cloud data for calculating point cloud data are close
Degree；
2. carrying out grid processing to point cloud data using QuadTree algorithm, first base side is constructed, with appointing for point cloud data
Meaning is a little starting point, set distance threshold value and search range, and search closest approach constructs Article 2 base side；
3. first triangle is constructed, according to the folder of the normal vector of triangle and focus point and the vector on triangle vertex
Angle judges the direction of triangulation method vector, with 90 ° for threshold value, if angle less than 90 °, is directed toward outside, meets the requirements.It is no
It is then directed toward the inside, it is undesirable, it re-searches for；
4. after having constructed first triangle, starting to search for third point, third point and nearest side constitute new three
Angular, the normal vector angle for calculating previous triangle and new triangle then meets the requirements if it is less than 90 °, finally using most
Mitre method chooses Best Point, if it is greater than 90 °, then gives up, continues searching；
5. the triangulation network to building optimizes, the building of the tunnel fining triangulation network is completed.
The utility model has the advantages that the present invention adapts to the fully-mechanized mining working of coal bed texture complexity, is quickly obtained high-precision coal seam letter
Breath provides accurate seam data for the unmanned exploitation of fully-mechanized mining working.It has the advantages that compared with prior art
(1) present invention is accurate using the simple and acquired measured data of the acquisition methods of modeling data, these data packets
It includes: coal seam seismic survey data, laneway laser scan data, down-hole drilling sampled data, coal mine construction data (bottom plate contour
Data and fault fold data).
(2) modeling method provided by the invention can quickly and effectively establish Seams fining threedimensional model,
And the accuracy and reliability of established model can be effectively ensured, meanwhile, coal petrography identification problem can be evaded, look for another way solution
The accurate coal cutting problem of coalcutter provides accurate seam data for the unmanned exploitation of fully-mechanized mining working.
Detailed description of the invention
Fig. 1 is the building flow chart of Seams fining threedimensional model of the invention.
Fig. 2 is Seams fining threedimensional model established by the present invention.
Specific embodiment
The invention will be further described for embodiment in reference to the accompanying drawing:
As shown in Figure 1, the construction method of Seams fining threedimensional model of the invention, comprehensively utilizes coal mine
The data such as shaft building data, coal seam seismic wave CT detection, laser scanning Roadway model, lane prospecting bit hole, building Seams essence
Threedimensional model is refined, specific steps include:
(1) geologic data of fully-mechanized mining working to be exploited is obtained, and processing, the geology are optimized to geologic data
Data include: coal seam seismic survey data, laneway laser scan data, down-hole drilling sampled data, coal mine construction data, coal mine
Shaft building data include bottom plate contour line data and fault fold data；
The optimization processing includes: to carry out smothing filtering, three using action difference method removal noise spot, mean filter method
Secondary spline interpolation carries out data modification；
(2) the coal seam fining triangulation network, tomography/fold fining triangulation network and stope drift active workings essence of fully-mechanized mining working are constructed
Refine the triangulation network；
The step of building Seams fining triangulation network includes:
1. coal seam seismic survey data are first read, according to the coal seam boundary constraint information of detection in conjunction with the high line number such as bottom plate
According to utilizing the method that combines of regular grid and irregular triangle network to realize the triangulation of Seam Roof And Floor；
2. introduce regular virtual borehole data to the triangulation network node in Seam Roof And Floor space spatially statistical analysis method and
Kriging technique carries out interpolation, carries out trigonometric ratio interpolation to the region recycling Kriging technique not being triangulated；
3. the vertex being embedded on triangle net stencil and three arms of angle construct the Seams fining triangulation network.
The step of building tomography/fold fining triangulation network includes:
1. first reading tomography/fold data, coal seam seismic survey data, down-hole drilling sampled data and bottom plate grade high line number
According to, then disk cross surface line and lower wall cross surface line on tomography/fold are obtained from bottom plate contour map in order, and project to the triangulation network
On grid template；
2. the upper disk cross surface line and lower wall cross surface line on tomography/fold and stratum are embedded into triangle gridding as constraint condition
In template, tomography containing part/fold face coal bed triangulation network without elevation information is formed through constraint triangulation；
3. carrying out subregion to coal seam using coal bed triangulation network boundary line and tomography/fold line as boundary；
4. carrying out elevation interpolation by certain rule and algorithm to the vertex on coal seam/each subregion of the fold face triangulation network；
5. the region to non-trigonometric ratio on tomography/fold face carries out trigonometric ratio by Kriging technique, then is embedded in triangle net stencil
On vertex and three arms of angle, further refine tomography/fold face triangulation network, to the vertex inside tomography/fold face triangulation network into
Row elevation interpolation constructs working face bedding fault/fold fining triangulation network.
The step of building tunnel fining triangulation network includes:
2. reading laser scanning tunnel three dimensional point cloud, the barycentric coodinates and point cloud data density of point cloud data are calculated；
2. carrying out grid processing to point cloud data using QuadTree algorithm, first base side is constructed, with appointing for point cloud data
Meaning is a little starting point, set distance threshold value and search range, and search closest approach constructs Article 2 base side；
3. first triangle is constructed, according to the folder of the normal vector of triangle and focus point and the vector on triangle vertex
Angle judges the direction of triangulation method vector, with 90 ° for threshold value, if angle less than 90 °, is directed toward outside, meets the requirements.It is no
It is then directed toward the inside, it is undesirable, it re-searches for；
4. after having constructed first triangle, starting to search for third point, third point and nearest side constitute new three
Angular, the normal vector angle for calculating previous triangle and new triangle then meets the requirements if it is less than 90 °, finally using most
Mitre method chooses Best Point, if it is greater than 90 °, then gives up, continues searching；
5. the triangulation network to building optimizes, the building of the tunnel fining triangulation network is completed.
(3) the coal seam triangulation network of building, the topological relation of tomography/between the fold triangulation network and the tunnel triangulation network, benefit are calculated
Successively tomography/fold, the tunnel triangulation network are embedded into the triangulation network of coal seam with grid index method, make tomography/fold triangulation network and
The tunnel triangulation network becomes a local restriction region in the triangulation network of coal seam, and excellent using the progress of constrained polygon embedded mobile GIS to it
Change and improve, realizes the coal seam triangulation network, the tomography/fold triangulation network, the seamless fusion between the triangulation network of tunnel；
(4) the fused fining triangulation network is verified, the triangle that re-starts for being unsatisfactory for fusion accuracy is constructed, satisfaction is melted
Precision is closed, continues to carry out smooth transition processing to the triangulation network, finally establishes Seams fining threedimensional model such as
Shown in Fig. 2.
Claims (5)
1. a kind of construction method of Seams fining threedimensional model, it is characterised in that: comprehensive utilization coal seam seismic wave
Detection data, laneway laser scan data, down-hole drilling sampled data and coal mine construction data, building Seams essence
Threedimensional model is refined, specific steps include:
(1) fully-mechanized mining working geologic data to be exploited is obtained, and processing is optimized to fully-mechanized mining working geologic data；It is described
Geologic data includes: coal seam seismic survey data, laneway laser scan data, down-hole drilling sampled data, coal mine construction data,
Coal mine construction data include bottom plate contour line data and tomography/fold data；
(2) the coal seam fining triangulation network, tomography/fold fining triangulation network and stope drift active workings fining of fully-mechanized mining working are constructed
The triangulation network；
(3) the coal seam triangulation network of building, the topological relation of tomography/between the fold triangulation network and the tunnel triangulation network are calculated, net is utilized
Tomography/fold, the tunnel triangulation network are successively embedded into the triangulation network of coal seam by lattice indexing method, make tomography/fold triangulation network and tunnel
The triangulation network becomes a local restriction region in the triangulation network of coal seam, and uses constrained polygon embedded mobile GIS to local constraint
It optimizes and improves, realize that the coal seam fining triangulation network, tomography/fold fining triangulation network and stope drift active workings refine triangle
Seamless fusion between net；
(4) the fining triangulation network for verifying fused coal seam, tomography/fold and stope drift active workings, to being unsatisfactory for fusion accuracy
Triangulation network building is re-started, meets fusion accuracy, continues to carry out the triangulation network smooth transition processing, completes fully-mechanized mining working
The building of coal seam fining threedimensional model.
2. the construction method of Seams fining threedimensional model according to claim 1, it is characterised in that: institute
State the optimization processing in step 1 include: using action difference method removal noise spot, mean filter method carry out smothing filtering,
Cubic spline interpolation carries out data modification.
3. the construction method of Seams fining threedimensional model according to claim 1, it is characterised in that: institute
Stating the step of building coal seam in step 2 refines the triangulation network includes:
1. coal seam seismic survey data are first read, according to the coal seam boundary constraint information of detection in conjunction with the high line number evidence of bottom plate, benefit
The triangulation of Seam Roof And Floor is realized with the method that regular grid and irregular triangle network combine；
2. introducing regular virtual borehole data to the triangulation network node in Seam Roof And Floor space spatially statistical analysis method and Ke Li
Golden method carries out interpolation, carries out trigonometric ratio interpolation to the region recycling Kriging technique not being triangulated；
3. the vertex being embedded on triangle net stencil and three arms of angle construct the Seams fining triangulation network.
4. the construction method of Seams fining threedimensional model according to claim 1, it is characterised in that: institute
Stating the step of building tomography in step 2/fold refines the triangulation network includes:
1. tomography/fold data, coal seam seismic survey data, down-hole drilling sampled data and the high line number evidence of bottom plate are first read, then
Disk cross surface line and lower wall cross surface line on tomography/fold are obtained from bottom plate contour map in order, and projects to triangle gridding mould
On plate；
2. the upper disk cross surface line and lower wall cross surface line on tomography/fold and stratum are embedded into triangle gridding template as constraint condition
In, tomography containing part/fold face coal bed triangulation network without elevation information is formed through constraint triangulation；
3. carrying out subregion to coal seam using coal bed triangulation network boundary line and tomography/fold line as boundary；
4. carrying out elevation interpolation by certain rule and algorithm to the vertex on coal seam/each subregion of the fold face triangulation network；
5. the region to non-trigonometric ratio on tomography/fold face carries out trigonometric ratio by Kriging technique, then is embedded on triangle net stencil
Vertex and three arms of angle further refine tomography/fold face triangulation network, carry out to the vertex inside tomography/fold face triangulation network high
Journey interpolation constructs working face bedding fault/fold fining triangulation network.
5. the construction method of Seams fining threedimensional model according to claim 1, it is characterised in that:
In the step 2, constructing the step of tunnel refines the triangulation network includes:
1. first reading laser scanning tunnel three dimensional point cloud, the barycentric coodinates and point cloud data density of point cloud data are calculated；
2. carrying out grid processing to point cloud data using QuadTree algorithm, first base side is constructed, with any one of point cloud data
Point is starting point, set distance threshold value and search range, and search closest approach constructs Article 2 base side；
3. construct first triangle, according to the angle of the normal vector of triangle and focus point and the vector on triangle vertex come
Judge the direction of triangulation method vector, with 90 ° for threshold value, if angle less than 90 °, is directed toward outside, meets the requirements.Otherwise refer to
It is undesirable to the inside, it re-searches for；
4. after having constructed first triangle, starting to search for third point, third point and nearest side constitute new triangle,
The normal vector angle for calculating previous triangle and new triangle then meets the requirements if it is less than 90 °, finally using maximum folder
Horn cupping chooses Best Point, if it is greater than 90 °, then gives up, continues searching；
5. the triangulation network to building optimizes, the building of the tunnel fining triangulation network is completed.
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| CN111311747A (en) * | 2020-01-17 | 2020-06-19 | 中国水利水电科学研究院 | Multi-sensor barrier lake region integrated three-dimensional model rapid construction method |
| CN112258603A (en) * | 2020-10-30 | 2021-01-22 | 西南石油大学 | Three-axis layout drawing method for analyzing rule of three-factor composite influence and application thereof |
| CN113486817A (en) * | 2021-07-09 | 2021-10-08 | 中国矿业大学 | Coal face coal rock identification method based on laser scanning |
| CN113962008A (en) * | 2021-11-09 | 2022-01-21 | 华北科技学院(中国煤矿安全技术培训中心) | Method for generating three-dimensional mine roadway model and constructing transparent working surface |
| CN114330078A (en) * | 2022-01-12 | 2022-04-12 | 煤炭科学研究总院有限公司 | Construction method of accurate numerical simulation model of mine coal face |
| CN116152461A (en) * | 2023-04-21 | 2023-05-23 | 北京星天地信息科技有限公司 | Geological modeling method, device, computer equipment and computer readable storage medium |
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| CN117671160A (en) * | 2024-01-30 | 2024-03-08 | 北京星天地信息科技有限公司 | Multi-source data collaborative coal seam modeling method, device, equipment and storage medium |
| CN117671160B (en) * | 2024-01-30 | 2024-04-23 | 北京星天地信息科技有限公司 | Multi-source data collaborative coal seam modeling method, device, equipment and storage medium |
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