CN112861375B - Fine acceptance method, system, equipment and medium for goaf of surface mine - Google Patents
Fine acceptance method, system, equipment and medium for goaf of surface mine Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a medium for fine acceptance of a goaf of an open mine, wherein the method comprises the following steps: acquiring image information of the explosion region and the periphery of a goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage; analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method, and converting the image information into three-dimensional dense point cloud data of the explosion region of the goaf; processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located; and evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf, and simultaneously ensuring the blasting treatment effect evaluation reliability of the goaf based on the image information and the actual excavation feedback condition of the explosion region and the periphery of the goaf, thereby realizing the fine acceptance inspection of the goaf of the surface mine. The method is beneficial to timely feedback analysis and later design optimization, and has important significance for goaf standardization management.
Description
Technical Field
The invention relates to a method, a system, equipment and a medium for fine acceptance of a goaf of an open-pit mine, and belongs to the field of open-pit mining.
Background
Some underground mines adopt a caving mining method in the open stope to produce more goafs and roadways, and most goafs adopt waste rock filling or sealing treatment, but leave more untreated goafs; and the mining phenomenon of the early mining mountain citizens is difficult to manage and control, so that a plurality of blind goafs without mining design data exist in the areas with higher ore grades. In the later stage, in order to improve the recovery rate of resources and the safety production management level, an open pit mining mode is adopted, so that the goafs with and without data left over bring great threat to the safety production of a stope. Aiming at the goaf treatment, the three-dimensional laser scanner, the comprehensive geophysical prospecting technology, the high-density electrical method, the comprehensive detection and other technologies are applied to the precision detection aspect of the goaf, so that great help is provided for acquiring the position and related parameters of the hidden goaf, and the analysis of the potential hazard degree is facilitated; in the aspect of safety evaluation of goaf treatment, numerical simulation software such as FLAC3D, ANSYS and the like is used for analyzing safety treatment effect evaluation before and after goaf treatment, and theoretical support is provided for safety evaluation; in terms of engineering practice, the goaf filling rate and the reserved goaf volume are used as main evaluation indexes, corresponding parameters are obtained through formula calculation, data before and after goaf processing are compared and analyzed, and goaf filling effect after blasting is judged.
In actual conditions, the evaluation of the processing effect of the goaf of the surface mine mainly adopts an empirical method, and whether the goaf is in a safe state or not is judged by observing the macroscopic external appearance of the explosion pile and analyzing the collapse degree of the goaf; the experience method mainly depends on the field working experience of technical management staff, has certain limitation, is difficult to realize fine evaluation and acceptance, and needs to introduce more effective technical means.
The unmanned aerial vehicle aerial survey technology is an advanced non-contact measurement means, has the remarkable advantages of good safety, high reliability, high efficiency and the like in the aspects of investigation and analysis of major potential safety hazards such as goafs, can truly reflect the three-dimensional information of the topography and the landform of a region to be measured, and is widely applied to the field of surface mine exploitation design and safety management. Through examining the related literature, the unmanned aerial vehicle aerial survey has relatively few researches in the aspect of goaf, and particularly in the aspect of goaf processing effect evaluation.
Disclosure of Invention
In view of the above, the invention provides a method, a system, equipment and a medium for fine acceptance of a goaf of an open-pit mine, which can obtain real three-dimensional data of the goaf in two stages before and after explosion by applying unmanned aerial vehicle aerial survey technology, and perform matching analysis of image model information and actual processing effect, thereby realizing fine acceptance of the goaf, being beneficial to timely feedback analysis and later design optimization and having important significance for goaf standardization management.
The invention aims at providing a fine acceptance method for a goaf of an open pit mine.
The second aim of the invention is to provide a refined acceptance system for the goaf of the surface mine.
A third object of the present invention is to provide a computer device.
A fourth object of the present invention is to provide a storage medium.
The first object of the present invention can be achieved by adopting the following technical scheme:
a method of fine acceptance of a goaf of an opencast mine, the method comprising:
acquiring image information of the explosion region and the periphery of a goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage;
analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method, and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf;
processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located;
and evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf, and simultaneously ensuring the blasting treatment effect evaluation reliability of the goaf based on the image information and the actual excavation feedback condition of the explosion region and the periphery of the goaf, thereby realizing the fine acceptance inspection of the goaf of the surface mine.
Further, before acquiring the image information of the explosion region and the periphery of the goaf acquired by aerial photography of the unmanned aerial vehicle in the pre-explosion stage and the post-explosion stage, the method further comprises the following steps:
and acquiring basic parameters of the goaf detected by the drilling three-dimensional laser scanner.
Further, the method of analyzing the image information of the explosion region and the surrounding of the goaf by using an aerial triangle analysis method converts the image information of the explosion region and the surrounding of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf, and specifically comprises the following steps:
performing image automatic matching analysis on the image information of the explosion region and the periphery of the goaf, so as to ensure that the requirement of calculation by an aerial triangle analysis method is met;
leading in coordinates of image control points and check points to perform first puncturing, so as to ensure that each image control point and check point punctures at least the image information of the explosion region and the periphery of three continuous goafs;
performing first aerial trigonometric analysis calculation on the image information after the first puncture to obtain a first calculated image;
and carrying out second puncture on the first resolved image, and carrying out second aerial trigonometric analysis calculation on the first resolved image after the second puncture to obtain a second resolved image which is used as three-dimensional dense point cloud data of the explosion region where the goaf is located.
Further, the processing the three-dimensional dense point cloud data of the explosion region where the goaf is located to obtain pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located specifically includes:
judging whether the three-dimensional dense point cloud data of the explosion region where the goaf is located meets the requirement of model reconstruction;
if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map forming precision of a preset proportion;
if the error precision meets the map precision requirement of the map with preset proportion, determining the model cutting, coordinate system selection and result type, and carrying out model reconstruction to generate the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located.
Further, the method performs error accuracy comprehensive analysis through three-dimensional model accuracy errors, image control points and check point errors, and judges whether the error accuracy meets the map accuracy requirement of the map with preset proportion, specifically includes:
judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model;
if the three-dimensional dense point cloud data meets the aerial survey requirement, taking the coordinates of the image control points and the check points obtained by aerial survey as coordinate measurement values, and comparing the coordinate measurement values with the coordinate true values for analysis;
and judging whether the error precision meets the map precision requirement of the map with a preset proportion according to the comparison analysis result.
Further, the method for evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf comprises the following steps:
based on the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located, importing goaf range coordinates, extracting all elevation point information of the explosion region where the pre-explosion and post-explosion goafs are located, and further processing to obtain elevation point information which accords with the field reality, so that the elevation point information change condition of the explosion region where the pre-explosion and post-explosion goafs are located is obtained;
and evaluating the blasting treatment effect of the goaf according to the change condition of the elevation point information of the blasting region where the goaf is located before and after blasting.
Further, according to the change condition of the elevation point information of the explosion zone where the goaf is located before and after explosion, the blasting treatment effect of the goaf is evaluated, specifically:
and comprehensively evaluating the post-explosion actual filling degree of the goaf according to the change condition of the elevation point information of the explosion zone where the pre-explosion goaf and the post-explosion goaf are located and by combining the loosening coefficient of the post-explosion rock and the actual pushing distance of the explosion pile.
The second object of the invention can be achieved by adopting the following technical scheme:
a surface mine goaf fine acceptance system, the system comprising:
the acquisition unit is used for acquiring the image information of the explosion region and the periphery of the goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage;
the analysis unit is used for analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf;
the processing unit is used for processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located;
and the acceptance unit is used for evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located, and simultaneously ensuring the blasting treatment effect evaluation reliability of the goaf based on the image information of the explosion region and the periphery of the goaf and the actual excavation feedback condition, so as to realize the fine acceptance of the goaf of the surface mine.
The third object of the present invention can be achieved by adopting the following technical scheme:
the computer equipment comprises a processor and a memory for storing a program executable by the processor, wherein the fine acceptance method of the goaf of the surface mine is realized when the processor executes the program stored by the memory.
The fourth object of the present invention can be achieved by adopting the following technical scheme:
a storage medium storing a program which, when executed by a processor, implements the above-described surface mine goaf fine acceptance method.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, by adopting unmanned aerial vehicle aerial survey technology, the image information of the explosion region and the periphery of the goaf in the pre-explosion and post-explosion stages is acquired, the image information of the explosion region and the periphery of the goaf is analyzed through an aerial triangular analysis method, the image information is converted into three-dimensional dense point cloud data of the explosion region of the goaf, the three-dimensional dense point cloud data is processed, two three-dimensional models of the explosion region in the pre-explosion and post-explosion stages of the goaf can be obtained, the blasting treatment effect of the goaf is evaluated according to the two three-dimensional models of the explosion region in the pre-explosion and post-explosion stages of the goaf, meanwhile, the blasting treatment effect evaluation reliability of the goaf is ensured based on the image information of the explosion region and the periphery of the goaf and the actual excavation feedback condition, the refined acceptance of the goaf is realized, the timely feedback analysis and the later design optimization are facilitated, and the goaf standardization management is of great significance is achieved.
2. The unmanned aerial vehicle can be a multi-rotor unmanned aerial vehicle, and the characteristics of non-contact type, good flexibility, high precision, simple and convenient operation, good safety and the like of the multi-rotor unmanned aerial vehicle in a low-altitude small area are utilized, so that the high-precision three-dimensional model information of the area where the goaf is located before and after explosion can be safely, quickly and efficiently acquired, the cost is low, the labor intensity is low, the safety and reliability are high, and the actual terrain change data of the area where the goaf is located can be timely updated.
3. The drilling type three-dimensional laser scanner with the 360-degree automatic rotation high-definition probe has the characteristics of high precision, high efficiency, high speed and the like, can safely and efficiently detect basic parameters of a hidden goaf, accurately acquires effective information of the goaf, and lays a foundation for formulating a goaf blasting design scheme.
4. The invention carries out the aerial triangle analysis calculation on the image information of the explosion region of the goaf and the two periods before and after the peripheral explosion, converts the image information into the three-dimensional dense point cloud data of the region of the goaf, truly restores the three-dimensional terrain information of the explosion region of the goaf, has high efficiency in image analysis processing, good data integrity, reality and reliability and good three-dimensional visualization effect.
5. According to the invention, the goaf and the located explosion zone are displayed simultaneously through the goaf range coordinates, and the goaf boundary range line is defined to quickly generate the elevation point information of the goaf before and after explosion, so that the goaf is good in reality and high in three-dimensional visualization degree.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a simple flow chart of a refined acceptance method of a goaf of an open mine according to embodiment 1 of the present invention.
Fig. 2 is a detailed flowchart of the surface mine goaf fine acceptance method of embodiment 1 of the present invention.
Fig. 3 is a block diagram showing a construction of a refined acceptance system of a goaf of an open pit mine according to embodiment 2 of the present invention.
Fig. 4 is a block diagram showing the structure of a computer device according to embodiment 3 of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Example 1:
as shown in fig. 1 and 2, the present embodiment provides a refined acceptance method of a goaf of a surface mine, the method comprising the steps of:
s101, acquiring basic parameters of a goaf detected by a drilling type three-dimensional laser scanner.
According to the embodiment, the basic parameters of the goaf are accurately acquired through the high-precision goaf detection equipment, the high-precision goaf detection equipment comprises a 360-degree rotation high-definition probe, a signal connecting wire, corresponding detection images, real-time display and control software and the like, a drilling type three-dimensional laser scanner (such as a C-ALS) can be adopted, the drilling type three-dimensional laser scanner is lowered into a drilling hole, the display and control software is connected, the rotation angle and the height of each circle of the probe are set, the drilling type three-dimensional laser scanner has the characteristics of high precision, high efficiency, high speed and the like, the basic parameters of the hidden goaf can be safely and efficiently detected, the basic parameters comprise basic elements such as span, height, area and volume, effective information of the goaf can be accurately acquired, and a foundation is laid for formulating a blasting design scheme.
S102, acquiring image information of the explosion region and the periphery of a goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage.
The unmanned aerial vehicle of this embodiment adopts small-size many rotor unmanned aerial vehicle, and small-size many rotor unmanned aerial vehicle can be four rotors, six rotors, eight rotors carry on many rotor unmanned aerial vehicle of five camera lenses, also can be can realize other types unmanned aerial vehicle that five camera lenses aerial photograph, and small-size many rotor unmanned aerial vehicle aerial photograph includes the selection and the confirmation of image control point and checkpoint, unmanned aerial vehicle field survey planning and implements these three processes of field survey, and specific explanation is as follows:
(1) Selecting and confirming image control points and check points: and (3) according to the range of the explosion region of the goaf and the step distribution condition of the open stope, making a point placing plan of image control points and check points, ensuring the control requirements of elevation precision and plane precision, adopting a handheld RTK to place points on site, making points record, and facilitating the later-stage stab point identification.
(2) Unmanned aerial vehicle field aerial survey planning: according to the range of the explosion zone, selecting a five-way flight mode, wherein the overlapping rate is high, the overlapping rate is ensured to be more than 80%, the camera parameters are adjusted according to weather conditions, and the shutter is selected to be in priority; and then generating a aerial survey plan, and needing to check again to ensure that the aerial survey plan is reasonable and feasible.
(3) And (3) performing field aerial survey: and calling the designated aerial survey plan, and implementing the aerial survey plan according to the flight instructions. If one frame cannot be completed, calling a plan in flight after replacing the battery, and continuing to carry out aerial survey according to flight instructions until the operation tasks are completed completely, so as to obtain all the topographic and topographic information of the explosion area.
According to the embodiment, through aerial photographing and acquisition of the small multi-rotor unmanned aerial vehicle in the steps (1) - (3), the image information of the explosion area and the periphery of the goaf in the two stages (two stages) before and after explosion can be obtained.
S103, analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method, and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf.
Specifically, the step S103 is an image matching and blank three-calculation process, which is implemented by professional aerial survey processing software (such as Smart 3D software, intelligent map software in da jiang), and includes: the image information of the explosion region and the periphery of the goaf is imported into professional aerial survey processing software, image matching analysis is firstly carried out, and the requirement of calculation by an aerial triangle analysis method is ensured to be met; then leading in coordinates of image control points and check points for carrying out first puncturing so as to ensure that each image control point and check point at least punctures the image information of the explosion region and the periphery of three continuous goafs, and carrying out first aerial trigonometric analysis calculation on the image information after the first puncturing so as to obtain a first resolved image; and carrying out second puncture on the first resolved image, and carrying out second aerial trigonometric analysis calculation on the first resolved image after the second puncture to obtain a second resolved image which is used as three-dimensional dense point cloud data of the explosion region where the goaf is located.
S104, processing the three-dimensional dense point cloud data of the explosion region where the goaf is located, and obtaining a pre-explosion and post-explosion three-dimensional model of the explosion region where the goaf is located.
Specifically, the step S103 is an error analysis and model reconstruction process, including: checking three-dimensional dense point cloud data of an explosion zone where the goaf is located through a quality report generated by space three calculation and calculation, and judging whether the three-dimensional dense point cloud data of the explosion zone where the goaf is located meets the requirement of model reconstruction; if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map precision of a topographic map with a preset proportion (1:500); if not, returning to the step (1) in the step S102, and executing the subsequent steps until the map forming precision requirement of the preset proportion is met; if yes, determining model dicing (dividing into a plurality of block sections), selecting a coordinate system, and obtaining a result type, and carrying out model reconstruction on the basis to generate a pre-explosion three-dimensional model and a post-explosion three-dimensional model of an explosion region where the goaf is located, wherein the pre-explosion three-dimensional model of the explosion region where the goaf is located comprises DOM, DSM, DEM and the like, and the post-explosion three-dimensional model of the explosion region where the goaf is located is a two-stage three-dimensional model, and has the characteristics of good data integrity, good authenticity, good three-dimensional visualization and the like.
Further, by means of three-dimensional model precision errors, image control points and check point errors, error precision comprehensive analysis is carried out, and whether the error precision meets the map precision requirement of a map with preset proportion is judged, specifically comprising the following steps:
A. and judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model.
B. And if the three-dimensional dense point cloud data meets the aerial survey requirement, taking coordinates of the aerial survey obtained image control points and the inspection points as coordinate measurement values, and comparing the coordinate measurement values with the coordinate true values for analysis.
C. And judging whether the error precision meets the map precision requirement of the map with a preset proportion according to the comparison analysis result.
S105, evaluating blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion zone where the goaf is located, and simultaneously guaranteeing blasting treatment effect evaluation reliability of the goaf based on the image information and actual excavation feedback conditions of the explosion zone and the periphery of the goaf, so as to realize fine acceptance inspection of the goaf of the surface mine.
Specifically, the step S105 includes two processes of extraction and processing of the goaf pre-explosion and post-explosion three-dimensional model data and fine evaluation of goaf treatment effects, and specifically includes the following steps:
(1) Extracting and processing data of a three-dimensional model before and after goaf explosion: based on the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located, professional processing software (such as southern Idata software) with good compatibility and high integration degree is imported, goaf coordinates measured by a drilling type three-dimensional laser scanner are imported to serve as actual range lines of the goaf, the goaf is accurately reflected in the pre-explosion and post-explosion three-dimensional models of the explosion region, the elevation point functions of in-plane extraction or on-line extraction are utilized, all elevation point information of the explosion region where the pre-explosion and post-explosion goaf is located is automatically extracted, further processing is conducted, the elevation point information which meets the actual scene is obtained, and the influence of real reduction explosion on the spatial form change of the goaf can be obtained.
(2) Fine evaluation of goaf treatment effect: according to the change condition of elevation point information of an explosion zone where the goaf is located before and after explosion, comprehensively evaluating the post-explosion actual filling degree of the goaf by combining the loosening coefficient of rock after explosion and the actual pushing distance of a blasting pile, wherein the post-explosion actual filling degree of the goaf is the blasting treatment effect of the goaf; meanwhile, based on the explosion area where the goaf is located and peripheral image information (including multi-angle photos, recorded explosion videos and the like) and the actual excavation feedback condition of the on-site excavator, the reliability of the explosion treatment effect evaluation of the goaf is guaranteed in multiple aspects, the fine acceptance of the goaf of the surface mine is realized, and timely feedback analysis and later design optimization are facilitated.
It should be noted that although the method operations of the above embodiments are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in that particular order or that all illustrated operations be performed in order to achieve desirable results. Rather, the depicted steps may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
Example 2:
as shown in fig. 3, the present embodiment provides a refined acceptance system of a goaf of a surface mine, which includes a first acquiring unit 301, a second acquiring unit 302, an analyzing unit 303, a processing unit 304 and an acceptance unit 305, and specific functions of the units are as follows:
the first acquisition unit 301 acquires the goaf basic parameters detected by the drilled three-dimensional laser scanner.
The second acquiring unit 302 is configured to acquire, at a pre-explosion stage and a post-explosion stage, image information of an explosion region and a surrounding area of a goaf acquired by aerial photography of the unmanned aerial vehicle.
The analysis unit 303 is configured to analyze the image information of the explosion region and the surrounding area of the goaf by using an aerial triangle analysis method, and convert the image information of the explosion region and the surrounding area of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf.
And the processing unit 304 is used for processing the three-dimensional dense point cloud data of the explosion region where the goaf is located, and obtaining the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located.
And the acceptance unit 305 is used for evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located, and simultaneously ensuring the reliability of the blasting treatment effect evaluation of the goaf based on the image information of the explosion region and the periphery of the goaf and the actual excavation feedback condition, so as to realize the fine acceptance of the goaf of the surface mine.
Specific implementation of each unit in this embodiment may be referred to embodiment 1, and will not be described in detail herein; it should be noted that, in the system provided in this embodiment, only the division of the above functional units is used as an example, in practical application, the above functional allocation may be performed by different functional units according to needs, that is, the internal structure is divided into different functional modules, so as to perform all or part of the functions described above.
Example 3:
the present embodiment provides a computer device, which may be a computer, as shown in fig. 4, and is connected through a system bus 401 to a processor 402, a memory, an input device 403, a display 404 and a network interface 405, where the processor is configured to provide computing and control capabilities, the memory includes a nonvolatile storage medium 406 and an internal memory 407, where the nonvolatile storage medium 406 stores an operating system, a computer program and a database, and the internal memory 407 provides an environment for the operating system and the computer program in the nonvolatile storage medium, and when the processor 402 executes the computer program stored in the memory, the method for fine acceptance of the goaf of the open mine in the embodiment 1 is implemented as follows:
acquiring image information of the explosion region and the periphery of a goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage;
analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method, and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf;
processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located;
and evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf, and simultaneously ensuring the blasting treatment effect evaluation reliability of the goaf based on the image information and the actual excavation feedback condition of the explosion region and the periphery of the goaf, thereby realizing the fine acceptance inspection of the goaf of the surface mine.
Further, before acquiring the image information of the explosion region and the periphery of the goaf acquired by aerial photography of the unmanned aerial vehicle in the pre-explosion stage and the post-explosion stage, the method further comprises the following steps:
and acquiring basic parameters of the goaf detected by the drilling three-dimensional laser scanner.
Example 4:
the present embodiment provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described surface mine goaf fine acceptance method of embodiment 1, as follows:
acquiring image information of the explosion region and the periphery of a goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage;
analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method, and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf;
processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located;
and evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf, and simultaneously ensuring the blasting treatment effect evaluation reliability of the goaf based on the image information and the actual excavation feedback condition of the explosion region and the periphery of the goaf, thereby realizing the fine acceptance inspection of the goaf of the surface mine.
Further, before acquiring the image information of the explosion region and the periphery of the goaf acquired by aerial photography of the unmanned aerial vehicle in the pre-explosion stage and the post-explosion stage, the method further comprises the following steps:
and acquiring basic parameters of the goaf detected by the drilling three-dimensional laser scanner.
The computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In summary, the unmanned aerial vehicle aerial survey technology is adopted to collect the image information of the explosion region and the periphery of the goaf in the pre-explosion and post-explosion stages, the image information of the explosion region and the periphery of the goaf is analyzed through the aerial triangle analysis method and converted into the three-dimensional dense point cloud data of the explosion region of the goaf, the three-dimensional dense point cloud data is processed, the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf can be obtained, the blasting treatment effect of the goaf is evaluated according to the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf, meanwhile, the blasting treatment effect evaluation reliability of the goaf is guaranteed based on the image information of the explosion region and the periphery of the goaf and the actual excavation feedback condition, the refined acceptance of the goaf of an open-air mine is realized, the timely feedback analysis and the post-design optimization are facilitated, and the goaf standardization management is of great significance is achieved.
The above-mentioned embodiments are only preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can make equivalent substitutions or modifications according to the technical solution and the inventive concept of the present invention within the scope of the present invention disclosed in the present invention patent, and all those skilled in the art belong to the protection scope of the present invention.
Claims (7)
1. A method for fine acceptance of a goaf of an open mine, the method comprising:
the method for acquiring the goaf basic parameters detected by the drilling three-dimensional laser scanner specifically comprises the following steps: a drilling type three-dimensional laser scanner with a 360-degree automatic rotation high-definition probe is adopted, the drilling type three-dimensional laser scanner is lowered into a drilling hole, display and control software is connected, the rotation angle and the rotation height of each circle of the probe are set, and basic parameters of a hidden goaf are detected, including span, height, area and volume;
acquiring image information of the explosion region and the periphery of a goaf acquired by aerial photography of the unmanned aerial vehicle at the pre-explosion stage and the post-explosion stage;
analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method, and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf;
processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located;
according to the three-dimensional model before explosion and after explosion of the explosion zone of the goaf place, the blasting treatment effect of the goaf is evaluated, meanwhile, based on the image information of the explosion zone and the periphery of the goaf place and the actual excavation feedback condition, the blasting treatment effect evaluation reliability of the goaf is ensured, and the refined acceptance of the goaf of the surface mine is realized, and the method specifically comprises the following steps:
extracting and processing data of a three-dimensional model before and after goaf explosion: based on pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located, importing the goaf coordinate measured by importing a drilling three-dimensional laser scanner into southern Idata software to serve as an actual range line of the goaf, accurately reflecting the goaf into the pre-explosion and post-explosion three-dimensional models of the explosion region, automatically extracting all elevation point information of the explosion region where the pre-explosion and post-explosion goaf are located by utilizing an in-plane extraction or on-line extraction elevation point function, further processing to obtain elevation point information which accords with the actual scene, and truly reducing the influence of explosion on the spatial morphological change of the goaf;
fine evaluation of goaf treatment effect: according to the change condition of elevation point information of an explosion zone where the goaf is located before and after explosion, comprehensively evaluating the post-explosion actual filling degree of the goaf by combining the loosening coefficient of rock after explosion and the actual pushing distance of a blasting pile, wherein the post-explosion actual filling degree of the goaf is the blasting treatment effect of the goaf; meanwhile, based on the explosion area where the goaf is located and peripheral image information and the actual excavation feedback condition of the on-site excavator, the blasting treatment effect evaluation reliability of the goaf is guaranteed in multiple aspects, and fine acceptance of the goaf of the surface mine is achieved, wherein the image information comprises multi-angle photos and recorded blasting videos.
2. The method for fine acceptance inspection of a goaf of an opencast mine according to claim 1, wherein the method for resolving the image information of the explosion region and the periphery of the goaf by an aerial triangle resolving method converts the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf, specifically comprises the following steps:
performing image automatic matching analysis on the image information of the explosion region and the periphery of the goaf, so as to ensure that the requirement of calculation by an aerial triangle analysis method is met;
leading in coordinates of image control points and check points to perform first puncturing, so as to ensure that each image control point and check point punctures at least the image information of the explosion region and the periphery of three continuous goafs;
performing first aerial trigonometric analysis calculation on the image information after the first puncture to obtain a first calculated image;
and carrying out second puncture on the first resolved image, and carrying out second aerial trigonometric analysis calculation on the first resolved image after the second puncture to obtain a second resolved image which is used as three-dimensional dense point cloud data of the explosion region where the goaf is located.
3. The method for fine acceptance of a goaf of a surface mine according to claim 1, wherein the processing of the three-dimensional dense point cloud data of the explosion region of the goaf to obtain the pre-explosion and post-explosion three-dimensional models of the explosion region of the goaf specifically comprises:
judging whether the three-dimensional dense point cloud data of the explosion region where the goaf is located meets the requirement of model reconstruction;
if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map forming precision of a preset proportion;
if the error precision meets the map precision requirement of the map with preset proportion, determining the model cutting, coordinate system selection and result type, and carrying out model reconstruction to generate the pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located.
4. The method for fine acceptance of a goaf of an open mine according to claim 3, wherein the step of comprehensively analyzing the accuracy of the errors by three-dimensional model accuracy errors, image control points and check point errors to determine whether the accuracy of the errors meets the accuracy requirement of a map of a preset proportion comprises the following steps:
judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model;
if the three-dimensional dense point cloud data meets the aerial survey requirement, taking the coordinates of the image control points and the check points obtained by aerial survey as coordinate measurement values, and comparing the coordinate measurement values with the coordinate true values for analysis;
and judging whether the error precision meets the map precision requirement of the map with a preset proportion according to the comparison analysis result.
5. A surface mine goaf fine acceptance system, the system comprising:
the first acquisition unit is used for acquiring basic goaf parameters detected by the drilling type three-dimensional laser scanner, and specifically comprises the following steps: a drilling type three-dimensional laser scanner with a 360-degree automatic rotation high-definition probe is adopted, the drilling type three-dimensional laser scanner is lowered into a drilling hole, display and control software is connected, the rotation angle and the rotation height of each circle of the probe are set, and basic parameters of a hidden goaf are detected, including span, height, area and volume;
the second acquisition unit is used for acquiring the image information of the explosion region and the periphery of the goaf acquired by aerial photography of the unmanned aerial vehicle in the pre-explosion and post-explosion stages;
the analysis unit is used for analyzing the image information of the explosion region and the periphery of the goaf by an aerial triangle analysis method and converting the image information of the explosion region and the periphery of the goaf into three-dimensional dense point cloud data of the explosion region of the goaf;
the processing unit is used for processing the three-dimensional dense point cloud data of the explosion zone where the goaf is located to obtain a pre-explosion and post-explosion three-dimensional model of the explosion zone where the goaf is located;
the acceptance unit is used for evaluating the blasting treatment effect of the goaf according to the pre-explosion and post-explosion three-dimensional models of the explosion zone where the goaf is located, and simultaneously guaranteeing the blasting treatment effect evaluation reliability of the goaf based on the image information of the explosion zone and the periphery of the goaf and the actual excavation feedback condition, so as to realize the fine acceptance of the goaf of the surface mine, and specifically comprises:
extracting and processing data of a three-dimensional model before and after goaf explosion: based on pre-explosion and post-explosion three-dimensional models of the explosion region where the goaf is located, importing the goaf coordinate measured by importing a drilling three-dimensional laser scanner into southern Idata software to serve as an actual range line of the goaf, accurately reflecting the goaf into the pre-explosion and post-explosion three-dimensional models of the explosion region, automatically extracting all elevation point information of the explosion region where the pre-explosion and post-explosion goaf are located by utilizing an in-plane extraction or on-line extraction elevation point function, further processing to obtain elevation point information which accords with the actual scene, and truly reducing the influence of explosion on the spatial morphological change of the goaf;
fine evaluation of goaf treatment effect: according to the change condition of elevation point information of an explosion zone where the goaf is located before and after explosion, comprehensively evaluating the post-explosion actual filling degree of the goaf by combining the loosening coefficient of rock after explosion and the actual pushing distance of a blasting pile, wherein the post-explosion actual filling degree of the goaf is the blasting treatment effect of the goaf; meanwhile, based on the explosion area where the goaf is located and peripheral image information and the actual excavation feedback condition of the on-site excavator, the blasting treatment effect evaluation reliability of the goaf is guaranteed in multiple aspects, and fine acceptance of the goaf of the surface mine is achieved, wherein the image information comprises multi-angle photos and recorded blasting videos.
6. A computer device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored in the memory, implements the method of fine acceptance of goaf of a surface mine as claimed in any one of claims 1 to 4.
7. A storage medium storing a program, wherein the program, when executed by a processor, implements the surface mine goaf fine acceptance method of any one of claims 1 to 4.
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