CN113066185A - Scene data creating method, device, medium and equipment of mine simulation system - Google Patents
Scene data creating method, device, medium and equipment of mine simulation system Download PDFInfo
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Abstract
The application provides a method and a device for creating scene data of a mine simulation system, a computer-readable storage medium and electronic equipment, wherein a three-dimensional model representing scene information of a mine is obtained by acquiring three-dimensional image data of the mine, and the three-dimensional model is calibrated based on a coordinate system of the mine simulation system to obtain a calibrated three-dimensional model; and then, obtaining a boundary curve of the mine according to the calibrated three-dimensional model, obtaining a plurality of point data on the boundary of the mine according to the boundary curve of the mine, verifying the plurality of point data to obtain normal point data, finally importing the normal point data into a mine simulation system, and quickly generating scene data of the mine simulation system by using a programming mode, so that any algorithm interpolation modification is avoided, the originality of a data file is ensured, and the accuracy of the scene model is improved.
Description
Technical Field
The application relates to the technical field of automatic driving of mine cars, in particular to a scene data creating method and device of a mine simulation system, a computer readable storage medium and electronic equipment.
Background
With the continuous development of the automatic driving technology, the automatic driving technology in the open-pit mine area aiming at special closed scenes is concerned by manufacturers at home and abroad as the commercial development field with the most potential of automatic driving landing. The mining area automatic driving simulation technology can greatly reduce the development and test cost, shorten the automatic driving development period and achieve zero safety accidents. In order to obtain leading advantages in increasingly drastic technical development competition, great manufacturers increase investment in development of mine simulation systems in the field. However, unlike passenger car autopilot development, mine autopilot presents a big challenge: the mine road that traveles is the bad environment, and the road surface does not have the sign line, does not have traffic lights traffic rules, and road surface pothole jolts, and the rugged bend curvature of road is too big, and road width variation range is big, and the roadside slope causes high danger of driving etc.. Therefore, to perform high-precision and effective automatic driving simulation tests, the problem of high-precision mine scene simulation modeling must be solved first. However, the surface mine has a wide range, which can reach several square kilometers to tens of square kilometers, and it is difficult to model the surface mine in a large-scale and high-precision manner.
However, with the popularization of computer technology, data extraction of a virtual mine area can be completed by combining with various large engineering software used at present, but the data combined with practical application is really limited, for example, the data collected virtually for actual mine area blasting, maintenance and the like is often unrealistic due to the change of the terrain of the mine area at any moment. The method combines the complexity of the actual road of the mining area, the pothole and the fluctuation of the height, the extracted road data are scattered and more in mutation data, and if the smooth processing is carried out by using software, the matching degree of the data and the actual road is changed, so that how to realize the rapid and accurate establishment of the road data of the mining area becomes a great problem to be solved in an urgent need of practical application.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a scene data creating method and device of a mine simulation system, a computer readable storage medium and electronic equipment, and solves the problem that mine area road data in the scene model is inaccurate.
According to one aspect of the application, a scene data creating method of a mine simulation system is provided, which comprises the following steps: acquiring three-dimensional image data of a mine to obtain a three-dimensional model representing scene information of the mine; calibrating the three-dimensional model based on a coordinate system of a mine simulation system to obtain a calibrated three-dimensional model; obtaining a boundary curve of the mine according to the calibrated three-dimensional model; obtaining a plurality of point data on the boundary of the mine according to the boundary curve of the mine; checking the plurality of point data to obtain normal point data; and importing the normal point data into the mine simulation system to generate scene data of the mine simulation system.
In an embodiment, the calibrating the three-dimensional model based on a coordinate system of a mine simulation system, and obtaining the calibrated three-dimensional model includes: and calibrating the three-dimensional model based on the base station original point used by the mine simulation system and the coordinate points acquired by the real vehicle, so that the calibrated three-dimensional model is the same as the actual mine coordinates and the actual elevation.
In an embodiment, the obtaining a boundary curve of the mine according to the calibrated three-dimensional model includes: obtaining a first smooth boundary curve according to the boundary of the calibrated three-dimensional model; translating the first smooth boundary curve along the vertical direction by a preset height; and projecting the first smooth boundary curve to the calibrated three-dimensional model to obtain a second smooth boundary curve.
In an embodiment, the obtaining the plurality of point data on the boundary of the mine according to the boundary curve of the mine includes: and performing fixed-distance division processing on the second smooth boundary curve to obtain a plurality of point data on the boundary of the mine.
In an embodiment, the verifying the plurality of point data to obtain normal point data includes: based on the second smooth boundary curve, sequencing the plurality of point data to obtain ordered data; and checking the ordered data to obtain normal point data.
In an embodiment, the checking the ordered data to obtain normal point data includes: calculating the interval between two adjacent points in the ordered data; and when the interval between the two adjacent points is equal to a preset interval value, determining the two adjacent points as normal point data.
In an embodiment, the checking the ordered data to obtain normal point data includes: and when the interval between the two adjacent points is not equal to a preset interval value, determining that the two adjacent points are abnormal point data.
According to an aspect of the present application, there is provided a scene data creation apparatus of a mine simulation system, including: the data acquisition module is used for acquiring three-dimensional image data of a mine to obtain a three-dimensional model representing scene information of the mine; the model calibration module is used for calibrating the three-dimensional model based on a coordinate system of a mine simulation system to obtain a calibrated three-dimensional model; the boundary acquisition module is used for acquiring a boundary curve of the mine according to the calibrated three-dimensional model; the point data acquisition module is used for acquiring a plurality of point data on the boundary of the mine according to the boundary curve of the mine; the checking module is used for checking the plurality of point data to obtain normal point data; and the scene generation module is used for importing the normal point data into the mine simulation system to generate scene data of the mine simulation system.
According to an aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the scene data creation method of the mine simulation system described in any one of the above.
According to an aspect of the present application, there is provided an electronic apparatus including: a processor; a memory for storing the processor-executable instructions; the processor is configured to execute any one of the above-described scene data creation methods of the mine simulation system.
According to the scene data creating method and device of the mine simulation system, the computer-readable storage medium and the electronic device, the three-dimensional model representing the scene information of the mine is obtained by obtaining the three-dimensional image data of the mine, and the three-dimensional model is calibrated based on the coordinate system of the mine simulation system to obtain the calibrated three-dimensional model; and then, obtaining a boundary curve of the mine according to the calibrated three-dimensional model, obtaining a plurality of point data on the boundary of the mine according to the boundary curve of the mine, verifying the plurality of point data to obtain normal point data, finally importing the normal point data into a mine simulation system, and quickly generating scene data of the mine simulation system by using a programming mode, so that any algorithm interpolation modification is avoided, the originality of a data file is ensured, and the accuracy of the scene model is improved.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flowchart of a scene data creation method of a mine simulation system according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flowchart of a boundary curve obtaining method according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart illustrating a point data verification method according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of a scene data creation device of a mine simulation system according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of a scene data creation device of a mine simulation system according to another exemplary embodiment of the present application.
Fig. 6 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Summary of the application
The mining area automatic driving simulation technology can greatly reduce the development and test cost, shorten the automatic driving development period and achieve zero safety accidents. If the data extraction of the virtual mining area is combined with engineering software, the data extraction of the virtual mining area can be completed, but the data combination with the actual application is limited, for example, the data collected virtually for actual mining area blasting, maintenance and the like are often unrealistic due to the change of the terrain of the mining area at any moment. By combining the complexity of the actual road of the mining area, the potholes and the uneven heights, the extracted road data are scattered and more in abrupt change data, and if the smooth processing is carried out by using software, the matching degree of the data and the actual road is changed.
Therefore, the existing mature technical means are deficient in the technical method for modeling the high-precision simulation scene in a large area (such as a mine). In order to solve the technical problem, the application provides a method and a device for creating scene data of a mine simulation system, a computer-readable storage medium and electronic equipment.
The following describes a specific implementation manner of a scene data creating method and apparatus, a computer-readable storage medium, and an electronic device of a mine simulation system provided in an embodiment of the present application in detail with reference to the accompanying drawings.
Exemplary method
Fig. 1 is a schematic flowchart of a scene data creation method of a mine simulation system according to an exemplary embodiment of the present application. As shown in fig. 1, the scene data creation method of the mine simulation system includes:
step 110: and acquiring three-dimensional image data of the mine to obtain a three-dimensional model representing scene information of the mine.
In order to improve the accuracy of the simulation model, besides the accuracy of the simulation model itself, the accuracy of simulation parameters, such as accurate mine scene data, needs to be ensured. Specifically, data acquisition can be carried out on all real mine regions through an unmanned aerial vehicle carrying aerial cameras, positioning sensors, communication terminals and the like, an aerial route of the unmanned aerial vehicle is set, and therefore high-definition oblique photography data and aerial photograph data of the whole mine are acquired, and then a large amount of oblique photography data acquired are generated into a large-scale three-dimensional model according to a three-dimensional modeling tool. The accuracy of the three-dimensional model can reach centimeter level based on the existing aerial photo accuracy, so that a high-accuracy mine scene model is obtained.
Step 120: and calibrating the three-dimensional model based on a coordinate system of the mine simulation system to obtain the calibrated three-dimensional model.
The shooting precision of the three-dimensional image model of the mine obtained in the steps is well guaranteed, but the three-dimensional image model also needs to be consistent with the coordinates of an actual mine model, and the model needs to be calibrated independently. In an embodiment, the specific implementation manner of step 120 may be: and calibrating the three-dimensional model based on the base station original point used by the mine simulation system and the coordinate points acquired by the real vehicle, so that the calibrated three-dimensional model is the same as the actual mine coordinates and the actual mine altitude. According to the base station original point used by the mine simulation system and the coordinate points collected by the real vehicles, the model is calibrated and adjusted to ensure that the coordinates and the altitude of the mining area model and the actual mining area are consistent, so that the precision of the model is secondarily optimized.
Step 130: and obtaining a boundary curve of the mine according to the calibrated three-dimensional model.
After the three-dimensional model of the mine is calibrated to obtain a relatively accurate mine model, a boundary curve of the mine is obtained according to the three-dimensional model of the mine, and the overall form of the mine is obtained.
Step 140: and obtaining a plurality of point data on the boundary of the mine according to the boundary curve of the mine.
In an embodiment, the specific implementation manner of step 140 may be: and performing fixed-distance division processing on the boundary curve of the mine to obtain a plurality of point data on the boundary of the mine. And (2) carrying out distance division on the obtained boundary curve according to the actual use requirement of automatic driving, carrying out batch operation processing by using related software at this stage, and then rapidly finishing distance division processing of a plurality of boundaries in the whole mining area to obtain corresponding point data, wherein the data content comprises an x value, a y value and a z value (namely three-dimensional coordinate values in a coordinate system), the interval can be 1cm, 10cm, 20cm and the like according to the use requirement of automatic driving, and the software comprises Matlab, AutoCAD and the like.
Step 150: and checking the plurality of point data to obtain normal point data.
When a plurality of point data are obtained, distortion of part of the point data may be caused due to calculation errors and the like, and the point data needs to be checked at this time to ensure that normal point data is obtained, namely the point data truly reflecting the mine boundary.
Step 160: and importing the normal point data into the mine simulation system to generate scene data of the mine simulation system.
And importing the data files into the mine simulation system in batches according to the obtained normal point data files, and quickly clicking a generation boundary in the mine simulation system to finish the quick verification process of the data files required by the mine simulation system.
According to the scene data creating method of the mine simulation system, the three-dimensional model representing the scene information of the mine is obtained by obtaining the three-dimensional image data of the mine, and the three-dimensional model is calibrated based on the coordinate system of the mine simulation system to obtain the calibrated three-dimensional model; and then, obtaining a boundary curve of the mine according to the calibrated three-dimensional model, obtaining a plurality of point data on the boundary of the mine according to the boundary curve of the mine, verifying the plurality of point data to obtain normal point data, finally importing the normal point data into a mine simulation system, and quickly generating scene data of the mine simulation system by using a programming mode, so that any algorithm interpolation modification is avoided, the originality of a data file is ensured, and the accuracy of the scene model is improved.
Fig. 2 is a schematic flowchart of a boundary curve obtaining method according to an exemplary embodiment of the present application. As shown in fig. 2, step 130 may include:
step 131: and obtaining a first smooth boundary curve according to the boundary of the calibrated three-dimensional model.
And determining the boundary of the mine road and the operation area required by the mine simulation system on the calibrated three-dimensional model, and then creating a first smooth boundary curve by using software.
Step 132: and translating the first smooth boundary curve along the vertical direction by a preset height.
The first smooth boundary curve created for the first time does not completely fit the three-dimensional model of the mine, and the first smooth boundary curve needs to be translated by a certain height along the Z axis (i.e., the vertical direction), that is, the first smooth boundary curve is separated from the three-dimensional model.
Step 133: and projecting the first smooth boundary curve onto the calibrated three-dimensional model to obtain a second smooth boundary curve.
And performing curve and model projection operation by using a written script program to obtain a second smooth boundary curve, ensuring that the obtained second smooth boundary curve is completely attached to the three-dimensional model of the mine, deleting the first smooth boundary curve, and keeping the obtained second smooth boundary curve. The second smooth boundary curve is completely overlapped with the three-dimensional model of the mine, and the precision and the continuity of data are guaranteed. And finally, exporting all second smooth boundary curves of the whole mining area in batches by using a software function to finish the creation of high-precision original data, wherein the whole process can quickly acquire all high-precision original data of the whole mining area in batches only by using a computer to perform simple functional operation, and the software comprises: 3dsmax, Maya.
Fig. 3 is a flowchart illustrating a point data verification method according to an exemplary embodiment of the present application. As shown in fig. 3, step 150 may include:
step 151: and sequencing the plurality of point data based on the second smooth boundary curve to obtain ordered data.
Since a large amount of point data is original scatter points, the point data is not sorted in sequence. Therefore, a batch processing process of the data is required next. All codes are scripted in the process, an executable script is operated according to the written codes, the plurality of data files are automatically loaded, and the sequencing algorithm is utilized to sequentially sequence the points of all the files according to the point mode generated by the second smooth boundary curve. The script is started to run, and the sequencing processing of the data can be completed within a short time by the loading calculation to obtain an ordered data file.
Step 152: and checking the ordered data to obtain normal point data.
And checking the data files of the multiple ordered points to determine whether the data files meet the use requirements of the subsequent automatic driving simulation. The method is that according to the written executable script, the ordered data file is imported in batch at one time, whether the data is normal point data is checked, and the final ordered point data file (namely normal point data) is obtained after the check is finished.
In an embodiment, the specific implementation manner of the step 152 may be: and calculating the interval between two adjacent points in the ordered data, and determining the two adjacent points as normal point data when the interval between the two adjacent points is equal to a preset interval value, or determining the two adjacent points as abnormal point data.
Exemplary devices
Fig. 4 is a schematic structural diagram of a scene data creation device of a mine simulation system according to an exemplary embodiment of the present application. As shown in fig. 4, the scene data creation means 40 includes: the data acquisition module 41 is configured to acquire three-dimensional image data of a mine to obtain a three-dimensional model representing scene information of the mine; the model calibration module 42 is configured to calibrate the three-dimensional model based on a coordinate system of the mine simulation system to obtain a calibrated three-dimensional model; a boundary obtaining module 43, configured to obtain a boundary curve of the mine according to the calibrated three-dimensional model; the point data acquisition module 44 is configured to obtain a plurality of point data on the boundary of the mine according to the boundary curve of the mine; the checking module 45 is used for checking the plurality of point data to obtain normal point data; and a scene generation module 46, configured to import the normal point data into the mine simulation system, and generate scene data of the mine simulation system.
According to the scene data creating device of the mine simulation system, the data obtaining module 41 obtains three-dimensional image data of a mine to obtain a three-dimensional model representing scene information of the mine, and the model calibrating module 42 calibrates the three-dimensional model based on a coordinate system of the mine simulation system to obtain a calibrated three-dimensional model; then, the boundary obtaining module 43 obtains a boundary curve of the mine according to the calibrated three-dimensional model, the point data obtaining module 44 obtains a plurality of point data on the boundary of the mine according to the boundary curve of the mine, the checking module 45 checks the plurality of point data to obtain normal point data, and finally the scene generating module 46 imports the normal point data into the mine simulation system, and the scene data of the mine simulation system is rapidly generated in a programming mode, so that any algorithm interpolation modification is avoided, the originality of a data file is ensured, and the accuracy of the scene model is improved.
In an embodiment, the model calibration module 42 may be further configured to: and calibrating the three-dimensional model based on the base station original point used by the mine simulation system and the coordinate points acquired by the real vehicle, so that the calibrated three-dimensional model is the same as the actual mine coordinates and the actual mine altitude.
In an embodiment, the point data acquisition module 44 may be further configured to: and performing fixed-distance division processing on the boundary curve of the mine to obtain a plurality of point data on the boundary of the mine.
Fig. 5 is a schematic structural diagram of a scene data creation device of a mine simulation system according to another exemplary embodiment of the present application. As shown in fig. 5, the boundary acquisition module 43 may include: a first curve obtaining unit 431, configured to obtain a first smooth boundary curve according to the boundary of the calibrated three-dimensional model; a translation unit 432, configured to translate the first smooth boundary curve by a preset height along a vertical direction; the second curve obtaining unit 433 is configured to project the first smooth boundary curve onto the calibrated three-dimensional model to obtain a second smooth boundary curve.
In one embodiment, as shown in fig. 5, the verification module 45 may include: the sorting unit 451 is used for sorting the plurality of point data based on the second smooth boundary curve to obtain ordered data; and the checking unit 452 is configured to check the ordered data to obtain normal point data.
In an embodiment, the verification unit 452 may be further configured to: and calculating the interval between two adjacent points in the ordered data, and determining the two adjacent points as normal point data when the interval between the two adjacent points is equal to a preset interval value, or determining the two adjacent points as abnormal point data.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 6. The electronic device may comprise a stand-alone device independent of, or either one or both of the first device and the second device, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 6 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 6, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may be other components in the electronic device 10 to perform the desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the scene data creation method of the mine simulation system of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, when the electronic device is a first device or a second device, the input device 13 may be a camera for capturing an input signal of an image. When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 6, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method of scene data creation for a mine simulation system according to various embodiments of the present application described in the "exemplary methods" section of this specification, above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in the scene data creation method of the mine simulation system according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, 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 (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A scene data creating method of a mine simulation system is characterized by comprising the following steps:
acquiring three-dimensional image data of a mine to obtain a three-dimensional model representing scene information of the mine;
calibrating the three-dimensional model based on a coordinate system of a mine simulation system to obtain a calibrated three-dimensional model;
obtaining a boundary curve of the mine according to the calibrated three-dimensional model;
obtaining a plurality of point data on the boundary of the mine according to the boundary curve of the mine;
checking the plurality of point data to obtain normal point data; and
and importing the normal point data into the mine simulation system to generate scene data of the mine simulation system.
2. The scene data creation method according to claim 1, wherein the calibrating the three-dimensional model based on a coordinate system of a mine simulation system, and obtaining the calibrated three-dimensional model comprises:
and calibrating the three-dimensional model based on the base station original point used by the mine simulation system and the coordinate points acquired by the real vehicle, so that the calibrated three-dimensional model is the same as the actual mine coordinates and the actual elevation.
3. The method for creating scene data according to claim 1, wherein the obtaining a boundary curve of the mine according to the calibrated three-dimensional model includes:
obtaining a first smooth boundary curve according to the boundary of the calibrated three-dimensional model;
translating the first smooth boundary curve along the vertical direction by a preset height; and
and projecting the first smooth boundary curve to the calibrated three-dimensional model to obtain a second smooth boundary curve.
4. The scene data creation method according to claim 3, wherein the obtaining of the plurality of point data on the boundary of the mine from the boundary curve of the mine includes:
and performing fixed-distance division processing on the second smooth boundary curve to obtain a plurality of point data on the boundary of the mine.
5. The method as claimed in claim 4, wherein said checking said plurality of point data to obtain normal point data comprises:
based on the second smooth boundary curve, sequencing the plurality of point data to obtain ordered data; and
and checking the ordered data to obtain normal point data.
6. The scene data creating method according to claim 5, wherein the checking the ordered data to obtain normal point data includes:
calculating the interval between two adjacent points in the ordered data; and
and when the interval between the two adjacent points is equal to a preset interval value, determining the two adjacent points as normal point data.
7. The method for creating scene data according to claim 6, wherein the checking the ordered data to obtain normal point data includes:
and when the interval between the two adjacent points is not equal to a preset interval value, determining that the two adjacent points are abnormal point data.
8. A scene data creation device of a mine simulation system is characterized by comprising:
the data acquisition module is used for acquiring three-dimensional image data of a mine to obtain a three-dimensional model representing scene information of the mine;
the model calibration module is used for calibrating the three-dimensional model based on a coordinate system of a mine simulation system to obtain a calibrated three-dimensional model;
the boundary acquisition module is used for acquiring a boundary curve of the mine according to the calibrated three-dimensional model;
the point data acquisition module is used for acquiring a plurality of point data on the boundary of the mine according to the boundary curve of the mine;
the checking module is used for checking the plurality of point data to obtain normal point data; and
and the scene generation module is used for importing the normal point data into the mine simulation system to generate scene data of the mine simulation system.
9. A computer-readable storage medium storing a computer program for executing the scene data creation method of the mine simulation system according to any one of claims 1 to 7.
10. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to execute the scene data creation method of the mine simulation system according to any one of claims 1 to 7.
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Denomination of invention: Scene data creation methods, devices, media, and equipment for mine simulation systems Effective date of registration: 20230307 Granted publication date: 20210917 Pledgee: Beijing first financing Company limited by guarantee Pledgor: Beijing huituo infinite Technology Co.,Ltd. Registration number: Y2023980034097 |
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