CN113720310A - Roadway photographic geology compiling and recording method and system - Google Patents
Roadway photographic geology compiling and recording method and system Download PDFInfo
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Abstract
The invention relates to the technical field of geological logging, in particular to a roadway photographing geological logging method and a system, wherein the system comprises a photographing module, a processing module and a logging module, wherein the photographing module is provided with an auxiliary positioning module; the method comprises the steps of shooting a positioning image of a roadway top wall with a central axis mark, identifying position information of the central axis mark, and judging whether a photographing module is located at the central axis according to the position information; if so, emitting point laser to the initial absolute coordinate of the side wall of the roadway, measuring a shooting distance value, calculating a plumb projection distance as a proportional scale according to the shooting distance value, a preset included angle and a pythagorean theorem, and shooting a side wall image of the single-side wall of the roadway; and the calculation unit calculates the absolute coordinates of the side walls of the point laser at a plurality of preset distance values on the side wall image according to the scale and the initial absolute coordinates, and the insertion unit sequentially inserts the side wall images according to the absolute coordinates of the side walls to form the single wall image of the roadway. The invention improves the accuracy of roadway cataloging.
Description
Technical Field
The invention relates to the technical field of geological logging, in particular to a roadway photography geological logging method and a roadway photography geological logging system.
Background
The roadways are formed by excavating mines in different directions and at different inclination angles in different rocks according to different sections and lengths, and can be divided into various types according to the functions of the roadways, such as development of roadways, preparation of roadways, stoping of roadways and the like. In order to timely and accurately record roadway data and look up relevant geological conditions of a roadway during subsequent roadway construction, such as installation of a monkey vehicle, a monorail crane and the like, geological cataloging is necessary during roadway excavation and forming.
At present, the geological condition of a single side of a roadway is generally roughly recorded, for example, when a coal-rock boundary is exposed on a left side, the trend of a coal seam needs to be recorded, but the recording method for the condition generally comprises measuring once at intervals of 10 meters (or more), connecting elevations, and having a large error. The single side, namely the side wall surfaces of the roadway at two sides of the axis of the hole, has poor recording precision of the geological condition of the roadway when the mining working face, the head-on face and the like are recorded, and image acquisition and recording of partial roadway are required when the mining working face, the head-on face and the like are recorded. When the images of the side coal wall surface of the roadway are shot, due to the limitation of limited roadway width and ambient illumination, a plurality of images need to be collected on the central axis of the roadway, the existing image collection is generally carried out at the approximate central axis position, the shooting position is not accurate enough, the shooting quality of the images is influenced, and the editing precision is low.
Disclosure of Invention
The invention aims to provide a roadway photography geological recording system to solve the problem of low recording precision caused by inaccurate shooting position.
The photographing geological recording system for the roadway comprises a photographing module, a geological recording module and a geological recording module, wherein the photographing module is used for photographing side wall images of the single-side wall of the roadway on a central axis of the roadway;
the device also comprises a processing module and an editing and recording module, wherein an auxiliary positioning module is arranged on the photographing module;
the auxiliary positioning module is positioned at the top end of the photographing module and used for photographing a positioning image of which the top wall of the roadway is provided with a central axis mark, identifying the position information of the central axis mark on the positioning image by the auxiliary positioning module and judging whether the photographing module is positioned at the central axis according to the position information, wherein when the photographing module is positioned at the central axis, the auxiliary positioning module sends a starting signal for photographing a side wall image to the photographing module;
the editing module is used for acquiring the side wall images from the processing module and inserting the side wall images in sequence to form a single roadway wall image, and the editing module establishes a single roadway wall three-dimensional model for the single roadway wall image and sends the single roadway wall three-dimensional model to the processing module;
and the processing module is used for acquiring the side wall image of the photographing module and sending the side wall image to the editing and recording module, and the processing module acquires the roadway single-wall three-dimensional model of the editing and recording module to output and display.
The beneficial effect of this scheme is:
when the photographing module photographs the side wall image of the roadway, the auxiliary positioning module photographs the positioning image, the position information of the central axis mark on the positioning image is identified, whether the photographing module is located at the central axis or not is judged, and when the photographing module is located at the central axis, the photographing module is started to photograph the side wall image, so that manual judgment is not needed, the accuracy of a photographing position is improved, and the photographing effect of the side wall image is prevented from being influenced by external factors; and the single-wall shot side wall images of the roadway are compiled to obtain a single-wall three-dimensional model of the roadway, so that the geological condition of the roadway can be accurately recorded, the compiling precision of the roadway is improved, and the information of the coal bed to be mined can be predicted and inferred conveniently according to the compiled information.
Further, be equipped with laser module, horizontal instruction module and control module on the photography module, the laser module is used for sending a little laser to the shooting of the known initial absolute coordinate of tunnel lateral wall to measure and shoot the distance value, the transmission direction of some laser and the contained angle of level to be preset the angle, horizontal instruction module is used for instructing the photography module and shoots whether the direction is horizontal, control module calculates the vertical projection distance as the proportion scale of shooting according to shooting distance value, preset the angle and colluding the thigh theorem, control module adds proportion scale and initial absolute coordinate to the point laser department on the lateral wall image, control module will have added proportion scale and initial absolute coordinate's lateral wall image transmission to processing module.
The beneficial effects are that: emitting point laser through the laser module, calculating a plumb projection distance according to information of the emitting point laser to serve as a proportion scale, and adding the proportion scale and the initial absolute coordinate to the point laser position of the side wall image, so that the absolute coordinate of each point on the side wall image can be represented conveniently.
Further, the editing module comprises a calculating unit and an inserting unit, the calculating unit calculates the lateral wall absolute coordinates of the point laser on the lateral wall images at a plurality of preset distances according to the proportion scale and the initial absolute coordinates, and the inserting unit inserts the plurality of lateral wall images according to the lateral wall absolute coordinates to form the roadway single-wall image.
The beneficial effects are that: the computing unit computes absolute coordinates of the side walls at a plurality of points according to the scale and the initial absolute coordinates on the side wall images, the inserting unit inserts the side wall images according to the absolute coordinates of the side walls to form a single roadway slope image, and continuity of the single roadway slope image is maintained.
Further, the inserting unit judges whether the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are equal, when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are equal, the inserting unit inserts the side wall images together, and when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are not equal, the inserting unit makes a difference between the absolute coordinates of the adjacent positions and inserts the side wall images with the difference value smaller than a threshold value together.
The beneficial effects are that: according to the method, whether the absolute coordinates of the side walls at the adjacent positions between the side wall images are equal or not is judged, namely the shot side wall images are in contact with each other, and the side wall images are spliced together, so that the accuracy of splicing judgment of the side wall images is improved.
Further, when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are not equal and the difference value is smaller than the threshold value, the plugging unit firstly judges whether the absolute coordinates of the adjacent positions are overlapped, and when the absolute coordinates of the adjacent positions are not overlapped, the plugging unit carries out pixel filling and smoothing processing at the blank between the side wall images at the adjacent positions by an interpolation method.
The beneficial effects are that: and when the absolute coordinates of the side walls at the adjacent positions are not equal, judging whether the coordinates of the adjacent positions are overlapped, wherein when the coordinates are not overlapped, the shot side wall images do not continuously cover the side wall of the roadway, and performing pixel filling and smoothing treatment on the blank between the side wall images at the adjacent positions by an interpolation method to keep the continuity of the single-side images of the roadway.
Further, be equipped with the suggestion unit on the photography module, control module acquires the lateral wall image and discerns the colour information of lateral wall image, control module compares colour information with predetermineeing the colour, and when colour information is the same with predetermineeing the colour, control module judges that photography module's camera lens is hazy and sends the suggestion information of waiting for the adaptation to the suggestion unit.
The beneficial effects are that: judge whether the camera module has taken out in advance in order to adapt to the tunnel environment to indicate when the camera module does not adapt to the tunnel environment, prevent that camera module camera lens when shooing the lateral wall image from hazing the definition that influences the lateral wall image, keep lateral wall image definition.
The roadway photography geological logging method comprises the following steps:
step one, enabling an auxiliary positioning module on a photographing module to photograph a positioning image with a central axis mark on the top wall of a roadway, identifying position information of the central axis mark on the positioning image, and judging whether the photographing module is located at the central axis or not according to the position information;
when the photographing module is located at the central axis of the roadway, emitting point laser to the initial absolute coordinate of the side wall of the roadway through a laser module on the photographing module and measuring a photographing distance value, wherein an included angle between the emitting direction of the point laser and the horizontal direction is a preset angle, a vertical projection distance is calculated by the control module according to the photographing distance value, the preset included angle and the pythagorean theorem to serve as a scale, the photographing module photographs the side wall image of the single-side wall of the roadway, and the scale and the initial absolute coordinate are added to the point laser on the side wall image;
thirdly, the processing module acquires the side wall images and sends the side wall images to the editing and recording module, the computing unit computes the side wall absolute coordinates of the point laser at a plurality of preset distance values on the side wall images according to the proportion scale and the initial absolute coordinates, and the inserting unit sequentially inserts the side wall images according to the side wall absolute coordinates to form a single roadway slope image;
and fourthly, establishing a single-side three-dimensional model of the roadway by using the single-side images of the editing and recording module, and sending the single-side three-dimensional model of the roadway to the processing module for output and display.
The beneficial effect of this scheme is:
through the location image of shooting the tunnel roof to the positional information of axis sign on the discernment location image judges whether the camera module is located the axis department in tunnel with positional information, if, then shoots the lateral wall image of tunnel list group, improves the accuracy that the position was shot to the lateral wall image, avoids because of shooting the lateral wall image light anomaly that the position deviation arouses.
When the side wall image is shot, the vertical projection distance is calculated through the point position of the known initial absolute coordinate of the side wall image, the shot preset angle and the shot distance and serves as a proportion scale, the side wall absolute coordinate of a plurality of points on the side wall image is calculated, the roadway single slope image is formed by splicing according to the side wall absolute coordinate, and the formed roadway single slope image is more accurate by splicing on the basis of accurate shooting position of the side wall image.
Further, in the third step, when the sidewall images are plugged, the plug-in unit is improved to firstly judge whether the absolute coordinates of the sidewalls at the adjacent positions on the plurality of sidewall images are equal, and when the absolute coordinates of the sidewalls at the adjacent positions on the plurality of sidewall images are equal, the sidewall images are plugged together; when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are not equal, the inserting unit makes a difference between the absolute coordinates of the adjacent positions and inserts the side wall images with the difference value smaller than the threshold value together.
The beneficial effects are that: and judging whether the absolute coordinates of the side walls are equal, namely judging whether the two side wall images are in contact, if so, directly inserting the two side wall images together, and if not, inserting the two side wall images with smaller space together, thereby improving the accuracy of inserting the side wall images.
Further, when the difference value is smaller than the threshold value, the plugging unit judges whether absolute coordinates of adjacent positions are overlapped or not, when the absolute coordinates of the adjacent positions are not overlapped, pixel filling is carried out at a blank position between the side wall images of the adjacent positions through an interpolation method, smoothing processing is carried out after the pixel filling is finished, when the absolute coordinates of the adjacent positions are overlapped, a calculation signal is fed back to the calculation unit by the plugging unit, the calculation unit calculates a plurality of overlapped absolute coordinates on the side wall images of the adjacent positions, the plugging unit judges an overlapping boundary according to the equivalent of the overlapped absolute coordinates, and any side wall image in the overlapping boundary is reserved for plugging.
The beneficial effects are that: judging whether a blank is formed between adjacent side wall images, carrying out smoothing processing after pixel filling at the blank, calculating a plurality of overlapped absolute coordinates when no blank is overlapped, and carrying out splicing after overlapping is eliminated, thereby ensuring the accuracy and continuity of splicing of the side wall images.
And fifthly, identifying geological information on the roadway single-side image through the processing module, judging whether the geological information is preset geology or not, wherein the geological information comprises geological parameters, and when the geological information is the preset geology, the processing module conjectures the extension distribution information of the preset geology according to the geological parameters.
The beneficial effects are that: the automatic inference of the surrounding geological conditions is conveniently carried out through the recorded images, the geological change conditions are found in time, and the mining activities are accurately carried out.
Drawings
Fig. 1 is a schematic block diagram of a roadway photography geological logging system according to an embodiment of the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
A roadway photography geological logging system, as shown in fig. 1: the system comprises a photographing module, a processing module, a display module and an editing and recording module, wherein the photographing module can use the existing intrinsic safety type camera, is used for photographing side wall images of the side wall of a single side of a roadway on a central axis of the roadway, and can respectively photograph images of a left side and a right side of the roadway in order to improve the integrity of editing and recording of the roadway; be equipped with the assistance-localization real-time module on the photographic module, the assistance-localization real-time module is located the top department of photographic module, the assistance-localization real-time module shoots the positioning image that the tunnel roof has the axis sign, the position information of axis sign on the assistance-localization real-time module discernment positioning image, and judge whether the photographic module is located axis department according to position information, the assistance-localization real-time module is including the camera of shooting positioning image and the microcontroller that carries out position information judgement, position information discernment is gone on through the area proportion of axis sign both sides, for example when the photographic module is located axis department, position information is "1", when the photographic module is located axis department, the assistance-localization real-time module sends the start signal of shooting the lateral wall image to the photographic module, start signal sends through microcontroller.
Install the laser module on the camera module, horizontal indicating module and control module, the laser module is used for sending some laser to the shooting point of the known initial absolute coordinate of tunnel lateral wall, and measure and shoot the distance value, the laser module can use current range finding laser instrument, the transmission direction of some laser and the contained angle of level are predetermined angle, horizontal indicating module is used for instructing camera module shooting direction whether horizontal, horizontal indicating module can use current digital level gauge, control module calculates the plumb projection distance as the proportion scale of shooting according to shooting distance value, predetermined angle and pythagorean theorem, for example, shooting distance is L, predetermined angle is theta, plumb projection is L sin theta, control module obtains camera module's lateral wall image, control module adds proportion scale and initial absolute coordinate to the point laser department on the lateral wall image, control module sends the lateral wall image that has added proportion scale and initial absolute coordinate to through current wireless communication module and has sent the proportion scale and initial absolute coordinate to the lateral wall image of lateral wall to And a processing module.
The processing module is used for acquiring side wall images of the photographing module and sending the side wall images to the editing and recording module, the editing and recording module is used for acquiring the side wall images from the processing module and inserting the side wall images in sequence to form a roadway single-wall image, the editing and recording module establishes a roadway single-wall three-dimensional model for the roadway single-wall image and sends the roadway single-wall three-dimensional model to the processing module, the processing module acquires the roadway single-wall three-dimensional model of the editing and recording module to output and display, the display is carried out through the display module, and the display module can be carried out through an existing display screen.
The editing module comprises a calculating unit and a plugging unit, the calculating unit calculates the absolute coordinates of the side wall of the point laser at a plurality of preset distances on the side wall image according to the proportional scale and the initial absolute coordinates, for example, the proportional scale is divided by the distance on the graph to obtain a proportional coefficient, then the absolute coordinates are obtained by multiplying the length on the graph measured on the image by the proportional coefficient, and the calculating unit can use the existing EgoInfo interpretation software; the inserting unit inserts the plurality of side wall images to form a single-side roadway image according to the absolute coordinates of the side walls, namely, the inserting unit judges whether the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are equal, when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are equal, the inserting unit inserts the side wall images together, when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are not equal, the inserting unit makes a difference between the absolute coordinates of the adjacent positions and inserts the side wall images with the difference smaller than a threshold value, the threshold value is smaller than one half of the distance between the actual absolute coordinates of the side wall images, when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are not equal and the difference is smaller than the threshold value, the inserting unit firstly judges whether the absolute coordinates of the adjacent positions are overlapped, when the absolute coordinates of the adjacent positions are not overlapped, the inserting unit carries out pixel filling and smoothing processing at the blank between the side wall images at the adjacent positions by an inserting method, when the absolute coordinates of the adjacent positions are overlapped, the inserting unit feeds back a calculation signal to the calculation unit, the calculation unit calculates a plurality of overlapped absolute coordinates on the side wall images of the adjacent positions according to the calculation signal, the inserting unit judges an overlapping boundary according to the equivalence of the overlapped absolute coordinates, and any side wall image in the overlapping boundary is reserved for inserting.
The roadway photographic geology compiling method based on the roadway photographic geology compiling system comprises the following steps:
step one, an auxiliary positioning module on the photographing module is used for photographing a positioning image with a central axis mark on the top wall of the roadway, identifying the position information of the central axis mark on the positioning image, and judging whether the photographing module is located at the central axis or not according to the position information.
And step two, when the photographing module is positioned at the central axis of the roadway, emitting point laser to the initial absolute coordinate of the side wall of the roadway through a laser module on the photographing module and measuring a photographing distance value, wherein an included angle between the emitting direction of the point laser and the horizontal direction is a preset angle, a vertical projection distance is calculated by the control module according to the photographing distance value, the preset included angle and the pythagorean theorem to serve as a scale, the photographing module photographs the side wall image of the single-side wall of the roadway, and the scale and the initial absolute coordinate are added to the point laser on the side wall image.
And step three, the processing module acquires the side wall images and sends the side wall images to the editing and recording module, the computing unit computes the side wall absolute coordinates of the point laser at a plurality of preset distance values on the side wall images according to the proportion scale and the initial absolute coordinates, and the inserting unit inserts the side wall images in sequence according to the side wall absolute coordinates to form the single-side roadway image.
In the third step, when the sidewall images are spliced, the improved splicing unit firstly judges whether the absolute coordinates of the sidewalls at the adjacent positions on the plurality of sidewall images are equal, and when the absolute coordinates of the sidewalls at the adjacent positions on the plurality of sidewall images are equal, the sidewall images are spliced together; when the absolute coordinates of the side walls at the adjacent positions on the side wall images are not equal, the inserting unit makes difference on the absolute coordinates of the adjacent positions and inserts the side wall images with the difference value smaller than the threshold value together, when the difference value is smaller than the threshold value, the inserting unit judges whether the absolute coordinates of the adjacent positions are overlapped or not firstly, when the absolute coordinates of the adjacent positions are not overlapped, pixel filling is carried out at the blank position between the side wall images at the adjacent positions through an inserting method, smoothing processing is carried out after the pixel filling is finished, when the absolute coordinates of the adjacent positions are overlapped, the inserting unit feeds back a calculation signal to the calculating unit, the calculating unit calculates a plurality of overlapped absolute coordinates on the side wall images at the adjacent positions, the inserting unit judges an overlapped boundary according to the equivalent value of the overlapped absolute coordinates and keeps any side wall image in the overlapped boundary to carry out inserting.
And fourthly, establishing a single-side three-dimensional model of the roadway by using the single-side images of the editing and recording module, and sending the single-side three-dimensional model of the roadway to the processing module for output and display.
According to the mining method, the roadway single-wall image is shot, the position information of the central axis mark on the positioning image is recognized through shooting the positioning image of the central axis mark before shooting, whether the position of the shot roadway single-wall image is accurate or not is judged according to the position information, manual judgment is not needed, the accuracy of the shot position is improved, the error caused by the fact that external factors affect the shooting of the roadway single-wall image is prevented, the accuracy of roadway logging is improved, the geological condition of the roadway is accurately recorded, and the mining method is convenient for follow-up prediction and inference of coal bed information to be mined aiming at the logged information.
Example two
The difference from the first embodiment is that, in the tunnel photography geology cataloging system of the tunnel photography geology cataloging system, the photography module is provided with the prompting unit, the prompting unit can use the existing buzzer, the control module obtains the side wall image and identifies the color information of the side wall image, the identification of the color information can be carried out by using the existing color characteristic algorithm, such as a color histogram, the control module compares the color information with the preset color, and when the color information is the same as the preset color, the control module judges that the lens of the photography module is fogged and sends the prompting information waiting for adaptation to the prompting unit.
The control module acquires the side wall image, identifies color information, compares the color information with a preset color, judges the lens fogging of the photographing module through the control module when the color information is the same as the preset color, and sends a prompt message waiting for adaptation to the prompt unit.
This embodiment one judges whether the camera module takes out in advance with adaptation tunnel environment to indicate when camera module does not adapt to tunnel environment, prevent that camera module camera lens when shooing the lateral wall image from hazing the definition that influences the lateral wall image, keep lateral wall image definition.
EXAMPLE III
The difference from the first embodiment is that, in the photographic geology compiling system of the roadway, the processing module identifies the geological information on the single-wall image and judges whether the geological information is the preset geology, and when the geological information is the preset geology, the processing module infers the extended distribution information of the preset geology, such as the geological parameter, according to the geological parameter.
The method for compiling the photographic geology of the tunnel of the photographic geology compiling system further comprises a fifth step of identifying geological information on the image of the single side of the tunnel through the processing module and judging whether the geological information is the preset geology or not, wherein the geological information comprises geological parameters, and when the geological information is the preset geology, the processing module is used for conjecturing the extension distribution information of the preset geology according to the geological parameters, for example, conjecturing according to the condition of extension of the geological distribution. For example, two mutually parallel tunnels, wherein geological information of one tunnel is that a fault exists at 50 meters and an inclination angle a, whether the fault can extend to the other tunnel is judged according to the inclination direction extension of the tunnel, so that the fault exists in the other tunnel is estimated, and the two tunnels are connected to form extension distribution information.
In the third embodiment, after the roadway single-wall image is obtained through exposure, the geological information on the roadway single-wall image is identified, for example, a fault is identified, and then the extension distribution information of the fault is presumed automatically according to the geological parameters of the fault information, such as fault position, thickness, inclination angle and the like, so that the geological change condition can be found in time, and mining activities can be accurately carried out.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A photographic geology editing and recording system for a roadway comprises a photographic module, a geological editing module and a geological editing module, wherein the photographic module is used for shooting side wall images of a single side wall of the roadway on a central axis of the roadway; the method is characterized in that:
the device also comprises a processing module and an editing and recording module, wherein an auxiliary positioning module is arranged on the photographing module;
the auxiliary positioning module is positioned at the top end of the photographing module and used for photographing a positioning image of which the top wall of the roadway is provided with a central axis mark, identifying the position information of the central axis mark on the positioning image by the auxiliary positioning module and judging whether the photographing module is positioned at the central axis according to the position information, wherein when the photographing module is positioned at the central axis, the auxiliary positioning module sends a starting signal for photographing a side wall image to the photographing module;
the editing module is used for acquiring the side wall images from the processing module and inserting the side wall images in sequence to form a single roadway wall image, and the editing module establishes a single roadway wall three-dimensional model for the single roadway wall image and sends the single roadway wall three-dimensional model to the processing module;
and the processing module is used for acquiring the side wall image of the photographing module and sending the side wall image to the editing and recording module, and the processing module acquires the roadway single-wall three-dimensional model of the editing and recording module to output and display.
2. The photogrammetric logging system of claim 1, wherein: be equipped with laser module, horizontal indicating module and control module on the photography module, the laser module is used for sending a little laser to the shooting of the known initial absolute coordinate of tunnel lateral wall to measure and shoot the distance value, the transmission direction of some laser and the contained angle that the level is to predetermine the angle, horizontal indicating module is used for instructing photography module and shoots whether the direction is horizontal, control module calculates the proportion scale of plumb projection distance as shooting according to shooting the distance value, predetermine the angle and collude the thigh theorem, control module adds the point laser department to the lateral wall image with proportion scale and initial absolute coordinate, control module will add the lateral wall image transmission that proportion scale and initial absolute coordinate to processing module.
3. The photogrammetric logging system of claim 2, wherein: the editing module comprises a calculating unit and an inserting unit, the calculating unit calculates the side wall absolute coordinates of point lasers on the side wall images at a plurality of preset distances according to the proportion scale and the initial absolute coordinates, and the inserting unit inserts the side wall images to form a roadway single slope image according to the side wall absolute coordinates.
4. The photogrammetric logging system of claim 3, wherein: the splicing unit judges whether the absolute coordinates of the side walls at the adjacent positions on the side wall images are equal or not, when the absolute coordinates of the side walls at the adjacent positions on the side wall images are equal, the splicing unit splices the side wall images together, and when the absolute coordinates of the side walls at the adjacent positions on the side wall images are not equal, the splicing unit makes a difference between the absolute coordinates of the adjacent positions and splices the side wall images together, wherein the difference value of the side wall images is smaller than a threshold value.
5. The photogrammetric logging system of claim 4, wherein: when the absolute coordinates of the side walls at the adjacent positions on the side wall images are not equal and the difference value is smaller than the threshold value, the inserting unit firstly judges whether the absolute coordinates of the adjacent positions are overlapped or not, and when the absolute coordinates of the adjacent positions are not overlapped, the inserting unit carries out pixel filling and smoothing processing at the blank between the side wall images at the adjacent positions by an interpolation method.
6. The photogrammetric logging system of claim 5, wherein: the camera module is provided with a prompt unit, the control module acquires the side wall image and identifies color information of the side wall image, the control module compares the color information with a preset color, and when the color information is the same as the preset color, the control module judges that the lens of the camera module is fogged and sends prompt information waiting for adaptation to the prompt unit.
7. The roadway photography geological logging method is characterized by comprising the following steps:
step one, enabling an auxiliary positioning module on a photographing module to photograph a positioning image with a central axis mark on the top wall of a roadway, identifying position information of the central axis mark on the positioning image, and judging whether the photographing module is located at the central axis or not according to the position information;
when the photographing module is located at the central axis of the roadway, emitting point laser to the initial absolute coordinate of the side wall of the roadway through a laser module on the photographing module and measuring a photographing distance value, wherein an included angle between the emitting direction of the point laser and the horizontal direction is a preset angle, a vertical projection distance is calculated by the control module according to the photographing distance value, the preset included angle and the pythagorean theorem to serve as a scale, the photographing module photographs the side wall image of the single-side wall of the roadway, and the scale and the initial absolute coordinate are added to the point laser on the side wall image;
thirdly, the processing module acquires the side wall images and sends the side wall images to the editing and recording module, the computing unit computes the side wall absolute coordinates of the point laser at a plurality of preset distance values on the side wall images according to the proportion scale and the initial absolute coordinates, and the inserting unit sequentially inserts the side wall images according to the side wall absolute coordinates to form a single roadway slope image;
and fourthly, establishing a single-side three-dimensional model of the roadway by using the single-side images of the editing and recording module, and sending the single-side three-dimensional model of the roadway to the processing module for output and display.
8. The photographical geology cataloging method of claim 7, wherein: in the third step, when the side wall images are spliced, the improved splicing unit firstly judges whether the absolute coordinates of the side walls at the adjacent positions on the side wall images are equal, and when the absolute coordinates of the side walls at the adjacent positions on the side wall images are equal, the side wall images are spliced together; when the absolute coordinates of the side walls at the adjacent positions on the plurality of side wall images are not equal, the inserting unit makes a difference between the absolute coordinates of the adjacent positions and inserts the side wall images with the difference value smaller than the threshold value together.
9. The photographical geology cataloging method of claim 8, wherein: when the difference value is smaller than the threshold value, the splicing unit judges whether the absolute coordinates of the adjacent positions are overlapped or not, when the absolute coordinates of the adjacent positions are not overlapped, pixel filling is carried out at the blank position between the side wall images of the adjacent positions through an interpolation method, smoothing processing is carried out after the pixel filling is finished, when the absolute coordinates of the adjacent positions are overlapped, the splicing unit feeds back a calculation signal to the calculation unit, the calculation unit calculates a plurality of overlapped absolute coordinates on the side wall images of the adjacent positions, the splicing unit judges an overlapping boundary according to the equivalent value of the overlapped absolute coordinates, and any side wall image in the overlapping boundary is reserved for splicing.
10. The photographical geology cataloging method of claim 7, wherein: and fifthly, identifying geological information on the roadway single-side image through the processing module, judging whether the geological information is a preset geology or not, wherein the geological information comprises geological parameters, and when the geological information is the preset geology, the processing module conjectures the extension distribution information of the preset geology according to the geological parameters.
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