CN115375866A - Method, device, equipment and medium for updating three-dimensional geological model of mining area - Google Patents
Method, device, equipment and medium for updating three-dimensional geological model of mining area Download PDFInfo
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Abstract
The disclosure provides a mining area three-dimensional geological model updating method, device, equipment and medium, and relates to the technical field of data processing. The method comprises the following steps: measuring each mine device through a measuring device arranged on each mine device in a mining area to obtain first measuring information corresponding to each mine device, and/or measuring an area where each mine device is located to obtain second measuring information of the area where each mine device is located; for any mining equipment, constructing a local three-dimensional geological model of the mining equipment according to the first measurement information and/or the second measurement information; acquiring a global three-dimensional geological model for indicating the earth surface morphology of a mining area; and updating the global three-dimensional geological model according to the local three-dimensional geological model to obtain the three-dimensional geological model of the mining area. Therefore, the mining area three-dimensional geological model is updated according to the local three-dimensional geological model, a complete mining area three-dimensional geological model does not need to be reconstructed, and the model updating efficiency can be improved.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a medium for updating a three-dimensional geological model of a mining area.
Background
Before the production work of the surface mine starts, related workers need to collect the landform information of the whole mining area so as to construct a global three-dimensional geological model. The global three-dimensional geological model can assist relevant workers to know geological and geomorphic information in time, and further can assist the relevant workers to design production operation, schedule production equipment or auxiliary equipment and the like.
However, as the production of surface mines progresses, the topography of the surface and underlying coal and rock formations of the surface mine may change over time, particularly in mining areas where electric shovels are located, dump areas (also known as dumps, dumps) where bulldozers are located, roads in mine sites, and so on.
It is necessary to update the three-dimensional geological model of the mining area so that relevant workers can know the mining area in time according to the updated three-dimensional geological model and guide actual production operation.
Disclosure of Invention
The present disclosure is directed to solving, at least in part, one of the technical problems in the related art.
The invention provides a mining area three-dimensional geological model updating method, a mining area three-dimensional geological model updating device, mining area three-dimensional geological model updating equipment and a mining area three-dimensional geological model updating medium, wherein the mining area three-dimensional geological model updating method, the mining area three-dimensional geological model updating device, the mining area three-dimensional geological model updating equipment and the mining area three-dimensional geological model updating medium are used for acquiring measurement information of each piece of mining equipment and/or measurement information of an area where each piece of mining equipment is located through measurement equipment arranged on each piece of mining equipment in a mining area, so that construction of a local three-dimensional geological model of the area where each piece of mining equipment is located can be achieved based on the measurement information of each piece of mining equipment and/or the measurement information of the area where each piece of mining equipment is located.
The embodiment of the first aspect of the disclosure provides an updating method of a three-dimensional geological model of a mining area, which includes:
measuring each mining device through a measuring device arranged on each mining device in a mining area to obtain first measuring information corresponding to each mining device, and/or measuring an area where each mining device is located to obtain second measuring information of the area where each mining device is located;
for any mining equipment, constructing a local three-dimensional geological model corresponding to the mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment;
obtaining a global three-dimensional geological model of the mining area, wherein the global three-dimensional geological model is used for indicating the surface morphology of the mining area;
and updating the global three-dimensional geological model according to the local three-dimensional geological model of each mining device to obtain a three-dimensional geological model of the mining area.
According to the updating method of the three-dimensional geological model of the mining area, the measurement equipment arranged on each mine equipment in the mining area is used for measuring each mine equipment to obtain first measurement information corresponding to each mine equipment, and/or the area where each mine equipment is located is measured to obtain second measurement information of the area where each mine equipment is located; for any mining equipment, according to the first measurement information and/or the second measurement information corresponding to the mining equipment, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining equipment; acquiring a global three-dimensional geological model of a mining area under a world coordinate system for indicating the landmark form of the mining area; and updating the global three-dimensional geological model according to the local three-dimensional geological model of each mine equipment to obtain the three-dimensional geological model of the mining area. Therefore, the measurement information of each mine device and/or the measurement information of the area where each mine device is located can be obtained through the measurement devices arranged on each mine device in the mine area, so that the construction of the local three-dimensional geological model of the area where each mine device is located can be realized based on the measurement information of each mine device and/or the measurement information of the area where each mine device is located, further, the global three-dimensional geological model is updated only according to the local three-dimensional geological model to obtain the three-dimensional geological model of the mine area, the complete three-dimensional geological model of the mine area does not need to be reconstructed, and the updating efficiency of the model can be improved.
An embodiment of a second aspect of the present disclosure provides an updating apparatus for a three-dimensional geological model of a mining area, including:
the measuring module is used for measuring each mine device through the measuring device arranged on each mine device in the mining area to obtain first measuring information corresponding to each mine device, and/or measuring the area where each mine device is located to obtain second measuring information of the area where each mine device is located;
the construction module is used for constructing a local three-dimensional geological model corresponding to the mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment aiming at any one piece of mining equipment;
an obtaining module, configured to obtain a global three-dimensional geological model of the mine area, where the global three-dimensional geological model is used to indicate a surface morphology of the mine area;
and the updating module is used for updating the global three-dimensional geological model according to the local three-dimensional geological model of each mining device so as to obtain the updated global three-dimensional geological model.
According to the updating device of the three-dimensional geological model of the mining area, the measurement equipment arranged on each mine equipment in the mining area is used for measuring each mine equipment to obtain the first measurement information corresponding to each mine equipment, and/or the area where each mine equipment is located is measured to obtain the second measurement information of the area where each mine equipment is located; for any mining equipment, according to the first measurement information and/or the second measurement information corresponding to the mining equipment, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining equipment; acquiring a global three-dimensional geological model of a mining area under a world coordinate system for indicating the landmark form of the mining area; and updating the global three-dimensional geological model according to the local three-dimensional geological model of each mine equipment to obtain the three-dimensional geological model of the mining area. Therefore, the measurement information of each mine device and/or the measurement information of the area where each mine device is located can be obtained through the measurement devices arranged on each mine device in the mining area, so that the construction of the local three-dimensional geological model of the area where each mine device is located can be realized based on the measurement information of each mine device and/or the measurement information of the area where each mine device is located, further, the global three-dimensional geological model is updated only according to the local three-dimensional geological model to obtain the three-dimensional geological model of the mining area, the complete three-dimensional geological model of the mining area does not need to be reconstructed, and the updating efficiency of the model can be improved.
An embodiment of a third aspect of the present disclosure provides an electronic device, including: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the updating method of the three-dimensional geological model of the mining area as set forth in the embodiment of the first aspect of the disclosure.
A fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for updating a three-dimensional geological model of a mining area as set forth in the first aspect of the present disclosure.
A fifth aspect of the present disclosure provides a computer program product, wherein when the instructions of the computer program product are executed by a processor, the method for updating a three-dimensional geological model of a mining area as set forth in the first aspect of the present disclosure is performed.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to a second embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to a third embodiment of the present disclosure;
fig. 4 is a schematic flow chart of an updating method of a three-dimensional geological model of a mining area according to a fourth embodiment of the present disclosure;
FIG. 5 is a schematic view of a bulldozer blade tip provided by the present disclosure;
FIG. 6 is a local three-dimensional geological model of a mining area corresponding to an electric shovel constructed in a daily cycle according to the present disclosure;
FIG. 7 is a local three-dimensional geological model of a road corresponding to a map-acquisition vehicle constructed on a daily basis according to the present disclosure;
FIG. 8 is a local three-dimensional geological model of a bulldozer dump area constructed on a daily cycle according to the present disclosure;
fig. 9 is a schematic structural diagram of an updating apparatus for a three-dimensional geological model of a mining area according to a fifth embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present disclosure, and should not be construed as limiting the present disclosure.
The production work of the surface mine is mainly flow operation, and the actual situation of the mine is used as the basis when relevant workers in a mining area plan the production work or schedule production equipment or auxiliary equipment, so that a global three-dimensional geological model of the surface mine can be constructed to assist the relevant workers in the mining area to carry out actual production.
With the progress of the production work of surface mines, the surface morphology and the occurrence of underground coal and rock of the surface mines may change with the passage of time, and particularly, for mining areas where electric shovels are located, dump areas where bulldozers are located (also called waste rock dumps and slag dumps), roads in mining areas, and the like, the global three-dimensional geological model of the surface mines needs to be continuously updated.
However, when the global three-dimensional geological model of the surface mine is constructed, the surface mine area is large, a large amount of time is required to complete the construction of the global three-dimensional geological model of the surface mine, the real-time performance of the model cannot be ensured, and in the construction of the global three-dimensional geological model of the surface mine, huge equipment resources such as computers are required.
In the related art, when the global three-dimensional geological model of the surface mine is locally updated, the following steps can be adopted:
1. unmanned plane
The unmanned aerial vehicle periodically measures the whole mining area, a high-precision mine three-dimensional geological model is constructed according to measurement information, unmanned aerial vehicle inspection points are arranged in areas with frequent changes of landforms and landforms, such as mining areas and refuse dumps, a flight route is automatically planned by software, and the mining area is inspected every day, so that the aim of updating the areas with rapid changes of landform characteristics in a daily period is fulfilled.
However, the disadvantages of this method are: firstly, the situation of a global flight forbidden region exists, and the condition that the local change region of the mine can not be timely patrolled and updated cannot be guaranteed; secondly, when using unmanned aerial vehicle, have higher requirement to weather condition and environmental condition.
2. Laser scanner
The three-dimensional laser scanner is erected near a rapidly changing area, the collection and the updating of the information of the locally changing area are completed, timing scanning can be set, data are transmitted in real time through a local area network or a 4G/5G network, and timely analysis and modeling can be performed after a cloud system receives the data.
Although the technology can realize global and local quick updating of the mine, the equipment cost of the laser scanner is too high, and the adaptability of the equipment to the extremely cold weather of the mine is in need of examination due to the lower temperature of a mine pit.
Accordingly, in response to at least one of the above problems, the present disclosure provides a method, apparatus, device, and medium for updating a three-dimensional geological model of a mine.
Methods, apparatus, devices and media for updating a three-dimensional geological model of a mine area according to embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to an embodiment of the present disclosure.
The embodiment of the present disclosure is exemplified in that the method for updating a three-dimensional geological model of a mining area is configured in an updating apparatus for a three-dimensional geological model of a mining area, and the updating apparatus for a three-dimensional geological model of a mining area can be applied to any electronic device, so that the electronic device can perform an updating function of the three-dimensional geological model of a mining area.
The electronic device may be any device having a computing capability, for example, a PC (Personal Computer), a mobile terminal, a server, and the like, and the mobile terminal may be a hardware device having various operating systems, touch screens, and/or display screens, such as a mobile phone, a tablet Computer, a Personal digital assistant, and a wearable device.
As shown in fig. 1, the method for updating the three-dimensional geological model of the mining area may include the following steps:
In the embodiment of the present disclosure, each mine equipment in the mine area may be provided with a measuring device, where the measuring device may be, for example, a related sensor, and the number of the measuring devices may be, but is not limited to, one, which is not limited by the present disclosure.
It should be noted that the measuring devices on the mine devices may be the same or different, and the disclosure does not limit this.
It should be noted that the measuring device may be set independently of the mining equipment, and when the measuring device is set independently of the mining equipment, the execution main body of the method of the disclosure may directly communicate with the measuring device to obtain the first measurement information and/or the second measurement information; alternatively, the measuring device may be built into the mining equipment, and when the measuring device is built into the mining equipment, the execution main body of the method of the disclosure may communicate directly with the mining equipment to obtain the first measurement information and/or the second measurement information, such as from a bus of the mining equipment.
In the embodiment of the disclosure, each mine device may be measured by a measuring device arranged on each mine device in a mine area to obtain first measurement information corresponding to each mine device, and/or an area where each mine device is located may be measured to obtain second measurement information of the area where each mine device is located.
And 102, for any mining equipment, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment.
In the disclosed embodiment, the World coordinate System may be defined as, for example, the WGS84 (World geographic System-1984) coordinate System.
In the embodiment of the disclosure, for any mining equipment, the local three-dimensional geological model in the world coordinate system corresponding to the mining equipment can be constructed according to the first measurement information and/or the second measurement information corresponding to the mining equipment.
And 103, acquiring a global three-dimensional geological model under the world coordinate system of the mining area, wherein the global three-dimensional geological model is used for indicating the earth surface morphology of the mining area.
In embodiments of the present disclosure, a global three-dimensional geological model in a world coordinate system of a mine area may be obtained, where the global three-dimensional geological model may be used to indicate a surface morphology of the mine area.
As one possible implementation, the global three-dimensional geological model may also be used to indicate the location of the distribution of the subsurface mineral layers of the mine area.
In order to obtain a global three-dimensional geological model under a world coordinate system of a mining area, in one possible implementation manner of the present disclosure, a mining area earth surface model under the world coordinate system may be generated according to a three-dimensional point cloud chart of the mining area earth surface, and in the world coordinate system corresponding to the mining area earth surface model, a global three-dimensional geological model under the world coordinate system reflecting the underground coal seam distribution and the earth surface shape of the mine is generated based on the earth surface coordinates of the sampling point position and the coal seam coordinates of the corresponding sampling point position in the coal seam coordinate data, where the global three-dimensional geological model may be used to indicate the earth surface shape (or called the shape of the mining area earth surface) of the mining area and the distribution position of the mining area under the mining area earth surface.
As an example, the mine area surface model may be a point cloud of the surface within the mine area boundaries, built based on an xyz rectangular coordinate system, where the x-axis and y-axis are parallel to the ground plane and the z-axis coordinate represents the elevation of the surface. Therefore, the x-axis coordinate and the y-axis coordinate in the point cloud chart can correspond to longitude and latitude, and the z-axis coordinate can correspond to elevation.
And step 104, updating the global three-dimensional geological model according to the local three-dimensional geological model of each mine equipment to obtain a three-dimensional geological model of the mining area.
In the embodiment of the disclosure, the global three-dimensional geological model can be updated according to the local three-dimensional geological model of each mine equipment, so that the three-dimensional geological model of the mining area is obtained.
As an example, the global three-dimensional geological model may be updated by using a boolean operation method according to the local three-dimensional geological model of each mine equipment, so as to obtain a three-dimensional geological model of the mining area.
For example, if the intersection A ≦ B of the local three-dimensional geological model A and the global three-dimensional geological model B of the mining equipment is not empty, and A is equal to A ≦ B, indicating that A is the excavated model of the mining arease:Sub>A, the mining arease:Sub>A global three-dimensional geological model may be updated in ase:Sub>A B-A manner; if the intersection A and B of the local three-dimensional geological model A and the global three-dimensional geological model B of the mining equipment is empty, the result shows that A is a model added to the mining area, and the global three-dimensional geological model of the mining area can be updated in an A U B mode.
It should be noted that the global three-dimensional geological model of the mining area may be periodically updated, where the granularity of the period may be set to 4 hours, 8 hours, 1 day, etc., for example, which is not limited by the present disclosure.
Further, the three-dimensional mine geological model obtained in the current period can be used as a global three-dimensional geological model of the next period, so that the local three-dimensional geological model constructed in the next period can be updated to the three-dimensional mine geological model in the current period.
According to the updating method of the three-dimensional geological model of the mining area, the measurement equipment arranged on each mine equipment in the mining area is used for measuring each mine equipment to obtain first measurement information corresponding to each mine equipment, and/or the area where each mine equipment is located is measured to obtain second measurement information of the area where each mine equipment is located; for any mining equipment, according to the first measurement information and/or the second measurement information corresponding to the mining equipment, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining equipment; acquiring a global three-dimensional geological model of a mining area under a world coordinate system for indicating the landmark form of the mining area; and updating the global three-dimensional geological model according to the local three-dimensional geological model of each mine equipment to obtain the three-dimensional geological model of the mining area. Therefore, the measurement information of each mine device and/or the measurement information of the area where each mine device is located can be obtained through the measurement devices arranged on each mine device in the mining area, so that the construction of the local three-dimensional geological model of the area where each mine device is located can be realized based on the measurement information of each mine device and/or the measurement information of the area where each mine device is located, further, the global three-dimensional geological model is updated only according to the local three-dimensional geological model to obtain the three-dimensional geological model of the mining area, the complete three-dimensional geological model of the mining area does not need to be reconstructed, and the updating efficiency of the model can be improved.
When the mining equipment comprises at least one electric shovel for coal mining, in order to clearly illustrate how any electric shovel in the above embodiments of the present disclosure constructs a local three-dimensional geological model in a world coordinate system corresponding to the electric shovel according to the first measurement information and the second measurement information corresponding to the electric shovel, the present disclosure also provides an updating method of a three-dimensional geological model of a mining area.
Fig. 2 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to a second embodiment of the present disclosure.
As shown in fig. 2, the method for updating the three-dimensional geological model of the mining area may include the following steps:
In the embodiment of the disclosure, for any electric shovel, the area where the electric shovel is located may be a mining area in a mine, and the measuring device provided on the electric shovel may include a first laser radar and a first combined navigation system; the method comprises the steps that position and pose measurement can be carried out on an electric shovel through a first combined navigation system arranged on the electric shovel so as to obtain first measurement information corresponding to the electric shovel, wherein the first measurement information can comprise first position and pose information and a first timestamp; and the mining area where the electric shovel is located can be scanned or detected through a first laser radar arranged on the electric shovel so as to obtain second measurement information of the mining area where the electric shovel is located, wherein the second measurement information can include the first point cloud information.
The first attitude information of the shovel may include, for example, position information (longitude, latitude, elevation), attitude angle information, and the like of the shovel, which is not limited in this disclosure.
Wherein the first timestamp may be used to indicate a measurement instant of the first pose information.
The first point cloud information may include a first coordinate and a second timestamp of each first sampling point in a first point cloud coordinate system, the second timestamp may be used to indicate an acquisition time of the corresponding first sampling point, and the first point cloud information may include a multi-frame point cloud.
It should be noted that the first combined Navigation System of the power shovel may include a GNSS (Global Navigation Satellite System) receiver, an IMU (Inertial Measurement Unit), and the like, which is not limited in this disclosure.
As a possible implementation manner of the present disclosure, after first point cloud information of an mining area where an electric shovel is located is obtained, noise reduction processing may be performed on the first point cloud information, for example, an outlier may be removed from the first point cloud information by using a radius filter; for another example, a straight-through filter may be used to remove the point cloud information of the electric shovel itself in the first point cloud information. Therefore, the accuracy and the reliability of the acquired first point cloud information can be improved by carrying out noise reduction processing on the first point cloud information, so that the accuracy of subsequent model construction is improved.
As another possible implementation manner of the present disclosure, after the first point cloud information of the mining area where the electric shovel is located is obtained, point cloud down-sampling (which may also be referred to as down-sampling) may be performed on the first point cloud information, for example, the voxel grid filter may be used to down-sample the first point cloud information. Therefore, the first point cloud information is subjected to down-sampling, so that the number of the first point cloud information can be reduced, and the construction of a local three-dimensional geological model of the mining area where the electric shovel is located can be realized conveniently, quickly and efficiently.
As still another possible implementation manner of the present disclosure, after first point cloud information of a road where a map acquisition vehicle is located is obtained, point cloud distortion removal may be performed on the first point cloud information. And point cloud distortion removal processing is carried out on the first point cloud information, so that errors caused by laser radar rotation can be reduced, and the accuracy and reliability of the acquired first point cloud information are improved.
In the embodiment of the disclosure, for any electric shovel, according to a first timestamp in first measurement information and a second timestamp in second measurement information corresponding to the electric shovel, first point cloud information in the second measurement information and first attitude information in the second measurement information are matched to achieve time synchronization of the first point cloud information and the first attitude information.
For example, assume that there is a frame of point cloud with the second timestamp t of the first sample point of the frame point cloud 1 For reference, find a distance t from the first time stamp 1 Last first time stamp t 2 And the second time stamp t of the last first sampling point of the frame point cloud is used 3 For reference, a distance t from the first time stamp is found 3 Last first time stamp t 4 . At the determination of the first time stamp t 2 And a first time stamp t 4 Thereafter, a first timestamp t may be determined 2 Corresponding first attitude information 1, and determining a first time stamp t 4 Corresponding second position information 2. According to the number of the first sampling points in the frame point cloud, the first posture information 1 and the second posture information 2,the pose information can be proportionally calculated by adopting an interpolation method, for example, according to the number of the first sampling points in the frame point cloud, the position information in the first pose information 1 and the position information in the first pose information 2, the position information under the second timestamp of each first sampling point can be determined by adopting a linear interpolation method; according to the number of the first sampling points in the frame point cloud, the attitude angle information in the first attitude information 1 and the attitude angle information in the first attitude information 2, the attitude angle information under the second time stamp of each first sampling point can be determined by adopting a quaternion spherical linear interpolation method.
In the disclosed embodiment, the World coordinate System may be defined as WGS84 (World geographic System-1984) coordinate System, for example.
In the embodiment of the present disclosure, the first point cloud coordinate system may be, for example, a carrier coordinate system, where the carrier coordinate system may use a direction in which the power shovel advances as a positive Y-axis direction, a positive X-axis direction to the right, and a positive Z-axis direction to the up.
In the embodiment of the disclosure, according to the successfully matched first point cloud information and first attitude information, a rotation vector of an origin of a first point cloud coordinate system in which the first point cloud information is located in a world coordinate system and a rotation matrix from the first point cloud coordinate system to the world coordinate system can be determined, so that a first mapping relationship between the first point cloud coordinate system in which the first point cloud information is located and the world coordinate system can be determined.
For example, the position vector of the origin of the first point cloud coordinate system in the world coordinate system is T, the rotation matrix from the first point cloud coordinate system to the world coordinate system is R, and for any first sampling point ρ in the first point cloud coordinate system s =(x s ,y s ,z s ) T Determining the world coordinate system and the three-dimensional first point cloud information according to the position vector of the origin of the first point cloud coordinate system in the world coordinate system and the rotation matrix from the first point cloud coordinate system to the world coordinate systemA first mapping relationship between the first point cloud coordinate system, which may be expressed as:
ρ r =Rρ s +T；（1）
where ρ is r Refers to the mapping of the first sample point to coordinates in the world coordinate system.
In the embodiment of the disclosure, according to the first mapping relationship, the first coordinates of each first sampling point in the first point cloud information under the first point cloud coordinate system are transformed into the world coordinate system, so that the second coordinates of each first sampling point in the first point cloud information under the world coordinate system are obtained.
And step 205, constructing a local three-dimensional geological model under a world coordinate system of a mining area where the electric shovel is located according to the second coordinates of each first sampling point in the first point cloud information.
In the embodiment of the disclosure, a local three-dimensional geological model under a world coordinate system of a mining area where the electric shovel is located can be constructed according to the second coordinates of each first sampling point in the first point cloud information.
And step 206, acquiring a global three-dimensional geological model under the world coordinate system of the mining area, wherein the global three-dimensional geological model is used for indicating the earth surface morphology of the mining area.
The execution process of step 206 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.
And step 207, updating the global three-dimensional geological model according to the local three-dimensional geological models of the electric shovels to obtain a three-dimensional geological model of the mining area.
In the embodiment of the disclosure, the global three-dimensional geological model can be updated according to the local three-dimensional geological model of each electric shovel, so as to obtain the three-dimensional geological model of the mining area.
It should be noted that the method for updating the global three-dimensional geological model in step 104 is also applicable to this embodiment, and details are not described here.
According to the method for updating the three-dimensional geological model of the mining area, aiming at any electric shovel, first point cloud information and first attitude information are matched according to a corresponding first time stamp and a corresponding second time stamp; responding to the first point cloud information and the first attitude information, and determining a first mapping relation between a first point cloud coordinate system where the first point cloud information is located and a world coordinate system according to the successfully matched first point cloud information and the first attitude information; according to the first mapping relation, converting first coordinates of each first sampling point in the first point cloud information under a first point cloud coordinate system into second coordinates of each first sampling point in the first point cloud information under the world coordinate system; and constructing a local three-dimensional geological model under a world coordinate system of a mining area where the electric shovel is located according to the second coordinates of the first sampling points in the first point cloud information. Therefore, time synchronization and space synchronization of point cloud information and pose information can be achieved by matching the first point cloud information and the first pose information of the electric shovel, and therefore a local three-dimensional geological model of a mining area corresponding to the electric shovel can be effectively constructed.
It can be understood that the map collecting vehicle can be used for collecting the road network information of the mining area. When the mining equipment comprises at least one map collecting vehicle for collecting the mine road network information, in order to clearly explain how to construct a local three-dimensional geological model under a world coordinate system corresponding to the map collecting vehicle according to the first measurement information and the second measurement information corresponding to the map collecting vehicle in any embodiment of the disclosure, the disclosure also provides an updating method of the mine three-dimensional geological model.
Fig. 3 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to a third embodiment of the present disclosure.
As shown in fig. 3, the method for updating the three-dimensional geological model of the mining area may include the following steps:
In the embodiment of the present disclosure, the number of the map collecting vehicles may be at least one, which is not limited by the present disclosure.
In the embodiment of the disclosure, for any map collecting vehicle, the area where the map collecting vehicle is located may be a road in a mine, and the measuring device arranged on the map collecting vehicle may include a second laser radar and a second combined navigation system; the map acquisition vehicle is subjected to pose measurement through a second combined navigation system arranged on the map acquisition vehicle, so that first measurement information corresponding to the map acquisition vehicle can be obtained, wherein the first measurement information can comprise second pose information and a third timestamp; and the second laser radar arranged on the map collecting vehicle is used for scanning or detecting the road where the map collecting vehicle is located, so that second measurement information of the road where the map collecting vehicle is located can be obtained, wherein the second measurement information can comprise second point cloud information.
The second position and orientation information of the map-collecting vehicle may include, for example, position information (longitude, latitude, elevation), orientation angle information, and the like of the map-collecting vehicle, which is not limited in this disclosure.
Wherein the third timestamp may be used to indicate a measurement time of the second posture information.
In the embodiment of the present disclosure, the second point cloud information may include a third coordinate and a fourth timestamp of each second sampling point in the second point cloud coordinate system, the fourth timestamp may be used to indicate an acquisition time of the corresponding second sampling point, and the second point cloud information may include a plurality of frames of point clouds.
It should be noted that the second combined Navigation System of the map collecting vehicle may include a GNSS (Global Navigation Satellite System) receiver, an IMU (Inertial Measurement Unit), and the like, which is not limited in this disclosure.
As a possible implementation manner of the present disclosure, after second point cloud information of a road where a map collection vehicle is located is obtained, noise reduction processing may be performed on the second point cloud information.
As an example, the second point cloud information may be subjected to dynamic target detection by using a dynamic target detection model, where the dynamic target detection model may be an end-to-end Multi-View Fusion (MVF), a LaserNet model, a BirdNet model, a single-stage deep convolutional neural network LMNet, a pointpilars model, or the like.
For example, the dynamic target detection model is a pointpilars model, and the second point cloud information is subjected to dynamic target detection by adopting the pointpilars model, so that the category of each object in a plurality of objects can be obtained; a target object having motion capability among the plurality of objects may be determined based on the category of each object.
For example, in a scene in which a map acquisition vehicle acquires road network information, the scene includes an object a, an object B, and an object C, after second point cloud information under the scene is acquired by a laser radar, dynamic target detection is performed on the second point cloud information based on a pointpilars model, and it is obtained that the class of the object a is "vehicle", the class of the object B is "animal", and the class of the object C is "building". Thus, since both the "vehicle" and the "animal" have a motion capability, it is possible to determine the object a and the object B as target objects.
After each target object is obtained through detection, a second sampling point corresponding to the target object can be filtered from the second point cloud information, so that the influence of a moving object on model construction is avoided.
Therefore, the accuracy and the reliability of the acquired second point cloud information can be improved by carrying out noise reduction processing on the second point cloud information so as to improve the accuracy of the subsequent model construction.
As another possible implementation manner of the present disclosure, after second point cloud information of a road where the map collection vehicle is located is obtained, point cloud down-sampling (also may be referred to as down-sampling) may be performed on the second point cloud information, for example, a voxel grid filter may be used to perform down-sampling on the second point cloud information. Therefore, the second point cloud information is subjected to down-sampling, so that the number of the second point cloud information can be reduced, and a local three-dimensional geological model of a mining area where the map acquisition vehicle is located can be constructed conveniently, quickly and efficiently.
As still another possible implementation manner of the present disclosure, after second point cloud information of a road where the map collection vehicle is located is obtained, point cloud distortion removal may be performed on the second point cloud information. And the point cloud distortion removal processing is carried out on the second point cloud information, so that the error caused by the rotation of the laser radar can be reduced, and the accuracy and the reliability of the obtained second point cloud information are improved.
In the embodiment of the present disclosure, for any map collection vehicle, the second point cloud information and the second pose information may be matched according to the third timestamp and the fourth timestamp corresponding to the map collection vehicle.
It should be noted that the explanation on the matching of the first point cloud information and the first pose information in step 202 is also applicable to the matching of the second point cloud information and the second pose information in this embodiment, and the implementation principle is similar, and is not described herein again.
In the embodiment of the disclosure, according to the successfully matched second point cloud information and second pose information, a rotation vector of an origin of a second point cloud coordinate system in which the second point cloud information is located in a world coordinate system and a rotation matrix from the second point cloud coordinate system to the world coordinate system can be determined, so that a second mapping relationship between the second point cloud coordinate system in which the second point cloud information is located and the world coordinate system can be determined.
And 304, transforming the third coordinates of each second sampling point in the second point cloud information under the second point cloud coordinate system to the world coordinate system according to the second mapping relation to obtain the fourth coordinates of each second sampling point in the second point cloud information under the world coordinate system.
In the embodiment of the present disclosure, the third coordinate of each second sampling point in the second point cloud information under the second point cloud coordinate system may be transformed to the world coordinate system according to the second mapping relationship, so as to obtain the fourth coordinate of each second sampling point in the second point cloud information under the world coordinate system.
And 305, identifying each second sampling point in the world coordinate system to obtain identification information of each second sampling point, and acquiring a third mapping relation between the world coordinate system and a set universal transverse ink card grid system UTM coordinate system.
In the embodiment of the present disclosure, the identification information may be used to distinguish each second sampling point in the world coordinate system, where the identification information may be in the form of a number, a character string, or the like, and the present disclosure does not limit this.
Therefore, in the disclosure, each second sampling point in the world coordinate system can be identified to obtain the identification information of the second sampling point.
For example, assuming that there are 100 second sampling points, each second sampling point in the world coordinate system may be identified according to the sequence of the fourth time stamps of the second sampling points, for example, the first second sampling point is identified as 01, the second sampling point is identified as 02, and so on, which is not described again.
It should be noted that the above-mentioned identifier for each second sampling point is only an example, and in practical application, other identifier numbers or identifier methods may be used to identify each second sampling point, which is not limited in this disclosure.
In the embodiment of the present disclosure, a third mapping relationship between the world coordinate system and the UTM coordinate system of the universal transverse ink card grid system may be obtained, for example, the third mapping relationship between the world coordinate system and the UTM coordinate system may be calibrated in advance.
For example, after the world coordinate system is determined, a mercator projection method may be used to determine a third mapping relationship between the world coordinate system and the UTM coordinate system of the set universal transverse mercator grid system, and thus, the third mapping relationship between the world coordinate system and the UTM coordinate system may be effectively obtained.
And step 306, according to the third mapping relation, converting the fourth coordinates of the second sampling points in the second point cloud information under the world coordinate system to the UTM coordinate system to obtain the fifth coordinates of the second sampling points in the second point cloud information under the UTM coordinate system.
In the embodiment of the disclosure, according to the third mapping relationship, the fourth coordinate of each second sampling point in the second point cloud information under the world coordinate system is converted into the UTM coordinate system, so as to obtain the fifth coordinate of each second sampling point in the second point cloud information under the UTM coordinate system, thereby converting the second point cloud information under the spatial three-dimensional coordinate system into the planar coordinate system.
And 307, constructing a local three-dimensional geological model under a world coordinate system corresponding to a road where the map acquisition vehicle is located according to the identification information, the fourth coordinate and the fifth coordinate of each second sampling point in the second point cloud information.
In the embodiment of the disclosure, a local three-dimensional geological model under a world coordinate system corresponding to a road where the map collection vehicle is located can be constructed according to the identification information, the fourth coordinate and the fifth coordinate of each second sampling point in the second point cloud information.
As a possible implementation manner, semantic segmentation may be performed on the second point cloud information under the UTM coordinate system to obtain a target sampling point in the second point cloud information, where the target sampling point may be used to indicate a boundary of a road where the map collection vehicle is located; according to the identification information and the fifth coordinate corresponding to the target sampling point, a fourth coordinate of the target sampling point under a world coordinate system can be determined; and according to the fourth coordinate corresponding to the target sampling point, a local three-dimensional geological model under a world coordinate system corresponding to the road where the map acquisition vehicle is located can be constructed.
It can be understood that the second point cloud information under the world coordinate system is converted into the UTM coordinate system according to the third mapping relationship, that is, the second point cloud information under the three-dimensional coordinate system is converted into the planar coordinate system, and the second sampling points corresponding to the boundary of the road where the map acquisition vehicle is located are dense under the UTM coordinate system, so that the second point cloud information under the UTM coordinate system can be subjected to semantic segmentation based on dense features, and further, the target sampling points for indicating the boundary of the road where the map acquisition vehicle is located can be obtained from the second point cloud information.
In the embodiment of the disclosure, the fourth coordinate of the target sampling point in the world coordinate system may be determined according to the identification information and the fifth coordinate corresponding to the target sampling point.
In a possible implementation manner of the embodiment of the present disclosure, a corresponding relationship may be established in advance for the identification information, the fourth coordinate, and the fifth coordinate of each second sampling point, so that after the identification information of the target sampling point and the fifth coordinate of the target sampling point in the UTM coordinate system are determined, the fourth coordinate of the target sampling point in the world coordinate system may be determined according to the corresponding relationship.
In the embodiment of the present disclosure, a local three-dimensional geological model in the world coordinate system of the road where the map collection vehicle is located may be constructed according to the fourth coordinate of the target sampling point, that is, the fourth coordinate of the target sampling point used for indicating the road boundary in the UTM coordinate system is converted into the fifth coordinate in the world coordinate system, so that the local three-dimensional geological model in the world coordinate system of the road where the map collection vehicle is located may be constructed according to the target sampling point corresponding to the road boundary in the world coordinate system.
As a possible implementation manner, the up-sampling of the second point cloud information corresponding to the target sampling point can be implemented by interpolating between any two target sampling points in each target sampling point. Therefore, the road surface of the road where the map collection vehicle is located can be constructed.
It should be further noted that there may be obstacles, retaining walls, road signs, etc. on the roads in the mining area, and after the second point cloud information in the world coordinate system is converted into the UTM coordinate system by using the ink card support projection method, that is, the second point cloud information in the three-dimensional coordinate system is converted into the planar coordinate system, the second sampling points in the second point cloud information corresponding to the obstacles, retaining walls, road signs, etc. on the roads where the map collection vehicle is located are dense in the UTM coordinate system, so that the second point cloud information in the UTM coordinate system can be semantically segmented based on the dense features, and thus the information of the obstacles, retaining walls, road signs, etc. on the roads where the map collection vehicle is located in the second point cloud information can be obtained.
And 308, acquiring a global three-dimensional geological model under the world coordinate system of the mining area, wherein the global three-dimensional geological model is used for indicating the surface morphology of the mining area.
The implementation process of step 308 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.
And 309, updating the global three-dimensional geological model according to the local three-dimensional geological model of the map acquisition vehicle to obtain an updated three-dimensional geological model of the mining area.
In the embodiment of the disclosure, the global three-dimensional geological model is updated according to the local three-dimensional geological model of the map acquisition vehicle, so as to obtain the three-dimensional geological model of the mining area.
It should be noted that the method for updating the global three-dimensional geological model in step 104 is also applicable to the present disclosure, and details thereof are not described herein.
According to the method for updating the three-dimensional geological model of the mining area, aiming at any map collecting vehicle, second point cloud information and second attitude information are matched according to a corresponding third time stamp and a corresponding fourth time stamp; determining a second mapping relation between a second point cloud coordinate system where the second point cloud information is located and a world coordinate system according to the successfully matched second point cloud information and second attitude information; according to the second mapping relation, converting a third coordinate of each second sampling point in the second point cloud information under the second point cloud coordinate system into a world coordinate system to obtain a fourth coordinate of each second sampling point in the second point cloud information under the world coordinate system; identifying each second sampling point under the world coordinate system to obtain identification information of each second sampling point, and acquiring a third mapping relation between the world coordinate system and the set UTM coordinate system; according to the third mapping relation, converting fourth coordinates of each second sampling point in the second point cloud information under a world coordinate system to a universal coordinated multiple Unit (UTM) coordinate system to obtain fifth coordinates of each second sampling point in the second point cloud information under the UTM coordinate system; and constructing a local three-dimensional geological model under a world coordinate system corresponding to the road where the map acquisition vehicle is located according to the identification information, the fourth coordinate and the fifth coordinate corresponding to each second sampling point in the second point cloud information. Therefore, the local three-dimensional geological model of the road where the map acquisition vehicle is located under the world coordinate system can be effectively constructed.
When the mining equipment comprises at least one bulldozer, in order to clearly illustrate how any bulldozer in any embodiment of the disclosure constructs a local three-dimensional geological model under a world coordinate system corresponding to the bulldozer according to first measurement information and second measurement information corresponding to the bulldozer, the disclosure also provides an updating method of the three-dimensional geological model of the mining area.
Fig. 4 is a schematic flow chart of a method for updating a three-dimensional geological model of a mining area according to a fourth embodiment of the present disclosure.
As shown in fig. 4, the method for updating the three-dimensional geological model of the mining area may include the following steps:
In the embodiment of the present disclosure, the number of the bulldozers may be, but is not limited to, one, and the present disclosure does not limit this.
In this disclosure, the first measurement information corresponding to the bulldozer may include position information corresponding to where the bulldozer is located, coordinate information corresponding to a blade tip of the bulldozer, a fifth timestamp, and a sixth timestamp, where the fifth timestamp may be used to indicate a measurement time of the position information, the sixth timestamp may be used to indicate a measurement time of the coordinate information, the position information where the bulldozer is located may be coordinates (longitude, latitude, elevation) of the bulldozer in a three-dimensional geological model of a world coordinate system, and the coordinate information of the blade tip of the bulldozer may be coordinate information (x, y, z) of the blade tip of the bulldozer in the bulldozer coordinate system, where a direction in which the bulldozer advances is a positive y-axis direction, a positive x-axis direction to the right, and a positive z-axis direction to the up. The blade tip located above the bulldozer may be referred to as an upper blade tip, and the blade tip located below the bulldozer may be referred to as a lower blade tip, as shown in fig. 5, where a and b are the upper blade tips, and c and d are the lower blade tips.
In the embodiment of the present disclosure, for any bulldozer, the area where the bulldozer is located may be a dump area in a mine, and the measurement device provided on the bulldozer may include a positioning system (such as a high-precision positioning system) and a tilt sensor (such as a high-precision dynamic tilt sensor); the measuring equipment arranged on the bulldozer is used for measuring the bulldozer, and first measuring information corresponding to the bulldozer can be acquired.
And step 402, determining the earthwork volume and the earthwork range filled by the bulldozer according to the corresponding fifth timestamp, sixth timestamp, position information and coordinate information for any bulldozer.
In the embodiment of the disclosure, for any bulldozer, the earthwork volume and the earthwork range filled by the bulldozer can be determined according to the fifth time stamp, the sixth time stamp, the position information and the coordinate information corresponding to the bulldozer.
As a possible implementation manner, one blade tip is arbitrarily selected from among the blade tips of the bulldozer, and the target time stamp in the sixth time stamp when the value in the z-axis direction of the blade tip is greater than the set threshold (the set threshold may be, for example, 1.5m, 1.8m, and the like when the blade tip is a lower blade tip, and the set threshold may be, for example, 2.2m, 2.6m, and the like when the blade tip is an upper blade tip) may be recorded with respect to the coordinate information and the sixth time stamp obtained by measuring the blade tip. It will be appreciated that at the time corresponding to the target timestamp, the bulldozer has reached a maximum height at which it can pack up the earth. And determining the position information of the bulldozer under the target timestamp from the position information of the bulldozer corresponding to the fifth timestamp by taking the target timestamp as a reference, so that the position information of the bulldozer under the target timestamp is sent to the execution main body of the method disclosed by the invention, is presented in the three-dimensional geological model in the form of points, and the points can be projected into a two-dimensional plane. And filtering outliers of the two-dimensional plane from the points, and constructing a boundary for the reserved points so as to enable the reserved points to fall into the boundary completely and obtain a corresponding boundary map. Further, an area estimation method, such as the monte carlo method, can be used to estimate the boundary map range, and the boundary map range is used as the earthwork range filled by the bulldozer.
Further, the value of the above-described blade tip in the z-axis direction at the target time stamp may be acquired. When the cutting edge is an upper cutting edge, a fixed distance d in the direction perpendicular to the upper cutting edge and the lower cutting edge of the bulldozer can be obtained in advance, and the value of the cutting edge in the z-axis direction in any target timestamp is differentiated from the fixed distance d to obtain the difference value between the value of the cutting edge in the z-axis direction in any target timestamp and the fixed distance d; and calculating a first average value of the difference values, and taking the first average value as the height of the bulldozer for filling the earthwork.
When the cutting edge is a lower cutting edge, a second average value of the cutting edge in the z-axis direction at the target time stamp is obtained, and the second average value is used as the height of the bulldozer in the mound earth.
After the height of the bulldozer mound is determined by the above method, the height of the bulldozer mound is multiplied by the area of the earthwork range to obtain the volume of the earthwork.
And step 403, constructing a local three-dimensional geological model under a world coordinate system of a soil discharging field area where the bulldozer is located according to the earthwork volume and the earthwork range.
In the embodiment of the disclosure, a local three-dimensional geological model under a world coordinate system of a dump area where a bulldozer is located can be constructed according to the earthwork volume and the earthwork range.
Still by way of example, a spatial model whose volume is an earth volume is constructed based on the earth range, a plurality of points are selected from the remaining points in the spatial model, and a mapping relationship between a coordinate system in which the spatial model is located and a world coordinate system is determined based on the mapping relationship between the plurality of points and the position information of the bulldozer. Therefore, the space model can be converted into a local three-dimensional geological model under a world coordinate system according to the mapping relation, and the local three-dimensional geological model under the world coordinate system is the local three-dimensional geological model under the world coordinate system of the soil discharge area where the bulldozer is located.
And 404, acquiring a global three-dimensional geological model under the world coordinate system of the mining area, wherein the global three-dimensional geological model is used for indicating the surface morphology of the mining area.
The execution process of step 404 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.
And 405, updating the global three-dimensional geological model according to the local three-dimensional geological model of each bulldozer to obtain an updated three-dimensional geological model of the mining area.
In the embodiment of the disclosure, the global three-dimensional geological model can be updated according to the local three-dimensional geological model of each bulldozer, so as to obtain an updated three-dimensional geological model of the mining area.
It should be noted that the method for updating the global three-dimensional geological model in step 104 is also applicable to the present disclosure, and details thereof are not described here.
According to the updating method of the three-dimensional geological model of the mining area, aiming at any bulldozer, the earthwork volume and the earthwork range filled by the bulldozer in the current measuring period are determined according to the corresponding fifth timestamp, the sixth timestamp, the position information and the coordinate information; and constructing a local three-dimensional geological model under a world coordinate system of a dump area where the bulldozer is located according to the earthwork volume and the earthwork range. Therefore, the local three-dimensional geological model under the world coordinate system of the soil discharging field area where the bulldozer is located can be effectively constructed.
In order to more clearly illustrate the above embodiments, the description will now be made by way of example.
For example, first, a mine global three-dimensional geological model may be constructed on a monthly cycle basis from the surface morphology and underlying coal rock occurrence information of the surface mine. Then, with a one-day cycle, respectively: the method comprises the steps that first point cloud information and first attitude information are obtained through measuring equipment (such as a first laser radar and a first combined navigation system) arranged on an electric shovel, and the first point cloud information and the first attitude information corresponding to the electric shovel are matched, so that time synchronization and space synchronization of the point cloud information and the attitude information are realized, and therefore a local three-dimensional geological model of a mining area corresponding to the electric shovel can be effectively constructed, as shown in fig. 6; acquiring second point cloud information and second position and posture information through measuring equipment (such as a second laser radar and a second combined navigation system) arranged on the map acquisition vehicle, and matching, filtering dynamic targets, converting coordinates, segmenting point cloud semantics, extracting boundaries and the like on the second point cloud information and the second position and posture information corresponding to the map acquisition vehicle, so as to effectively construct a local three-dimensional geological model of a road corresponding to the map acquisition vehicle, as shown in fig. 7; the method comprises the steps of obtaining position information corresponding to the bulldozer, coordinate information of a blade tip of the bulldozer and corresponding time information through measuring equipment (such as a high-precision positioning system, a high-precision dynamic tilt sensor and the like) arranged on the bulldozer, and effectively constructing a local three-dimensional geological model of a soil discharge area corresponding to the bulldozer according to the information, wherein the local three-dimensional geological model is shown in FIG. 8. And finally, incrementally updating the obtained local three-dimensional geological model to the global three-dimensional geological model by adopting a Boolean operation method so as to realize the updating of the three-dimensional geological model.
According to the method for updating the three-dimensional geological model of the mining area, the local three-dimensional geological model is only built on the places (such as mining areas, dump areas and roads) where mines frequently change, the local three-dimensional geological model and the original global three-dimensional geological model of the mines are overlapped, or the local three-dimensional geological model is removed from the original global three-dimensional geological model of the mines, so that the updating of the three-dimensional geological model of the mines is achieved, and the real-time performance and the effectiveness of the model can be guaranteed.
In summary, according to the method for updating the three-dimensional geological model of the mining area, the measuring equipment (such as the intelligent terminal sensing equipment such as the laser radar and the integrated navigation system) arranged on the mining equipment (such as the electric shovel and the bulldozer) automatically acquires the measuring information in the process of executing the production task or the operation plan by the mining equipment. Through the analysis and fusion of the measurement information, a local three-dimensional geological model of a working area where the mining equipment is located (such as a mining area where an electric shovel is located, a dumping field area where a bulldozer is located, a road where a map acquisition vehicle is located and the like) is constructed, the obtained local three-dimensional geological model is updated to the original three-dimensional geological model in an incremental manner by adopting a Boolean operation method, a new three-dimensional geological model of the mining area which accords with the actual production of the mine can be constructed in a short time, related workers can be assisted to know geological and topographic information in time, and further, the related workers can be assisted to design or compile the production operation at the current stage, schedule the production equipment or the auxiliary equipment and the like. In addition, the original mine three-dimensional geological model is updated in an incremental updating mode, so that the modeling time can be effectively shortened, the updating efficiency of the model is improved, and the actual conditions of frequently-changed operation positions, surface information and coal and rock occurrence of the surface mine can be well matched.
Corresponding to the method for updating the three-dimensional geological model of the mining area provided by the embodiment of fig. 1 to 4, the present disclosure also provides an apparatus for updating the three-dimensional geological model of the mining area, and since the apparatus for updating the three-dimensional geological model of the mining area provided by the embodiment of the present disclosure corresponds to the method for updating the three-dimensional geological model of the mining area provided by the embodiment of fig. 1 to 4, the embodiment of the method for updating the three-dimensional geological model of the mining area provided by the embodiment of the present disclosure is also applicable to the apparatus for updating the three-dimensional geological model of the mining area provided by the embodiment of the present disclosure, and will not be described in detail in the embodiment of the present disclosure.
Fig. 9 is a schematic structural diagram of an apparatus for updating a three-dimensional geological model of a mining area according to a fifth embodiment of the present disclosure.
As shown in fig. 9, the apparatus 900 for updating a three-dimensional geological model of a mining area may include: a measurement module 901, a construction module 902, an acquisition module 903 and an update module 904.
The measurement module 901 is configured to measure each mine device through a measurement device arranged on each mine device in a mine area to obtain first measurement information corresponding to each mine device, and/or measure an area where each mine device is located to obtain second measurement information of the area where each mine device is located.
The building module 902 is configured to, for any mining equipment, build a local three-dimensional geological model in a world coordinate system corresponding to the mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment.
An obtaining module 903, configured to obtain a global three-dimensional geological model in a world coordinate system of a mining area, where the global three-dimensional geological model is used to indicate a surface morphology of the mining area.
And the updating module 904 is configured to update the global three-dimensional geological model according to the local three-dimensional geological model of each mine equipment, so as to obtain a three-dimensional geological model of the mining area.
In one possible implementation of the disclosed embodiment, the mining equipment includes an electric shovel; the area where the electric shovel is located is a mining area in a mine; the measuring equipment arranged on the electric shovel comprises a laser radar and a combined navigation system; the first measurement information comprises first attitude information and a first timestamp, and the first timestamp is used for indicating the measurement time of the first attitude information; the second measurement information comprises first point cloud information; a measurement module 901, configured to: aiming at any electric shovel, carrying out position and attitude measurement on the electric shovel through a combined navigation system arranged on the electric shovel so as to obtain first position and attitude information and a first timestamp corresponding to the electric shovel; aiming at any electric shovel, detecting a mining area where the electric shovel is located through a laser radar arranged on the electric shovel to obtain first point cloud information of the mining area where the electric shovel is located; the first point cloud information comprises a first coordinate and a second timestamp of each first sampling point in a first point cloud coordinate system, and the second timestamp is used for indicating the acquisition time of the corresponding first sampling point.
In a possible implementation manner of the embodiment of the present disclosure, the constructing module 903 is configured to: for any electric shovel, matching the first point cloud information and the first attitude information according to the corresponding first time stamp and the corresponding second time stamp; determining a first mapping relation between a first point cloud coordinate system where the first point cloud information is located and a world coordinate system according to the successfully matched first point cloud information and first attitude information; according to the first mapping relation, converting first coordinates of each first sampling point in the first point cloud information under a first point cloud coordinate system to a world coordinate system to obtain second coordinates of each first sampling point in the first point cloud information under the world coordinate system; and constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining area where the electric shovel is located according to the second coordinates of the first sampling points in the first point cloud information.
In one possible implementation manner of the embodiment of the present disclosure, the mining equipment includes a map collecting vehicle; the area where the map acquisition vehicle is located is a road in a mine; the measuring equipment arranged on the map collecting vehicle comprises a second laser radar and a second combined navigation system; the first measurement information comprises second attitude information and a third timestamp, and the third timestamp is used for indicating the measurement time of the second attitude information; the second measurement information comprises second point cloud information; a measurement module 901 configured to: for any map acquisition vehicle, carrying out pose measurement on the map acquisition vehicle through a second combined navigation system arranged on the map acquisition vehicle so as to obtain second pose information and a third timestamp corresponding to the map acquisition vehicle; aiming at any map acquisition vehicle, detecting the road of the map acquisition vehicle through a second laser radar arranged on the map acquisition vehicle to obtain second point cloud information of the road of the map acquisition vehicle; the second point cloud information comprises a third coordinate and a fourth timestamp of each second sampling point in the second point cloud coordinate system, and the fourth timestamp is used for indicating the acquisition time of the corresponding second sampling point.
In a possible implementation manner of the embodiment of the present disclosure, the building module 903 is configured to: matching the second point cloud information and the second position and orientation information according to the corresponding third time stamp and fourth time stamp aiming at any map acquisition vehicle; determining a second mapping relation between a second point cloud coordinate system where the second point cloud information is located and a world coordinate system according to the successfully matched second point cloud information and second attitude information; according to the second mapping relation, converting a third coordinate of each second sampling point in the second point cloud information under the second point cloud coordinate system into a world coordinate system to obtain a fourth coordinate of each second sampling point in the second point cloud information under the world coordinate system; identifying each second sampling point under the world coordinate system to obtain identification information of each second sampling point, and acquiring a third mapping relation between the world coordinate system and a set universal transverse ink card grid system UTM coordinate system; according to the third mapping relation, converting fourth coordinates of each second sampling point in the second point cloud information under a world coordinate system to a universal coordinated multiple Unit (UTM) coordinate system to obtain fifth coordinates of each second sampling point in the second point cloud information under the UTM coordinate system; and constructing a local three-dimensional geological model under a world coordinate system corresponding to the road where the map acquisition vehicle is located according to the identification information, the fourth coordinate and the fifth coordinate corresponding to each second sampling point in the second point cloud information.
In a possible implementation manner of the embodiment of the present disclosure, the constructing module 903 is configured to: performing semantic segmentation on the second point cloud information under the UTM coordinate system to obtain target sampling points in the second point cloud information, wherein the target sampling points are used for indicating the boundaries of roads where the map acquisition vehicles are located; determining a fourth coordinate of the target sampling point in a world coordinate system according to the identification information and the fifth coordinate corresponding to the target sampling point; and constructing a local three-dimensional geological model under a world coordinate system corresponding to the road where the map collection vehicle is located according to the fourth coordinate corresponding to the target sampling point.
In one possible implementation of the disclosed embodiment, the mining equipment comprises a bulldozer; the region where the bulldozer is located is a dumping field region in a mine; the measuring equipment arranged on the bulldozer comprises a positioning system and an inclination angle sensor; the first measurement information comprises position information corresponding to the position of the bulldozer, coordinate information corresponding to the cutting edge of the bulldozer, a fifth timestamp and a sixth timestamp, wherein the fifth timestamp is used for indicating the measurement time of the position information, and the sixth timestamp is used for indicating the measurement time of the coordinate information; a measurement module 901 configured to: and for any bulldozer, measuring the position of the bulldozer by a positioning system and an inclination sensor arranged on the bulldozer to obtain position information, coordinate information, a fifth timestamp and a sixth timestamp corresponding to the bulldozer.
In a possible implementation manner of the embodiment of the present disclosure, the constructing module 903 is configured to: for any bulldozer, determining the earthwork volume and the earthwork range filled by the bulldozer according to the corresponding fifth timestamp, sixth timestamp, position information and coordinate information; and constructing a local three-dimensional geological model under a world coordinate system of a dump area where the bulldozer is located according to the earthwork volume and the earthwork range.
According to the updating device of the three-dimensional geological model of the mining area, the measuring equipment arranged on each mine equipment in the mining area is used for measuring each mine equipment to obtain the first measuring information corresponding to each mine equipment, and/or the area where each mine equipment is located is measured to obtain the second measuring information of the area where each mine equipment is located; for any mining equipment, according to the first measurement information and/or the second measurement information corresponding to the mining equipment, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining equipment; acquiring a global three-dimensional geological model of a mining area under a world coordinate system for indicating the landmark form of the mining area; and updating the global three-dimensional geological model according to the local three-dimensional geological model of each mine equipment to obtain the global three-dimensional geological model. Therefore, the measurement information of each mine device and/or the measurement information of the area where each mine device is located can be obtained through the measurement devices arranged on each mine device in the mine area, so that the construction of the local three-dimensional geological model of the area where each mine device is located can be realized based on the measurement information of each mine device and/or the measurement information of the area where each mine device is located, further, the global three-dimensional geological model is updated only according to the local three-dimensional geological model to obtain the three-dimensional geological model of the mine area, the complete three-dimensional geological model of the mine area does not need to be reconstructed, and the updating efficiency of the model can be improved.
In order to implement the foregoing embodiments, the present disclosure further provides an electronic device, where the electronic device may be a server or a detection device in the foregoing embodiments; the method comprises the following steps: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the updating method of the three-dimensional geological model of the mining area as set forth in any one of the previous embodiments of the disclosure.
To achieve the above embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the method for updating a three-dimensional geological model of a mine area as proposed in any one of the preceding embodiments of the present disclosure.
To achieve the above embodiments, the present disclosure further provides a computer program product, wherein when the instructions in the computer program product are executed by a processor, the method for updating a three-dimensional geological model of a mining area as set forth in any one of the foregoing embodiments of the present disclosure is performed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present disclosure have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.
Claims (11)
1. A method for updating a three-dimensional geological model of a mining area is characterized by comprising the following steps:
measuring each mining device through a measuring device arranged on each mining device in a mining area to obtain first measuring information corresponding to each mining device, and/or measuring an area where each mining device is located to obtain second measuring information of the area where each mining device is located;
for any mining equipment, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment;
acquiring a global three-dimensional geological model under a world coordinate system of the mining area, wherein the global three-dimensional geological model is used for indicating the earth surface morphology of the mining area;
and updating the global three-dimensional geological model according to the local three-dimensional geological model of each mining device to obtain a three-dimensional geological model of the mining area.
2. The method of claim 1, wherein the mining equipment comprises an electric shovel; the area where the electric shovel is located is a mining area in a mine; the measuring equipment arranged on the electric shovel comprises a first laser radar and a first combined navigation system; the first measurement information comprises first attitude information and a first timestamp, and the first timestamp is used for indicating the measurement time of the first attitude information; the second measurement information comprises first point cloud information;
the method for measuring the mine equipment through the measuring equipment arranged on the mine equipment in the mining area to obtain the first measuring information corresponding to the mine equipment comprises the following steps:
aiming at any electric shovel, carrying out pose measurement on the electric shovel through a first combined navigation system arranged on the electric shovel to obtain first pose information and a first timestamp corresponding to the electric shovel;
correspondingly, the measuring the area where each mine equipment is located by the measuring equipment arranged on each mine equipment to obtain second measuring information of the area where each mine equipment is located includes:
aiming at any electric shovel, detecting a mining area where the electric shovel is located through a first laser radar arranged on the electric shovel to obtain first point cloud information of the mining area where the electric shovel is located;
the first point cloud information comprises a first coordinate and a second timestamp of each first sampling point in a first point cloud coordinate system, and the second timestamp is used for indicating the acquisition time of the corresponding first sampling point.
3. The method according to claim 2, wherein the constructing, for any one of the mining devices, a local three-dimensional geological model in a world coordinate system corresponding to the mining device according to the first measurement information and/or the second measurement information corresponding to the mining device comprises:
for any electric shovel, matching the first point cloud information and the first attitude information according to the corresponding first timestamp and the corresponding second timestamp;
according to the successfully matched first point cloud information and the first attitude information, determining a first mapping relation between a first point cloud coordinate system where the first point cloud information is located and the world coordinate system;
according to the first mapping relation, converting first coordinates of the first sampling points in the first point cloud information under the first point cloud coordinate system into second coordinates of the first sampling points in the first point cloud information under the world coordinate system, so as to obtain second coordinates of the first sampling points in the first point cloud information under the world coordinate system;
and according to the second coordinates of each first sampling point in the first point cloud information, constructing a local three-dimensional geological model under a world coordinate system corresponding to the mining area where the electric shovel is located.
4. The method of claim 1, wherein the mining equipment includes a map-acquisition vehicle; the area where the map acquisition vehicle is located is a road in a mine; the measuring equipment arranged on the map collecting vehicle comprises a second laser radar and a second combined navigation system; the first measurement information comprises second attitude information and a third timestamp, and the third timestamp is used for indicating the measurement time of the second attitude information; the second measurement information comprises second point cloud information;
the method for measuring the mine equipment through the measuring equipment arranged on the mine equipment in the mining area to obtain the first measuring information corresponding to the mine equipment comprises the following steps:
for any map collecting vehicle, carrying out pose measurement on the map collecting vehicle through a second combined navigation system arranged on the map collecting vehicle so as to obtain second pose information and a third timestamp corresponding to the map collecting vehicle;
correspondingly, the measuring the area where each mining device is located through the measuring device arranged on each mining device to obtain second measuring information of the area where each mining device is located includes:
aiming at any map collection vehicle, detecting a road where the map collection vehicle is located through a second laser radar arranged on the map collection vehicle so as to obtain second point cloud information of the road where the map collection vehicle is located;
the second point cloud information comprises a third coordinate and a fourth timestamp of each second sampling point in a second point cloud coordinate system, and the fourth timestamp is used for indicating the acquisition time of the corresponding second sampling point.
5. The method according to claim 4, wherein the constructing, for any one of the mining devices, a local three-dimensional geological model in a world coordinate system corresponding to the mining device according to the first measurement information and/or the second measurement information corresponding to the mining device includes:
for any map collecting vehicle, matching the second point cloud information and the second position and orientation information according to the corresponding third timestamp and fourth timestamp;
determining a second mapping relation between a second point cloud coordinate system where the second point cloud information is located and the world coordinate system according to the second point cloud information and the second pose information which are successfully matched;
according to the second mapping relation, converting a third coordinate of each second sampling point in the second point cloud information under the second point cloud coordinate system to a world coordinate system to obtain a fourth coordinate of each second sampling point in the second point cloud information under the world coordinate system;
identifying each second sampling point in the world coordinate system to obtain identification information of each second sampling point, and acquiring a third mapping relation between the world coordinate system and a UTM coordinate system of a set universal transverse ink card grid system;
according to the third mapping relation, converting a fourth coordinate of each second sampling point in the second point cloud information under the world coordinate system to a UTM coordinate system to obtain a fifth coordinate of each second sampling point in the second point cloud information under the UTM coordinate system;
and according to the identification information, the fourth coordinate and the fifth coordinate corresponding to each second sampling point in the second point cloud information, constructing a local three-dimensional geological model under the world coordinate system corresponding to the road where the map acquisition vehicle is located.
6. The method of claim 5, wherein the constructing a local three-dimensional geological model of the road on which the mapping vehicle is located in the world coordinate system according to the fourth coordinate and the fifth coordinate of each of the second sampling points in the second point cloud information comprises:
performing semantic segmentation on the second point cloud information under the UTM coordinate system to obtain target sampling points in the second point cloud information, wherein the target sampling points indicate the boundary information of the road where the map collection vehicle is located;
determining a fourth coordinate of the target sampling point under the world coordinate system according to the identification information of the target sampling point and the corresponding fifth coordinate;
and constructing a local three-dimensional geological model under the world coordinate system of the road where the map collection vehicle is located according to the fourth coordinate corresponding to the target sampling point.
7. The method of claim 1, wherein the mining equipment comprises a bulldozer; the region where the bulldozer is located is a dumping field region in a mine; the measuring equipment arranged on the bulldozer comprises a positioning system and a tilt angle sensor; the first measurement information comprises position information corresponding to the position of the bulldozer, coordinate information corresponding to the cutting edge of the bulldozer, a fifth timestamp and a sixth timestamp, wherein the fifth timestamp is used for indicating the measurement time of the position information, and the sixth timestamp is used for indicating the measurement time of the coordinate information;
the method for measuring the mine equipment through the measuring equipment arranged on the mine equipment in the mining area to obtain the first measuring information corresponding to the mine equipment comprises the following steps:
and for any bulldozer, measuring the position of the bulldozer by a positioning system and an inclination sensor which are arranged on the bulldozer to obtain position information, coordinate information, a fifth timestamp and a sixth timestamp which correspond to the bulldozer.
8. The method according to claim 7, wherein the constructing, for any one of the mining equipment, the local three-dimensional geological model corresponding to the mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment comprises:
for any bulldozer, determining the earthwork volume and the earthwork range filled by the bulldozer according to the corresponding fifth timestamp, the sixth timestamp, the position information and the coordinate information;
and constructing a local three-dimensional geological model of the soil discharging field area where the bulldozer is located according to the earthwork volume and the earthwork range.
9. An apparatus for updating a three-dimensional geological model of a mine, the apparatus comprising:
the measuring module is used for measuring each mine device through the measuring device arranged on each mine device in the mining area to obtain first measuring information corresponding to each mine device, and/or measuring the area where each mine device is located to obtain second measuring information of the area where each mine device is located;
the construction module is used for constructing a local three-dimensional geological model under a world coordinate system corresponding to any mining equipment according to the first measurement information and/or the second measurement information corresponding to the mining equipment;
the acquisition module is used for acquiring a global three-dimensional geological model under a world coordinate system of the mining area, wherein the global three-dimensional geological model is used for indicating the surface morphology of the mining area;
and the updating module is used for updating the global three-dimensional geological model according to the local three-dimensional geological model of each mining device so as to obtain a three-dimensional geological model of the mining area.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any one of claims 1-8 when the program is executed by the processor.
11. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the method of any one of claims 1-8.
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| CN116188713A (en) * | 2023-04-25 | 2023-05-30 | 煤炭科学研究总院有限公司 | Method and device for dynamically generating coal mine three-dimensional scene based on point cloud mirror image model |
| CN116821270A (en) * | 2023-08-24 | 2023-09-29 | 腾讯科技（深圳）有限公司 | Map generation method, device, equipment and storage medium |
| CN117830586A (en) * | 2024-03-05 | 2024-04-05 | 煤炭科学研究总院有限公司 | Method and system for updating three-dimensional modeling increment of roadway |
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