WO2021208515A1 - 基于图像与xrf矿物反演的岩性识别系统及方法 - Google Patents
基于图像与xrf矿物反演的岩性识别系统及方法 Download PDFInfo
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- WO2021208515A1 WO2021208515A1 PCT/CN2020/141564 CN2020141564W WO2021208515A1 WO 2021208515 A1 WO2021208515 A1 WO 2021208515A1 CN 2020141564 W CN2020141564 W CN 2020141564W WO 2021208515 A1 WO2021208515 A1 WO 2021208515A1
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- 239000011435 rock Substances 0.000 claims abstract description 100
- 239000000523 sample Substances 0.000 claims abstract description 38
- 238000004876 x-ray fluorescence Methods 0.000 claims abstract description 5
- 238000013528 artificial neural network Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000011176 pooling Methods 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/22—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by measuring secondary emission from the material
- G01N23/223—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by measuring secondary emission from the material by irradiating the sample with X-rays or gamma-rays and by measuring X-ray fluorescence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/044—Recurrent networks, e.g. Hopfield networks
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N2223/40—Imaging
- G01N2223/406—Imaging fluoroscopic image
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- G—PHYSICS
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- G01N2223/42—Imaging image digitised, -enhanced in an image processor
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- G01N2223/60—Specific applications or type of materials
- G01N2223/616—Specific applications or type of materials earth materials
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/04—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity specially adapted for well-logging
- G01V5/08—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity specially adapted for well-logging using primary nuclear radiation sources or X-rays
- G01V5/12—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity specially adapted for well-logging using primary nuclear radiation sources or X-rays using gamma or X-ray sources
Definitions
- the invention belongs to the field of intelligent identification of tunnel surrounding rock lithology, and in particular relates to a lithology identification system and method based on image and XRF mineral inversion.
- the first aspect of the present invention provides a lithology recognition system based on image and XRF mineral inversion.
- Intelligent identification of lithology not only avoids subjective misjudgment, but also realizes the automation and intelligence of lithology identification, which greatly reduces the time spent and improves work efficiency.
- XRF X Ray Fluorescence
- a lithology recognition system based on image and XRF mineral inversion including an automatic driving vehicle, the automatic driving vehicle is provided with a probe, an image acquisition device and an on-board processor;
- the probe is mounted on the end of the robotic arm, and the robotic arm is installed on an autonomous vehicle; the probe is an X-ray fluorescence spectrometer, which is used to detect the element information of the surrounding rock in the area to be measured;
- the image acquisition device is arranged around the autonomous vehicle for collecting surrounding rock images and making these surrounding rock images form a closed ring;
- the on-board processor is used to: invert the received element information of the surrounding rock in the area to be measured into mineral information based on the Barth-Nigri standard mineral calculation method;
- the second aspect of the present invention provides a recognition method of a lithology recognition system based on image and XRF mineral inversion.
- the intelligent identification of surrounding rock lithology not only avoids subjective misjudgment, but also realizes the automation and intelligence of lithology identification, which greatly reduces the time spent and improves work efficiency.
- a recognition method for lithology recognition system based on image and XRF mineral inversion including:
- Control the robotic arm to drive the probe to the area to be measured, and use the probe to detect the element information of the surrounding rock in the area to be measured;
- the received element information of the surrounding rock in the area to be measured is inverted into mineral information; the surrounding rock image of the same measured area is converted into a one-dimensional vector format The image information is then spliced with the mineral information in a one-dimensional format, and the spliced information is judged based on a preset neural network to identify rock lithology.
- the self-driving vehicle of the present invention moves to a preset position, and based on the rock image information and the mineral information retrieved from the element, the preset neural network is used to intelligently identify the surrounding rock lithology, which not only avoids subjective misjudgment, but also realizes The automation and intelligence of lithology identification have greatly shortened the time spent and improved work efficiency.
- the present invention replaces the traditional method of manually identifying lithology, avoids the adverse effects of unskilled personnel and subjective factors on the results, and improves the accuracy of lithology recognition.
- Fig. 1 is a working principle diagram of a lithology recognition system based on image and XRF mineral inversion according to an embodiment of the present invention
- Figure 2 is a schematic diagram of a mechanical arm and a probe according to an embodiment of the present invention
- Fig. 3 is a schematic diagram of the probe structure according to an embodiment of the present invention.
- azimuth or position relationship is based on the azimuth or position relationship shown in the drawings, and is only a relationship term determined to facilitate the description of the structural relationship of each component or element of the present invention. It does not specifically refer to any component or element in the present invention and cannot be understood as a reference Limitations of the invention.
- Flatten Refers to the flattening of the output of the convolutional network, taking the three-dimensional image into one dimension, and then inputting it into the fully connected network.
- the lithology recognition system based on image and XRF mineral inversion of this embodiment includes an autonomous vehicle 1, which is provided with a probe 6, an image acquisition device 4, and an on-board processor 7. ;
- the probe 6 is mounted on the end of the robotic arm 5, and the robotic arm 5 is mounted on the autonomous vehicle 1; the probe is an X-ray fluorescence spectrometer, which is used to detect the element information of the surrounding rock in the area to be measured;
- the image acquisition device 4 is arranged around the autonomous vehicle 1 for collecting surrounding rock images and making these surrounding rock images form a closed ring;
- the on-board processor 7 is used for: inverting the received element information of the surrounding rock in the area to be measured into mineral information based on the Barth-Nigri standard mineral calculation method;
- Receive the surrounding rock image and the corresponding probe inclination convert the surrounding rock image of the same measured area into image information in one-dimensional vector format, and then splice it with the mineral information in one-dimensional format itself, and pair the spliced information based on a preset neural network Perform discrimination to identify rock lithology, store the result of rock lithology recognition and the inclination of the probe.
- the Barth-Nigri standard mineral calculation method is also known as the "cation standard mineral method".
- the image acquisition device 4 adopts a camera to realize the omnidirectional photography of the surrounding rock of the tunnel, collect the image information of the surrounding rock, indicate the angle, and store the collected image information to the on-board processor 7.
- the self-driving vehicle 1 when the self-driving vehicle 1 is traveling in the tunnel, the self-driving vehicle 1 moves to a preset position, and the self-driving vehicle 1 is also provided with a laser receiver 3, which is used to receive the laser transmitter 2. Measure and record the displacement distance and location of the emitted laser to realize the positioning of the autonomous vehicle 1; the laser transmitter 2 is placed at the tunnel entrance and is used to emit lasers into the tunnel.
- the GPS positioning module is installed on the self-driving vehicle 1 to realize the automatic positioning function of the self-driving vehicle 1.
- the robotic arm 5 is connected to a control system, and the control system is used to control the robotic arm 5 to drive the probe 6 to move around the autonomous vehicle 1 and reach the surrounding rock surface.
- the robot arm includes 4 robot arm joints, and the robot arm 5 is controlled to rotate and move through the robot arm joints.
- the probe 6 is provided with a pressure sensor 8 and an inclination angle sensor 9.
- the pressure sensor 8 is used to measure the pressure information between the probe's pre-surrounding rock surface and feed it back to the control system, and the inclination sensor 9 is used to detect the inclination angle of the probe and Feedback to the control system.
- the control system includes a controller and a memory.
- the controller can be a programmable logic device or a CPU, etc.; the memory can be ROM, RAM, or an external storage device, such as a U disk.
- the controller is used to receive the information transmitted by the pressure sensor and the inclination sensor and control the movement of the mechanical arm 5.
- the on-board processor 7 includes:
- the data storage unit is used to sequentially store the surrounding rock images according to the position information of the autonomous vehicle; and sequentially store the element information of the corresponding surrounding rock according to the position information of the autonomous vehicle and the inclination information of the probe;
- Lithology identification part which is used to identify rock lithology.
- the data processing unit is also used to perform preprocessing such as clipping and occlusion on the surrounding rock image.
- the lithology recognition unit is used to convert the surrounding rock image of the same measured area into one-dimensional vector image information through convolution, pooling and flattening based on the B-P neural network.
- the lithology recognition unit is also used to join the image information of the one-dimensional vector with the one-dimensional mineral information based on the BP neural network, and then transfer the joined rock information to the fully connected layer to distinguish it. Intelligent recognition of rock lithology.
- B-P neural networks restricted Boltzmann machines, support vector machines, etc. can also complete tasks.
- a preset neural network is used to intelligently identify surrounding rock lithology, which not only avoids subjective misjudgment, but also realizes the automation and intelligence of lithology recognition, which greatly Shorten the time spent and improve work efficiency.
- Control the robotic arm to drive the probe to the area to be measured, and use the probe to detect the element information of the surrounding rock in the area to be measured;
- the received element information of the surrounding rock in the area to be measured is inverted into mineral information; the surrounding rock image of the same measured area is converted into a one-dimensional vector format The image information is then spliced with the mineral information in a one-dimensional format.
- the spliced information is judged based on a preset neural network to identify rock lithology, and the result of rock lithology recognition and the inclination of the probe are stored.
- the surrounding rock image of the same measured area is converted into one-dimensional vector image information through convolution, pooling and flattening, and then it is one-dimensional with itself.
- the mineral information is spliced together, and then the spliced rock information is transferred to the fully connected layer to distinguish it and intelligently identify the rock lithology.
- the identification process of the lithology identification system based on image and XRF mineral inversion is as follows:
- a laser transmitter is placed in the center of the tunnel entrance, and the autonomous vehicle will automatically navigate and drive through its own camera, and receive the emitted laser through a laser receiver placed at the rear of the vehicle for automatic positioning;
- the manipulator is extended, and the probe is carried to the inner surface of the surrounding rock at a certain angle.
- the probe is close to the rock surface to measure the rock element information, and the rock element information of several places in the area can be measured, which is numbered and saved according to the different inclination angle of the probe;
- the on-board processor preprocesses the image to obtain effective information, and automatically inverts the elements into minerals according to the Barth-Negri standard mineral calculation method, selects the processed image information and mineral information, and combines the information in the same area Corresponding to save;
- the on-board processor uses the image information and mineral information of the same area to intelligently identify the lithology of the area, which will be processed by convolution, pooling, and flattening into image information in one-dimensional vector format and mineral information in one-dimensional format. Splicing together, through the method of machine learning, based on the BP neural network to distinguish the spliced information to identify the rock lithology, and mark the result coordinates and inclination angles, and save them;
- the autonomous vehicle moves to the next location, collects the surrounding rock information of the next area and performs lithology identification.
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Abstract
Description
Claims (10)
- 一种基于图像与XRF矿物反演的岩性识别系统,包括自动驾驶车辆,其特征在于,所述自动驾驶车辆上设置有探头、图像采集装置和车载处理器;所述探头搭载在机械臂末端,机械臂安装在自动驾驶车辆上;所述探头为X射线荧光光谱仪,用于检测待测区域围岩的元素信息;所述图像采集装置环绕自动驾驶车辆一周设置,用于采集围岩图像且使这些围岩图像可形成一个闭合的环;所述车载处理器用于:基于巴尔特-尼格里标准矿物计算法将接收的待测区域围岩的元素信息反演成为矿物信息;接收围岩图像及对应探头倾角,将同一被测区域的围岩图像转化为一维向量格式的图像信息,再与本身为一维格式的矿物信息拼接,基于预设神经网络对拼接后的信息进行判别以识别岩石岩性。
- 如权利要求1所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述自动驾驶车辆上还设置有激光接收器,激光接收器用于接收激光发射器发出的激光,测算并记录位移距离及所在位置;所述激光发射器安置在隧道洞口,用于向隧道内发射激光。
- 如权利要求1所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述机械臂与控制系统相连,控制系统与用于控制机械臂带动探头绕自动驾驶车辆运动并抵至围岩表面。
- 如权利要求3所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述探头内部设置有压力传感器和倾角传感器,所述压力传感器用于测量探头预围岩表面之间的压力信息并反馈至控制系统,所述倾角传感器用于检测探头倾角并反馈至控制系统。
- 如权利要求1所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述车载处理器,包括:数据存储部,其用于根据自动驾驶车辆的位置信息将围岩图像依次存储;及根据自动驾驶车辆的位置信息及探头倾角信息,将相应围岩的元素信息依次存储;数据处理部,其用于反演矿物信息及将同一被测区域的围岩图像和相应矿物信息放置到一起;岩性识别部,其用于识别岩石岩性。
- 如权利要求5所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述数据处理部,还用于对围岩图像进行剪裁和遮挡等预处理。
- 如权利要求5所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述岩性识别部用于基于B-P神经网络将同一被测区域的围岩图像经过卷积、池化和flatten处理转化为一维向量的图像信息。
- 如权利要求7所述的基于图像与XRF矿物反演的岩性识别系统,其特征在于,所述岩性识别部还用于基于B-P神经网络将一维向量的图像信息与本身就为一维的矿物信息拼接起来,之后将拼接起来的岩石信息传递至全连接层,对其进行判别,智能识别岩石岩性。
- 一种如权利要求1-8中任一项所述的基于图像与XRF矿物反演的岩性识别系统的识别方法,其特征在于,包括:自动驾驶车辆移动至待测区域;控制机械臂带动探头至待测区域,利用探头检测待测区域围岩的元素信息;利用图像采集装置采集围岩图像且使这些围岩图像可形成一个闭合的环;在车载处理器中,基于巴尔特-尼格里标准矿物计算法将接收的待测区域围岩的元素信息反演成为矿物信息;将同一被测区域的围岩图像转化为一维向量格式的图像信息,再与本身为一维格式的矿物信息拼接,基于预设神经网络对拼接后的信息进行判别以识别岩石岩性。
- 如权利要求9所述的识别方法,其特征在于,在识别岩石岩性的过程中,基于B-P神经网络将同一被测区域的围岩图像经过卷积、池化和flatten处理转化为一维向量的图像信息,再与本身就为一维的矿物信息拼接起来,之后将拼接起来的岩石信息传递至全连接层,对其进行判别,智能识别岩石岩性。
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CN112348014A (zh) * | 2020-11-03 | 2021-02-09 | 招商局重庆公路工程检测中心有限公司 | 基于机器视觉的隧道掌子面围岩级别快速识别方法 |
CN112801035B (zh) * | 2021-02-24 | 2023-04-07 | 山东大学 | 基于知识与数据双驱动的搭载式岩性智能识别方法及系统 |
CN113297962B (zh) * | 2021-05-24 | 2022-08-19 | 山东大学 | 无人机搭载式xrf和图像融合的岩性识别系统及方法 |
CN116105692B (zh) * | 2023-02-08 | 2024-04-05 | 成都理工大学 | 用于围岩分级和变形预测的隧道围岩形貌采集装置及方法 |
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