CN110363844A - A kind of coal mine roadway three-dimensional modeling method and system - Google Patents
A kind of coal mine roadway three-dimensional modeling method and system Download PDFInfo
- Publication number
- CN110363844A CN110363844A CN201910640081.4A CN201910640081A CN110363844A CN 110363844 A CN110363844 A CN 110363844A CN 201910640081 A CN201910640081 A CN 201910640081A CN 110363844 A CN110363844 A CN 110363844A
- Authority
- CN
- China
- Prior art keywords
- tunnel
- roadway
- dimensional
- dimensional structure
- key position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Processing Or Creating Images (AREA)
Abstract
The present invention provides a kind of coal mine roadway three-dimensional modeling method and system, firstly, obtaining the latitude and longitude coordinates of each key position in each tunnel of coal mine using GPS positioning device；And convert it to world coordinate system；Then, the shape data for measuring tunnel makes the two-dimensional structure figure in each tunnel according to the shape data in each tunnel；Then, it is modified according to two-dimensional structure figure of the world coordinates of key position to tunnel；Finally, generating the threedimensional model in tunnel using the center line in roadway and tunnel sectional view automatic lofting that generate.The present invention is corrected the two-dimensional structure figure of production using the world coordinates of each key position, it is ensured that for generating the accuracy of the two-dimensional structure figure of threedimensional model；The present invention is based on the direct setting-outs of the two-dimensional structure figure drawn according to actual measurement data to generate threedimensional model, improves the speed of three-dimensional modeling, the present invention provides a kind of quick three-dimensional modeling methods that accuracy is high.
Description
Technical field
The present invention relates to expiloration of coal mines digitizing technique field, more particularly to a kind of coal mine roadway three-dimensional modeling method and
System.
Background technique
Three-dimensional modeling common method in tunnel is manual three-dimensional modeling at present, and the three-dimensional modeling period is long, low precision, tunnel mould
There are larger position deviations with scene for type；And existing automatized three-dimensional modeling only exists theoretical knowledge, it is actual automatic
It is complicated to change three-dimensional modeling algorithm, Chu of lacking unity and coherence is easy crash messy code, cannot achieve the mesh of the automatic three-dimensional modeling of three-dimensional roadway
Mark.Therefore it provides a kind of quick three-dimensional modeling method that accuracy is high becomes a technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of coal mine roadway three-dimensional modeling method and systems, high to provide a kind of accuracy
Quick three-dimensional modeling method apply to the threedimensional model built up can directly in coal mine roadway three-dimensional scenic, facilitate the later period three
The drainage system for building coal mine roadway on the basis of the model and threedimensional model of all types of equipment again, transport are added on dimension module
The mathematical models such as system, ventilating system, monitoring system provide three-dimensional map basis branch for Digital Mine and intelligent mine construction
It holds.
To achieve the above object, the present invention provides following schemes:
A kind of coal mine roadway three-dimensional modeling method, the three-dimensional modeling method include the following steps:
The latitude and longitude coordinates of each key position in each tunnel of coal mine are obtained using GPS positioning device；The key
Position include roadway entry, tunnel corner, tunnel configuration between and tunnel working face；
The latitude and longitude coordinates of each key position in every tunnel are transformed into world coordinate system, obtain each of every tunnel
The world coordinates of a key position；
The shape data in each tunnel of coal mine is measured, the shape data includes between each key position in tunnel
Range information and the length in tunnel section, top radian and radius of the radian；
The two-dimensional structure figure in each tunnel is made according to the shape data in each tunnel；
It is repaired respectively according to two-dimensional structure figure of the world coordinates of each key position in every tunnel to every tunnel
Just, the revised two-dimensional structure figure in every tunnel is obtained；
It is repaired respectively according to two-dimensional structure figure of the world coordinates of each key position in every tunnel to every tunnel
Just, the revised two-dimensional structure figure in every tunnel is obtained；
Respectively using the shape of the tunnel section in every tunnel as profile, center line in roadway is path by every tunnel
Revised two-dimensional structure figure setting-out generates the tunnel threedimensional model in every tunnel.
Optionally, described to be tied respectively according to two dimension of the world coordinates of each key position in every tunnel to every tunnel
Composition is modified, and is obtained the revised two-dimensional structure figure in every tunnel, is specifically included:
Using roadway entry as initial position, the roadway entry in the two-dimensional structure figure is moved to the roadway entry
World coordinates position；
The world coordinates of the coordinate and each key position of each key position is in two-dimensional structure figure after judgement is mobile
No one-to-one correspondence obtains the first judging result；
If first judging result indicates the coordinate of each key position and each pass in the two-dimensional structure figure after movement
The world coordinates at key position does not correspond, then re-measures the shape data in the tunnel of not corresponding key position, utilizes weight
The shape data newly measured is modified the two-dimensional structure figure after the movement, and return step " tie by the two dimension after judgement is mobile
Whether the world coordinates of each key position in the tunnel in composition and the world coordinates of longitude and latitude measurement conversion correspond, and obtain
To the first judging result "；
If first judging result indicates the coordinate of each key position and each pass in the two-dimensional structure figure after movement
The world coordinates at key position corresponds, then exports the two-dimensional structure figure in tunnel as revised two-dimensional structure figure.
Optionally, described respectively using the shape of the tunnel section in every tunnel as profile, center line in roadway is path
The revised two-dimensional structure figure setting-out in every tunnel is generated to the tunnel threedimensional model in every tunnel, later further include:
Using intersection cut calculation formula to three-dimensional roadway model carry out tunnel intersection cut processing, obtain intersect cut after
Three-dimensional roadway model.
Optionally, it is described using intersect cut calculation formula to three-dimensional roadway model carry out tunnel intersection cut processing, obtain
Three-dimensional roadway model after being cut to intersection, later further include:
The point of the intersection location in three-dimensional roadway model after cutting to intersection welds, the three-dimensional lane after being welded
Road model.
Optionally, the point of the intersection location in three-dimensional roadway model after described pair of intersection is cut welds, and is welded
Three-dimensional roadway model after connecing, later further include:
Round and smooth rendering processing is carried out to the three-dimensional roadway model after welding, obtains round and smooth rendering treated three-dimensional roadway mould
Type.
A kind of coal mine roadway 3 d modeling system, the 3 d modeling system include:
Latitude and longitude coordinates obtain module, each key portion in each tunnel for obtaining coal mine using GPS positioning device
The latitude and longitude coordinates of position；The key position include roadway entry, tunnel corner, tunnel configuration between and tunnel working face；
Coordinate transferring, for the latitude and longitude coordinates of each key position in every tunnel to be transformed into world coordinates
System, obtains the world coordinates of each key position in every tunnel；
Shape data measurement module, the shape data in each tunnel for measuring coal mine, the shape data includes lane
The length in the distance between each key position in road information and tunnel section, top radian and radius of the radian；
Two-dimensional structure figure makes module, for making the two-dimensional structure in each tunnel according to the shape data in each tunnel
Figure；
Correction module, for respectively according to the world coordinates of each key position in every tunnel to the two dimension in every tunnel
Structure chart is modified, and obtains the revised two-dimensional structure figure in every tunnel；
Center line in roadway and tunnel section generation module, for respectively according to the world of each key position in every tunnel
The two-dimensional structure figure in every tunnel of coordinate pair is modified, and obtains the revised two-dimensional structure figure in every tunnel；
Threedimensional model generation module, for respectively using the shape of the tunnel section in every tunnel as profile, in tunnel
Heart line is the tunnel threedimensional model that the revised two-dimensional structure figure setting-out in every tunnel is generated every tunnel by path.
Optionally, the correction module, specifically includes:
Two-dimensional structure figure mobile submodule is used for using roadway entry as initial position, will be in the two-dimensional structure figure
Roadway entry is moved to the position of the world coordinates of the roadway entry；
Judging submodule, for judging the coordinate of each key position and each key portion in the two-dimensional structure figure after moving
Whether the world coordinates of position corresponds, and obtains the first judging result；
First judging result handles submodule, if in the two-dimensional structure figure after indicating mobile for first judging result
The coordinate of each key position and the world coordinates of each key position do not correspond, then re-measure not corresponding key portion
The shape data in the tunnel of position, is modified the two-dimensional structure figure after the movement using the shape data re-measured, returns
Returning step, " world coordinates of each key position in the tunnel in two-dimensional structure figure after judgement movement and longitude and latitude measurement are converted
World coordinates whether correspond, obtain the first judging result "；
Second judging result handles submodule, if in the two-dimensional structure figure after indicating mobile for first judging result
The world coordinates of the coordinate of each key position and each key position corresponds, then exports the two-dimensional structure figure conduct in tunnel
Revised two-dimensional structure figure.
Optionally, the 3 d modeling system further include:
Intersection cuts module, cuts place to three-dimensional roadway model progress tunnel intersection for cutting calculation formula using intersection
Reason obtains the three-dimensional roadway model after intersection is cut.
Optionally, the 3 d modeling system further include:
Welding module, the point for the intersection location in the three-dimensional roadway model after cutting to intersection are welded, are obtained
Three-dimensional roadway model after welding.
Optionally, the 3 d modeling system further include:
Round and smooth rendering processing module obtains round and smooth for carrying out round and smooth rendering processing to the three-dimensional roadway model after welding
Rendering treated three-dimensional roadway model.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of coal mine roadway three-dimensional modeling method and system, firstly, GPS positioning device is utilized to obtain coal mine
Each tunnel each key position latitude and longitude coordinates；The key position includes roadway entry, tunnel corner, tunnel
Between configuration and the working face of tunnel；And convert it to world coordinate system；Then, the shape data for measuring tunnel, according to each lane
The shape data in road makes the two-dimensional structure figure in each tunnel；Then, according to the world coordinates pair of the key position in each tunnel
The two-dimensional structure figure in every tunnel is modified；Finally, raw using the center line in roadway and tunnel sectional view automatic lofting generated
At the threedimensional model in every tunnel.The present invention carries out the two-dimensional structure figure of production using the world coordinates of each key position
Amendment, it is ensured that for generating the accuracy of the two-dimensional structure figure of threedimensional model；The present invention is based on drawn according to actual measurement data
The direct setting-out of the two-dimensional structure figure of system generates threedimensional model, improves the speed of three-dimensional modeling, and the present invention provides a kind of accurate
The high quick three-dimensional modeling method of property, overcomes that coal mine operation field three-dimensional digital three-dimensional modeling difficulty is big, the period is long, precision
The technological deficiency of difference is suitable for the engineering fields such as all kinds of mines, underground piping, subsurface investigation.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also mention according to the present invention
The attached drawing of confession obtains other attached drawings.
Fig. 1 is a kind of flow chart of coal mine roadway three-dimensional modeling method provided by the invention；
Fig. 2 is a kind of schematic diagram of coal mine roadway three-dimensional modeling method provided by the invention；
Fig. 3 is the two-dimensional structure figure in tunnel provided by the invention；
Fig. 4 is the schematic diagram of center line in roadway provided by the invention；
Fig. 5 is the schematic diagram of tunnel section provided by the invention；
Fig. 6 is the schematic illustration that the present invention generates threedimensional model；
Fig. 7 is that intersection provided by the invention cuts schematic illustration；
Fig. 8 is the schematic illustration of welding provided by the invention；
Fig. 9 is welding provided by the invention and round and smooth rendering effect figure；
Figure 10 is a kind of structure chart of coal mine roadway 3 d modeling system provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of coal mine roadway three-dimensional modeling method and systems, high to provide a kind of accuracy
Quick three-dimensional modeling method apply to the threedimensional model built up can directly in coal mine roadway three-dimensional scenic, facilitate the later period three
The drainage system for building coal mine roadway on the basis of the model and threedimensional model of all types of equipment again, transport are added on dimension module
The mathematical models such as system, ventilating system, monitoring system provide three-dimensional map basis branch for Digital Mine and intelligent mine construction
It holds.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As illustrated in fig. 1 and 2, the present invention provides a kind of coal mine roadway three-dimensional modeling method, and the three-dimensional modeling method includes
Following steps:
Step 101, the latitude and longitude coordinates of each key position in each tunnel of coal mine are obtained using GPS positioning device；
The key position include roadway entry, tunnel corner, tunnel configuration between and tunnel working face.
Latitude and longitude coordinates are a kind of spherical surfaces using three-dimensional space to define the spherical coordinate system in tellurian space, energy
Enough indicate any one tellurian position.The present invention obtains latitude and longitude coordinates letter with GPS tool or Beidou navigation tool
Breath.The present invention mainly between at roadway entry, tunnel corner, all kinds of configurations in tunnel, working face etc. carries out positioning and obtains coordinate
Information.
Such as: roadway entry (longitude: 119.632458 latitudes: 40.132643 height: 223)
Underground elevator (longitude: 119.633780 latitudes: 40.132598 height: 158)
Central storage area (longitude: 119.633858 latitudes: 40.132562 height: 157)
No. 3 working face (longitudes: 119.634159 latitudes: 40.132598 height: 179)
Step 102, the latitude and longitude coordinates of each key position in every tunnel are transformed into world coordinate system, obtain every
The world coordinates of each key position in tunnel.
World coordinate system (X-axis Y-axis Z axis) data for being generally used in three-dimensional software platform, therefore the present invention obtains
Longitude and latitude data are converted, and conversion regime is realized by formula (1)-(5).If latitude α, longitude β, height above sea level is h (rice),
Earth radius is 6372.8 kms.The earth is divided into north and south latitude thing through so needing to classify if it is the tunnel in a variety of places
It discusses.
East longitude: x ≈ (6372.8+h/1000) (cos α) (sin β) (1)
West longitude: x=(6372.8+h/1000) (cos α) sin (180+ β) (2)
Y-coordinate will not be affected because thing is through difference
y≈(6372.8+h/1000)(cosα)(cosβ) (3)
North latitude: z ≈ (6372.8+h/1000) (sin α) (4)
South latitude: z=(6372.8+h/1000) sin (90+ α) (5)
Step 103, the shape data in each tunnel of coal mine is measured, the shape data includes each key portion in tunnel
The length in the distance between position information and tunnel section, top radian and radius of the radian；The key position includes that tunnel enters
Mouth, tunnel corner, tunnel configuration between and tunnel working face；
Shape data of the invention is artificial metrical information, and manual measurement information is a kind of initial range measurement method, main
Want measurement position information and distance.Such as from entrance to elevator distance: entrance and elevator are location name information, distance is length letter
Breath；Manual measurement also needs to measure the length in tunnel section, tunnel top radian, radius of the radian etc. simultaneously；Equipments of recording
Laser distance measuring instrument, ruler, pen and this record can be used.
Step 104, the two-dimensional structure figure in each tunnel is made according to the shape data in each tunnel.
The present invention obtains many data by measurement, if straight line program generates three-dimensional figure, needs to calculate with very much
Method calculates, and the invention firstly uses AUTOCAD drafting instruments manually to draw two-dimentional tunnel structure figure, as shown in Figure 3.
Step 105, respectively according to the world coordinates of each key position in every tunnel to the two-dimensional structure in every tunnel
Figure is modified, and obtains the revised two-dimensional structure figure in every tunnel.
It specifically includes: using roadway entry as initial position, the roadway entry in the two-dimensional structure figure being moved to institute
State the position of the world coordinates of roadway entry；The coordinate of each key position and each pass in two-dimensional structure figure after judgement is mobile
Whether the world coordinates at key position corresponds, and obtains the first judging result；If after first judging result indicates mobile
The coordinate of each key position and the world coordinates of each key position do not correspond in two-dimensional structure figure, then re-measure not
The shape data in the tunnel of corresponding key position, using the shape data re-measured to the two-dimensional structure figure after the movement
It is modified, the return step " world coordinates and warp of each key position in the tunnel in two-dimensional structure figure after judgement movement
Whether the world coordinates of latitude determination conversion corresponds, and obtains the first judging result "；If first judging result indicates to move
The world coordinates of the coordinate of each key position and each key position corresponds in two-dimensional structure figure after dynamic, then exports lane
The two-dimensional structure figure in road is as revised two-dimensional structure figure.
The accuracy of data is related to the accuracy of final three-dimensional scenic, and the most important is exactly with more in the present invention
A accurate latitude and longitude coordinates go to correct the position of a whole set of three-dimensional scenic.
1 is converted into world coordinates using roadway entry latitude and longitude coordinates as initial position: warp is specifically illustrated in step 102
Latitude converts the calculation method of world coordinate system (X-axis, Y-axis, Z axis), and this value is exactly the corresponding world coordinate system of longitude and latitude
Coordinate.Such as the position China WGS84 latitude and longitude coordinates of certain mine laneway entrance are as follows: " 39 ° 39 ' of north latitude of 117 ° 45 ' 14 of east longitude
26 " 135 meters of height above sea level, initial position, which is calculated, in the position of world coordinate system by formula (1)-(5) of step 102 is: x=
564699 kms, y=4391742 km, z=135 meters.
The two-dimensional structure figure finished before is docked initial position by 2: utilizing AUTOCAD drawing production two at step 104
After tieing up tunnel structure figure, structure chart is integrally packaged in groups；The center position of group is built up in the lane of tunnel 2 d plane picture
Road inlet；World coordinates set occurrence after inputting the longitude and latitude conversion of manual measurement in transport mode: x=564699 km, y
=4391742 kms, z=135 meters, at this moment whole structure chart has moved to initial position.
3 are also placed in several coordinates of other longitudes and latitudes in two-dimensional structure figure, see whether each position corresponds to: because for it
Data are the length, width and height using manual measurement as standard when preceding AUTOCAD drawing makes two-dimentional tunnel structure figure, after drawing not necessarily
It is correct.And with the longitude and latitude of the tools such as GPS or Beidou navigation measurement and the data source of manual measurement in underground passage
It is different, the longitude and latitude in the longitude and latitude of the working face of measurement, the longitude and latitude of power distribution station, central drainage area is gone into world coordinate system,
The corresponding 2 d plane picture for being moved into initial position, position after seeing conversion whether on 2 d plane picture working face,
Power distribution station, water pump, sump position correspond.
4 check the not corresponding place amendment in position: position after longitude and latitude is converted into world coordinate system, with manual measurement
When position on the plan view of production cannot correspond to, have deviation, illustrates that the drawing of manual measurement production is problematic, should find out from which
Start deviation at one；It sends someone to re-measure data from the place deviated, the two-dimensional structure figure that amendment step 104 makes,
Until correct.
Step 106, respectively according to the world coordinates of each key position in every tunnel to the two-dimensional structure in every tunnel
Figure is modified, and obtains the revised two-dimensional structure figure in every tunnel.
1, the present invention has used AUTOCAD drafting instrument to draw two-dimentional tunnel structure figure, it is also necessary to obtain each two
Tie up the center line in roadway in tunnel.
1) central point among two line segments is first calculated
In the two-dimensional structure figure in tunnel, each two-dimensional line be all be formed by connecting by numerous point, then two lines it
Between center line be also to be formed by connecting by the central point between points of two lines section.Tunnel ground one side line segment is P1 line segment,
It is on one side P2 line segment, medium line is P line segment；(two o'clock connects from the two points calculating of corresponding points of the P line segment on the line segment of ground both sides
The central point of line), algorithm is as follows:
The two o'clock P1_01 (x1, y1) of tunnel both sides line segment, P2_01 (x2, y2), the coordinate of point P_01 is sought at the midpoint of line segment
(x, y).Vertical line P1M1, the P2M2 for making x-axis respectively by point P1_01, P2_01 are met at point M1 (x1,0) respectively with x-axis, M2 (x2,
0), M (x, 0), the midpoint coordinates of institute's line section is between point P1_01, P2_01
2) line between multiple spot connects multiple points.There are LINE command functions in graphical development engine.Directly use
LINE can be into a line by multiple point connections.
The center line in obtained tunnel is as shown in Figure 4.
2, tunnel section generates: it is square that the shape of usual tunnel section, which is following, and the above is an arc.Such as: setting
Set a length of X of rectangle, width Y, the length and width of possible Freely input square；Based on OpenGL function library code statement glRectf
(- Xf ,-Yf, Xf, Yf) can be achieved square and draw；Tunnel top degree circular arc is usually the semicircle of 180 degree, and radius is indicated with R, can
R analog value is given by measurement result, is drawn code g.DrawArc (pen, 0, R, 200,200,0,180).
As shown in figure 5, Fig. 5 (a) is tunnel section of tunnel top arc when being 180 degree, Fig. 5 (b) be that push up arc be 150 degree in tunnel
When tunnel section.
Step 107, respectively using the shape of the tunnel section in every tunnel as profile, center line in roadway is that path will be every
The revised two-dimensional structure figure setting-out in tunnel generates the tunnel threedimensional model in every tunnel.
It is directly raw by OpenGL setting-out function command Loft using sectional view as the shape in tunnel using center line as path
At threedimensional model, as shown in Figure 6.
It is described respectively using the shape of the tunnel section in every tunnel as profile, center line in roadway is path by every lane
The revised two-dimensional structure figure setting-out in road generates the tunnel threedimensional model in every tunnel, later further include: cut using intersection
Calculation formula carries out tunnel intersection to three-dimensional roadway model and cuts processing, obtains the three-dimensional roadway model after intersection is cut.
As shown in fig. 7, the present invention needs the multi-mine roadway that will intersect in threedimensional model to cut automatically, face not so can be weighed.It cuts out
The method cut is that two tunnels of intersection are tangent two-by-two, obtains two group models again, uses mesh segmentation algorithm: cutting is by several sections
Program code is completed, and process is the coordinate points (coordinate information that each threedimensional model has oneself) for obtaining every tunnel, sentences
Whether there is intersection location in disconnected threedimensional model, intersection location is cut.
By being grid vertex existing for array, the first group model point coordinate parameters and the second group model point coordinate parameters
Start node and end-node, if having intersection, if there is no need to cut not as intersecting, if there is intersection so can be straight
It connects and cuts.It cuts and regenerates grid.
It is described using intersect cut calculation formula to three-dimensional roadway model carry out tunnel intersection cut processing, obtain intersection sanction
Three-dimensional roadway model after cutting, later further include: the point of the intersection location in three-dimensional roadway model after cutting to intersection carries out
Welding, the three-dimensional roadway model after being welded.
After the completion of face is cut, two group model intersections can all be generated a little, and such a position may generate multiple points, institute
To need to intersect spot welding.
As shown in figure 8, vertex welding is derived by triangle gridding three-dimensional modeling.Simply, vertex is welded
(Vertex Welding) can be called " vertex duplicate removal " again, seek to remove duplicate vertex in Mesh, remove in other words
The vertex that position coincides shares the triangle on these vertex by " welding " as soon as making a vertex in this way.
Mesh is actually set+triangle set on vertex, and wherein triangle is the concordance list that vertex set is directed toward by three
Show.But in practical applications, Mesh is often to establish from a kind of original triangle sets (triangle soup),
Triangle in this original triangle set is entirely independent triangular plate, and each triangular plate directly contains three vertex
Coordinate rather than vertex index.That is, these vertexs of a triangle are independent from each other each other in data structure, example
Vertex as in triangle A and triangle B containing coordinate being P (1,0,1), should be identical point on geometric meaning, but
In original triangle set, do not see that this triangle shares relationship as vertex completely.From such original triangle
It is middle to establish the Mesh that correctly express the connection type between vertex, it is necessary to be mentioned from this " original triangle set "
Unduplicated vertex set is taken, then converts the triangle based on vertex index for these triangles.It is only successful wound in this way
A removal redundancy has been built, the Mesh of correct connection relationship can be expressed.After establishing such Mesh, before mentioned
To triangle A and B be only and truly shared vertex P because they can have the vertex index of equal P simultaneously.
The point of intersection location in the described pair of three-dimensional roadway model intersected after cutting welds, and three after being welded
Roadway model is tieed up, later further include: round and smooth rendering processing is carried out to the three-dimensional roadway model after welding, obtains round and smooth rendering processing
Three-dimensional roadway model afterwards.
In final effect performance, the model that automatically generates will not automatic round and smooth processing, the model of the present invention after welding
On take Laplce's smoothing processing method to obtain the finally model wanted.The smooth modifier of Laplce can allow model to exist
In the case where not modifying mesh shape as far as possible, reduces surface mesh fluctuating and make an uproar wave.It also can be used a negative coefficient and expands shape
Shape.Laplce smoothly for those rebuild from real world and there is bad fluctuating to make an uproar the object of wave can be very useful.It disappears
In addition to rise and fall make an uproar wave while, still maintain the shape of ideal geometry and archetype.
Treated that effect is as shown in Figure 9 for welding and round and smooth rendering.
As shown in Figure 10, the present invention also provides a kind of coal mine roadway 3 d modeling system, the 3 d modeling system includes:
Latitude and longitude coordinates obtain module 1001, each pass in each tunnel for obtaining coal mine using GPS positioning device
The latitude and longitude coordinates at key position；The key position includes working between roadway entry, tunnel corner, tunnel configuration with tunnel
Face；
Coordinate transferring 1002 is sat for the latitude and longitude coordinates of each key position in every tunnel to be transformed into the world
Mark system, obtains the world coordinates of each key position in every tunnel；
Shape data measurement module 1003, the shape data in each tunnel for measuring coal mine, the shape data packet
Include the length, top radian and radius of the radian of the distance between each key position in tunnel information and tunnel section；
Two-dimensional structure figure makes module 1004, and the two dimension for making each tunnel according to the shape data in each tunnel is tied
Composition；
Correction module 1005, for respectively according to the world coordinates of each key position in every tunnel to every tunnel
Two-dimensional structure figure is modified, and obtains the revised two-dimensional structure figure in every tunnel；
The correction module 1005, specifically includes: two-dimensional structure figure mobile submodule, for using roadway entry as initial
Roadway entry in the two-dimensional structure figure is moved to the position of the world coordinates of the roadway entry by position；Judge submodule
Block, for judge it is mobile after two-dimensional structure figure in each key position coordinate and each key position world coordinates whether
It corresponds, obtains the first judging result；First judging result handles submodule, if indicating to move for first judging result
The coordinate of each key position is not corresponded with the world coordinates of each key position in two-dimensional structure figure after dynamic, then again
The shape data for measuring the tunnel of not corresponding key position, using the shape data re-measured to the two dimension after the movement
Structure chart is modified, and " world of each key position in the tunnel in two-dimensional structure figure after judgement movement is sat return step
It marks with whether the world coordinates of longitude and latitude measurement conversion corresponds, obtains the first judging result "；Second judging result processing
Module, if indicating the coordinate of each key position and each pass in the two-dimensional structure figure after movement for first judging result
The world coordinates at key position corresponds, then exports the two-dimensional structure figure in tunnel as revised two-dimensional structure figure.
Center line in roadway and tunnel section generation module 1006, for respectively according to each key position in every tunnel
World coordinates is modified the two-dimensional structure figure in every tunnel, obtains the revised two-dimensional structure figure in every tunnel；
Threedimensional model generation module 1007, for respectively using the shape of the tunnel section in every tunnel as profile, lane
Road center line is the tunnel threedimensional model that the revised two-dimensional structure figure setting-out in every tunnel is generated every tunnel by path.
The 3 d modeling system further include: intersection cuts module, for cutting calculation formula to three-dimensional lane using intersection
Road model carries out tunnel intersection and cuts processing, obtains the three-dimensional roadway model after intersection is cut.Welding module, for being cut out to intersection
The point of the intersection location in three-dimensional roadway model after cutting is welded, the three-dimensional roadway model after being welded.The three-dimensional
Modeling further include: round and smooth rendering processing module is obtained for carrying out round and smooth rendering processing to the three-dimensional roadway model after welding
To round and smooth rendering treated three-dimensional roadway model.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention improves the accuracy of three-dimensional modeling, using lane by the data measured with longitude and latitude Data correction personnel
Road center line setting-out section obtains the technology in entire tunnel, improves the speed of three-dimensional modeling, tunnel automatic cutting cut phase cross surface, solution
Certainly the problem of the face Auto-generation Model Shi Huichong；Crosspoint is welded, optimization scene avoids extra point-line-surface；Round and smooth processing tunnel
Three-dimensional scenic reaches best in effect.Three-dimensional modeling method and system of the invention is suitable for varying environment and scene, modularization
Three-dimensional modeling, automatic three-dimensional modeling is more efficient, and model library is expansible, and user can customize, and edit-modify is more flexible, and system is more
It is economical.
The foregoing is merely the preferable specific embodiments of the present invention, but scope of protection of the present invention is not limited thereto, appoint
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of, all by what those familiar with the art
It should be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand the device of the invention and its core concept；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of coal mine roadway three-dimensional modeling method, which is characterized in that the three-dimensional modeling method includes the following steps:
The latitude and longitude coordinates of each key position in each tunnel of coal mine are obtained using GPS positioning device；The key position
Including roadway entry, tunnel corner, tunnel configuration between and tunnel working face；
The latitude and longitude coordinates of each key position in every tunnel are transformed into world coordinate system, obtain each pass in every tunnel
The world coordinates at key position；
The shape data in each tunnel of coal mine is measured, the shape data includes the distance between each key position in tunnel
The length in information and tunnel section, top radian and radius of the radian；
The two-dimensional structure figure in each tunnel is made according to the shape data in each tunnel；
It is modified, is obtained according to two-dimensional structure figure of the world coordinates of each key position in every tunnel to every tunnel respectively
To the revised two-dimensional structure figure in every tunnel；
According to the revised two-dimensional structure figure of the shape data in every tunnel and every tunnel, in the tunnel for generating every tunnel
Heart line and tunnel section；
It is respectively amendment of the path by every tunnel by profile, center line in roadway of the shape of the tunnel section in every tunnel
Two-dimensional structure figure setting-out afterwards generates the threedimensional model in every tunnel, obtains the three-dimensional roadway model of coal mine.
2. coal mine roadway three-dimensional modeling method according to claim 1, which is characterized in that described respectively according to every tunnel
The world coordinates of each key position the two-dimensional structure figure in every tunnel is modified, obtain the revised of every tunnel
Two-dimensional structure figure, specifically includes:
Using roadway entry as initial position, the roadway entry in the two-dimensional structure figure is moved to the generation of the roadway entry
The position of boundary's coordinate；
Judge it is mobile after two-dimensional structure figure in each key position coordinate and each key position world coordinates whether one
One is corresponding, obtains the first judging result；
If first judging result indicates the coordinate of each key position and each key portion in the two-dimensional structure figure after movement
The world coordinates of position does not correspond, then re-measures the shape data in the tunnel of not corresponding key position, using surveying again
The shape data of amount is modified the two-dimensional structure figure after the movement, return step " the two-dimensional structure figure after judgement movement
In tunnel the world coordinates of each key position and the world coordinates of longitude and latitude measurement conversion whether correspond, obtain the
One judging result "；
If first judging result indicates the coordinate of each key position and each key portion in the two-dimensional structure figure after movement
The world coordinates of position corresponds, then exports the two-dimensional structure figure in tunnel as revised two-dimensional structure figure.
3. coal mine roadway three-dimensional modeling method according to claim 1, which is characterized in that described respectively with every lane
The shape of the tunnel section in road is profile, and center line in roadway is that path is raw by the revised two-dimensional structure figure setting-out in every tunnel
At the threedimensional model in every tunnel, the three-dimensional roadway model of coal mine is obtained, later further include:
Calculation formula is cut using intersection, processing is cut to three-dimensional roadway model progress tunnel intersection, obtain three after intersection is cut
Tie up Roadway model.
4. coal mine roadway three-dimensional modeling method according to claim 3, which is characterized in that described to cut calculating using intersection
Formula carries out tunnel intersection to three-dimensional roadway model and cuts processing, obtains the three-dimensional roadway model after intersection is cut, also wraps later
It includes:
The point of the intersection location in three-dimensional roadway model after cutting to intersection welds, the three-dimensional roadway mould after being welded
Type.
5. coal mine roadway three-dimensional modeling method according to claim 4, which is characterized in that described pair intersection cut after three
The point of intersection location in dimension Roadway model is welded, the three-dimensional roadway model after being welded, later further include:
Round and smooth rendering processing is carried out to the three-dimensional roadway model after welding, obtains round and smooth rendering treated three-dimensional roadway model.
6. a kind of coal mine roadway 3 d modeling system, which is characterized in that the 3 d modeling system includes:
Latitude and longitude coordinates obtain module, each key position in each tunnel for obtaining coal mine using GPS positioning device
Latitude and longitude coordinates；The key position include roadway entry, tunnel corner, tunnel configuration between and tunnel working face；
Coordinate transferring is obtained for the latitude and longitude coordinates of each key position in every tunnel to be transformed into world coordinate system
To the world coordinates of each key position in every tunnel；
Shape data measurement module, the shape data in each tunnel for measuring coal mine, the shape data includes tunnel
The length in the distance between each key position information and tunnel section, top radian and radius of the radian；
Two-dimensional structure figure makes module, for making the two-dimensional structure figure in each tunnel according to the shape data in each tunnel；
Correction module, for respectively according to the world coordinates of each key position in every tunnel to the two-dimensional structure in every tunnel
Figure is modified, and obtains the revised two-dimensional structure figure in every tunnel；
Center line in roadway and tunnel section generation module, for respectively according to the world coordinates of each key position in every tunnel
The two-dimensional structure figure in every tunnel is modified, the revised two-dimensional structure figure in every tunnel is obtained；
Threedimensional model generation module, for respectively using the shape of the tunnel section in every tunnel as profile, center line in roadway
The revised two-dimensional structure figure setting-out in every tunnel is generated to the tunnel threedimensional model in every tunnel for path.
7. coal mine roadway 3 d modeling system according to claim 6, which is characterized in that the correction module is specific to wrap
It includes:
Two-dimensional structure figure mobile submodule is used for using roadway entry as initial position, by the tunnel in the two-dimensional structure figure
Entrance is moved to the position of the world coordinates of the roadway entry；
Judging submodule, for judging the coordinate of each key position and each key position in the two-dimensional structure figure after moving
Whether world coordinates corresponds, and obtains the first judging result；
First judging result handles submodule, if each in the two-dimensional structure figure after indicating mobile for first judging result
The coordinate of key position and the world coordinates of each key position do not correspond, then re-measure not corresponding key position
The shape data in tunnel is modified the two-dimensional structure figure after the movement using the shape data re-measured, returns to step
Suddenly " world coordinates of each key position in the tunnel in two-dimensional structure figure after judgement movement and the generation of longitude and latitude measurement conversion
Whether boundary's coordinate corresponds, and obtains the first judging result "；
Second judging result handles submodule, if each in the two-dimensional structure figure after indicating mobile for first judging result
The world coordinates of the coordinate of key position and each key position corresponds, then exports the two-dimensional structure figure in tunnel as amendment
Two-dimensional structure figure afterwards.
8. coal mine roadway 3 d modeling system according to claim 6, which is characterized in that the 3 d modeling system also wraps
It includes:
Intersection cuts module, cuts processing to three-dimensional roadway model progress tunnel intersection for cutting calculation formula using intersection,
Obtain the three-dimensional roadway model after intersection is cut.
9. coal mine roadway 3 d modeling system according to claim 8, which is characterized in that the 3 d modeling system also wraps
It includes:
Welding module, the point for the intersection location in the three-dimensional roadway model after cutting to intersection are welded, are welded
Three-dimensional roadway model afterwards.
10. coal mine roadway 3 d modeling system according to claim 9, which is characterized in that the 3 d modeling system is also
Include:
Round and smooth rendering processing module obtains round and smooth rendering for carrying out round and smooth rendering processing to the three-dimensional roadway model after welding
Treated three-dimensional roadway model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910640081.4A CN110363844B (en) | 2019-07-16 | 2019-07-16 | Coal mine tunnel three-dimensional modeling method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910640081.4A CN110363844B (en) | 2019-07-16 | 2019-07-16 | Coal mine tunnel three-dimensional modeling method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110363844A true CN110363844A (en) | 2019-10-22 |
| CN110363844B CN110363844B (en) | 2023-03-24 |
Family
ID=68219546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910640081.4A Active CN110363844B (en) | 2019-07-16 | 2019-07-16 | Coal mine tunnel three-dimensional modeling method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110363844B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111738915A (en) * | 2020-08-17 | 2020-10-02 | 华夏天信（北京）智能低碳技术研究院有限公司 | Visualization method for mine hologram |
| CN113034688A (en) * | 2021-04-25 | 2021-06-25 | 中国电子***技术有限公司 | Three-dimensional map model generation method and device |
-
2019
- 2019-07-16 CN CN201910640081.4A patent/CN110363844B/en active Active
Non-Patent Citations (2)
| Title |
|---|
| 徐志强等: "巷道实体的三维建模研究与实现", 《计算机工程与应用》 * |
| 杨义辉: "基于MultiPath模型的矿井巷道三维建模方法的研究与实现", 《矿山测量》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111738915A (en) * | 2020-08-17 | 2020-10-02 | 华夏天信（北京）智能低碳技术研究院有限公司 | Visualization method for mine hologram |
| CN113034688A (en) * | 2021-04-25 | 2021-06-25 | 中国电子***技术有限公司 | Three-dimensional map model generation method and device |
| CN113034688B (en) * | 2021-04-25 | 2024-01-30 | 中国电子***技术有限公司 | Three-dimensional map model generation method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110363844B (en) | 2023-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Richardus | Project Surveying: Completely revised 2nd edition-General adjustment and optimization techniques with applications to engineering surveying | |
| CN104637370B (en) | A kind of method and system of Photogrammetry and Remote Sensing synthetic instruction | |
| CN101872376B (en) | True three-dimensional road intelligent design method and system | |
| CN104318617B (en) | A kind of three-dimensional geography scene simulation method of Virtual emergency drilling | |
| CN104778334B (en) | Based on the railway of CATIA freely-supported bridge threedimensional model creation method | |
| Parker | Rural highway route corridor selection | |
| Jaud et al. | Georeferencing in the context of building information modelling | |
| CN108375985A (en) | A kind of soil three-dimensional planning and designing platform and its design method | |
| CN110363844A (en) | A kind of coal mine roadway three-dimensional modeling method and system | |
| Okiemute et al. | Practical local geoid model determination for mean sea level heights of surveys and stable building projects | |
| CN111707235A (en) | Ground object measuring method based on three-dimensional laser scanning technology | |
| Subramani et al. | Highway Alignment Using Geographical Information System | |
| Walker et al. | Surveying for civil and mine engineers | |
| CN113160403B (en) | Modeling method of high-precision highway information model | |
| Kubota et al. | Accuracy validation of point clouds of UAV photogrammetry and its application for river management | |
| Nåbo et al. | Known roads: real roads in simulated environments for the virtual testing of new vehicle systems | |
| JP7136499B1 (en) | Data generation method, system, and data for installation plan of three-dimensional workpiece | |
| Xiao et al. | Visualisation of the characteristics of mining subsidence with the consideration of topography: a case study in China | |
| CN103954302B (en) | Flat track design method of rocket sled test | |
| Kennie et al. | Digital terrain modelling | |
| CN117367429B (en) | Remote sensing image-based working base map and unmanned aerial vehicle technology-based route image control point distribution algorithm | |
| Paul et al. | Basic surveying | |
| Behan | Update on the BIM Education of Geomatics Surveyors | |
| JP3440278B2 (en) | Civil engineering surveying and construction support system | |
| Voina et al. | Digital modeling phenomenon of surface ground movement. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |