CN110363844B - Coal mine tunnel three-dimensional modeling method and system - Google Patents
Coal mine tunnel three-dimensional modeling method and system Download PDFInfo
- Publication number
- CN110363844B CN110363844B CN201910640081.4A CN201910640081A CN110363844B CN 110363844 B CN110363844 B CN 110363844B CN 201910640081 A CN201910640081 A CN 201910640081A CN 110363844 B CN110363844 B CN 110363844B
- Authority
- CN
- China
- Prior art keywords
- roadway
- dimensional
- tunnel
- dimensional structure
- structure chart
- 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.)
- Active
Links
Images
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 invention provides a coal mine tunnel three-dimensional modeling method and a system, firstly, a GPS positioning device is used for obtaining longitude and latitude coordinates of each key part of each tunnel of a coal mine; and converting it to a world coordinate system; then measuring the shape data of the laneways, and manufacturing a two-dimensional structure chart of each laneway according to the shape data of each laneway; then, correcting the two-dimensional structure chart of the roadway according to the world coordinates of the key parts; and finally, automatically lofting by using the generated central line of the roadway and the profile map of the roadway to generate a three-dimensional model of the roadway. The two-dimensional structure chart manufactured by the method is corrected by using the world coordinates of each key part, so that the accuracy of the two-dimensional structure chart for generating the three-dimensional model is ensured; the invention generates the three-dimensional model based on the direct lofting of the two-dimensional structure chart drawn according to the actual measurement data, improves the speed of three-dimensional modeling, and provides the rapid three-dimensional modeling method with high accuracy.
Description
Technical Field
The invention relates to the technical field of coal mine exploration digitization, in particular to a coal mine tunnel three-dimensional modeling method and a coal mine tunnel three-dimensional modeling system.
Background
The conventional method for three-dimensional modeling of the roadway is manual three-dimensional modeling, the three-dimensional modeling period is long, the precision is poor, and the roadway model has large position deviation with the site; the existing automatic three-dimensional modeling system only has theoretical knowledge, and the actual automatic three-dimensional modeling algorithm is complex, has unclear layers, is easy to crash and disorder codes, and cannot realize the target of automatic three-dimensional modeling of the three-dimensional roadway. Therefore, it is an urgent technical problem to provide a fast three-dimensional modeling method with high accuracy.
Disclosure of Invention
The invention aims to provide a three-dimensional modeling method and a three-dimensional modeling system for a coal mine tunnel, and provides a high-accuracy rapid three-dimensional modeling method, so that a built three-dimensional model can be directly applied to a three-dimensional scene of the coal mine tunnel, the model of various types of equipment can be conveniently added to the three-dimensional model in the later period, digital models such as a drainage system, a transportation system, a ventilation system and a monitoring system of the coal mine tunnel can be rebuilt on the basis of the three-dimensional model, and three-dimensional map basic support is provided for the construction of a digital mine and an intelligent mine.
In order to achieve the purpose, the invention provides the following scheme:
a three-dimensional modeling method for a coal mine tunnel comprises the following steps:
acquiring longitude and latitude coordinates of each key part of each roadway of the coal mine by using GPS positioning equipment; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface;
converting the longitude and latitude coordinates of each key part of each roadway into a world coordinate system to obtain the world coordinates of each key part of each roadway;
measuring shape data of each roadway of a coal mine, wherein the shape data comprises distance information among key parts of the roadway, and the length, width, height, top camber and radian radius of the section of the roadway;
manufacturing a two-dimensional structure chart of each roadway according to the shape data of each roadway;
correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain a corrected two-dimensional structure chart of each roadway;
correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain a corrected two-dimensional structure chart of each roadway;
and respectively taking the shape of the section of the roadway of each roadway as a contour, and taking the central line of the roadway as a path to loft the corrected two-dimensional structure chart of each roadway to generate a three-dimensional model of the roadway of each roadway.
Optionally, the two-dimensional structure diagram of each roadway is corrected according to the world coordinates of each key part of each roadway, so as to obtain a corrected two-dimensional structure diagram of each roadway, and the method specifically includes:
taking a tunnel entrance as an initial position, and moving the tunnel entrance in the two-dimensional structure diagram to the position of the world coordinate of the tunnel entrance;
judging whether the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one or not to obtain a first judgment result;
if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure chart do not correspond to the world coordinates of each key part one by one, re-measuring the shape data of the roadway of the non-corresponding key part, correcting the moved two-dimensional structure chart by using the re-measured shape data, and returning to the step of judging whether the world coordinates of each key part of the roadway in the moved two-dimensional structure chart correspond to the world coordinates of the longitude and latitude measurement conversion one by one or not to obtain a first judgment result;
and if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one, outputting the two-dimensional structure chart of the roadway as the corrected two-dimensional structure chart.
Optionally, respectively with the shape of the tunnel section of every tunnel is the profile, and the tunnel central line is the route and generates the tunnel three-dimensional model of every tunnel with the two-dimensional structure chart lofting after the correction of every tunnel, later still includes:
and performing roadway intersection cutting processing on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain an intersected and cut three-dimensional roadway model.
Optionally, the intersecting cutting processing of the roadway is performed on the three-dimensional roadway model by using the intersecting cutting calculation formula, so as to obtain an intersected and cut three-dimensional roadway model, and then the method further includes:
and welding the points at the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model.
Optionally, welding the points at the intersection positions in the three-dimensional roadway model after intersection cutting to obtain a welded three-dimensional roadway model, and then further comprising:
and performing smooth rendering processing on the welded three-dimensional roadway model to obtain the three-dimensional roadway model subjected to smooth rendering processing.
A three-dimensional modeling system for a coal mine roadway, the three-dimensional modeling system comprising:
the longitude and latitude coordinate acquisition module is used for acquiring longitude and latitude coordinates of each key part of each roadway of the coal mine by using GPS positioning equipment; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface;
the coordinate conversion module is used for converting the longitude and latitude coordinates of each key part of each roadway into a world coordinate system to obtain the world coordinates of each key part of each roadway;
the shape data measuring module is used for measuring shape data of each tunnel of the coal mine, and the shape data comprises distance information among key parts of the tunnel and the length, width, height, top camber and radian radius of the cross section of the tunnel;
the two-dimensional structure chart manufacturing module is used for manufacturing a two-dimensional structure chart of each roadway according to the shape data of each roadway;
the correction module is used for correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain a corrected two-dimensional structure chart of each roadway;
the tunnel center line and tunnel section generation module is used for correcting the two-dimensional structure chart of each tunnel according to the world coordinates of each key part of each tunnel to obtain a corrected two-dimensional structure chart of each tunnel;
and the three-dimensional model generation module is used for lofting the corrected two-dimensional structure diagram of each roadway by taking the shape of the roadway section of each roadway as an outline and taking the central line of the roadway as a path to generate the three-dimensional model of each roadway.
Optionally, the modification module specifically includes:
the two-dimensional structure diagram moving submodule is used for taking a tunnel entrance as an initial position and moving the tunnel entrance in the two-dimensional structure diagram to the position of the world coordinate of the tunnel entrance;
the judgment submodule is used for judging whether the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one or not to obtain a first judgment result;
a first judgment result processing submodule, configured to, if the first judgment result indicates that the coordinates of each key portion in the moved two-dimensional structure diagram do not correspond to the world coordinates of each key portion one to one, remeasure the shape data of the lane of the key portion that does not correspond, modify the moved two-dimensional structure diagram using the remeasured shape data, and return to the step "judge whether the world coordinates of each key portion of the lane in the moved two-dimensional structure diagram correspond to the world coordinates of the latitude-longitude measurement conversion one to one, so as to obtain a first judgment result";
and the second judgment result processing submodule is used for outputting the two-dimensional structure diagram of the roadway as the corrected two-dimensional structure diagram if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure diagram correspond to the world coordinates of each key part one by one.
Optionally, the three-dimensional modeling system further includes:
and the intersection cutting module is used for performing intersection cutting processing on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain the three-dimensional roadway model after intersection cutting.
Optionally, the three-dimensional modeling system further includes:
and the welding module is used for welding the points of the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model.
Optionally, the three-dimensional modeling system further includes:
and the smooth rendering processing module is used for performing smooth rendering processing on the welded three-dimensional roadway model to obtain the three-dimensional roadway model subjected to the smooth rendering processing.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a coal mine tunnel three-dimensional modeling method and a system, firstly, a GPS positioning device is used for obtaining longitude and latitude coordinates of each key part of each tunnel of a coal mine; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface; and converting it to a world coordinate system; then measuring the shape data of the laneway, and making a two-dimensional structure chart of each laneway according to the shape data of each laneway; then, correcting the two-dimensional structure chart of each roadway according to the world coordinates of the key parts of each roadway; and finally, automatically lofting by using the generated central line of the roadway and the profile map of the roadway to generate a three-dimensional model of each roadway. The two-dimensional structure chart manufactured by the method is corrected by using the world coordinates of each key part, so that the accuracy of the two-dimensional structure chart for generating the three-dimensional model is ensured; the invention provides a high-accuracy rapid three-dimensional modeling method, overcomes the technical defects of high difficulty, long period and poor precision of three-dimensional digital three-dimensional modeling in a coal mine operation field, and is suitable for the engineering fields of various mines, underground pipelines, underground exploration and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings provided by the present invention without any creative effort.
FIG. 1 is a flow chart of a coal mine tunnel three-dimensional modeling method provided by the invention;
FIG. 2 is a schematic diagram of a three-dimensional modeling method for a coal mine roadway according to the present invention;
FIG. 3 is a two-dimensional structure diagram of a roadway provided by the present invention;
FIG. 4 is a schematic view of a roadway centerline provided by the present invention;
FIG. 5 is a schematic illustration of a roadway cross-section provided by the present invention;
FIG. 6 is a schematic diagram of the present invention for generating a three-dimensional model;
FIG. 7 is a schematic diagram of the cutting principle of the intersecting part provided by the present invention;
FIG. 8 is a schematic illustration of the welding provided by the present invention;
FIG. 9 is a diagram of the effect of welding and smoothing rendering provided by the present invention;
fig. 10 is a structural diagram of a three-dimensional modeling system for a coal mine roadway according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a coal mine roadway three-dimensional modeling method and a system, and provides a high-accuracy rapid three-dimensional modeling method, so that a built three-dimensional model can be directly applied to a coal mine roadway three-dimensional scene, the model of various types of equipment can be conveniently added to the three-dimensional model in the later period, digital models such as a drainage system, a transportation system, a ventilation system and a monitoring system of the coal mine roadway can be reconstructed on the basis of the three-dimensional model, and three-dimensional map basic support is provided for the construction of a digital mine and an intelligent mine.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 and 2, the invention provides a three-dimensional modeling method for a coal mine tunnel, which comprises the following steps:
step 101, acquiring longitude and latitude coordinates of each key part of each roadway of a coal mine by using GPS positioning equipment; the key parts comprise a roadway entrance, roadway corners, a roadway configuration room and a roadway working face.
The latitude and longitude coordinates are a spherical coordinate system that defines the space on the earth by using a spherical surface in a three-dimensional space, and can indicate any position on the earth. The invention uses GPS tool or Beidou navigation tool to obtain longitude and latitude coordinate information. The invention mainly positions the entry of the roadway, the corner of the roadway, various configuration rooms of the roadway, the working surface and the like to obtain the coordinate information.
Such as: roadway entry (longitude: 119.632458 latitude: 40.132643 height: 223)
Underground elevator (longitude: 119.633780 latitude: 40.132598 height: 158)
Central water storage area (longitude: 119.633858 latitude: 40.132562 height: 157)
Working surface No. 3 (longitude: 119.634159 latitude: 40.132598 height: 179)
And 102, converting the longitude and latitude coordinates of each key part of each roadway into a world coordinate system to obtain the world coordinates of each key part of each roadway.
World coordinate system (X-axis, Y-axis and Z-axis) data are usually used in a three-dimensional software platform, so that longitude and latitude data acquired by the method need to be converted, and the conversion mode is realized by formulas (1) to (5). Let the latitude α, longitude β, altitude h (meters), and earth radius 6372.8 kilometers. The earth has the scores of south, north, latitude, east and west longitude, so if the roadways in various places need classification discussion.
Dongjing: x ≈ (6372.8 + h/1000) (cos alpha) (sin beta) (1)
The west longitude: x = (6372.8 + h/1000) (cos alpha) sin (180 + beta) (2)
The y coordinate is not influenced by the difference of east-west meridians
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 + alpha) (5)
103, measuring shape data of each tunnel of the coal mine, wherein the shape data comprises distance information among key parts of the tunnel, and the length, width, height, top camber and radian radius of the cross section of the tunnel; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface;
the shape data of the invention is manual measurement information, and the manual measurement information is an original distance measurement mode and mainly measures position information and distance. E.g. distance from entrance to elevator: the entrance and the elevator are position name information, and the distance is length information; meanwhile, the length, width, height, radian of the top of the roadway, radian radius and the like of the cross section of the roadway are required to be measured through manual measurement; the recording tool can use laser distance measuring instrument, ruler, pen and book.
And 104, manufacturing a two-dimensional structure diagram of each roadway according to the shape data of each roadway.
According to the method, a lot of data are obtained through measurement, if a three-dimensional graph is generated by a direct program, a lot of algorithms are needed for calculation, and firstly, an AUTOCAD drawing tool is used for manually drawing a two-dimensional roadway structure graph, as shown in FIG. 3.
And 105, correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain the corrected two-dimensional structure chart of each roadway.
The method specifically comprises the following steps: taking a tunnel entrance as an initial position, and moving the tunnel entrance in the two-dimensional structure diagram to the position of the world coordinate of the tunnel entrance; judging whether the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one or not to obtain a first judgment result; if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure chart do not correspond to the world coordinates of each key part one by one, re-measuring the shape data of the roadway of the non-corresponding key part, correcting the moved two-dimensional structure chart by using the re-measured shape data, and returning to the step of judging whether the world coordinates of each key part of the roadway in the moved two-dimensional structure chart correspond to the world coordinates of the longitude and latitude measurement conversion one by one or not to obtain a first judgment result; and if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one, outputting the two-dimensional structure chart of the roadway as the corrected two-dimensional structure chart.
The accuracy of the data is related to the accuracy of the final three-dimensional scene, and the most important point in the invention is to use a plurality of accurate longitude and latitude coordinates to correct the position of the whole set of three-dimensional scene.
Converting a tunnel entrance longitude and latitude coordinate into a world coordinate as an initial position: step 102 describes in detail a calculation method for transforming the world coordinate system (X-axis, Y-axis, Z-axis) into latitude and longitude, and this value is the coordinate of the world coordinate system corresponding to the latitude and longitude. If the longitude and latitude coordinates of Chinese WGS84 at the position of the entry of a mine roadway are as follows: the altitude of 117 ° 45 'east longitude 14' north latitude 39 '26' east longitude 26 is 135 meters, and the position of the initial position in the world coordinate system is calculated by the formulas (1) - (5) in the step 102: x =564699 km, y =4391742 km, z =135 m.
2, butting the previously drawn two-dimensional structure diagram at an initial position: after a two-dimensional roadway structure diagram is manufactured by utilizing AUTOCAD drawing in step 104, the structure diagrams are integrally packaged into groups; the center point position of the group is arranged at the entry of the roadway of the two-dimensional planar diagram of the roadway; inputting the world coordinate system value after longitude and latitude conversion of manual measurement in a mobile mode: x =564699 km, y =4391742 km, z =135 m, at which time the overall block diagram is moved to the initial position.
3, placing a plurality of coordinates of other longitudes and latitudes into the two-dimensional structure chart to see whether each position corresponds to: because the data is the length, the width and the height which are measured manually as the standard when the two-dimensional roadway structure chart is manufactured by the AUTOCAD drawing, the drawing is not necessarily correct. And the longitude and latitude measured by using tools such as a GPS or a Beidou navigation system and the like in the underground tunnel are different from the data source of manual measurement, the measured longitude and latitude of the working face, the longitude and latitude of the power distribution station and the longitude and latitude of the centralized drainage area are converted into a world coordinate system, the two-dimensional plane map which is moved to the initial position is corresponded, and whether the converted position is in one-to-one correspondence with the positions of the working face, the power distribution station, the water pump and the water sump on the two-dimensional plane map is judged.
4, correcting the part where the checking position does not correspond: when the position of the longitude and latitude converted into the world coordinate system cannot correspond to the position on the plane graph manufactured by manual measurement and has deviation, the drawing manufactured by manual measurement is indicated to have problems, and the position from which the deviation starts is found out; the dispatcher re-measures the data from the deviated place and modifies the two-dimensional structure chart produced in the step 104 until the data is correct.
And step 106, correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain the corrected two-dimensional structure chart of each roadway.
1. The invention uses AUTOCAD drawing tool to draw two-dimensional tunnel structure chart, and obtains the tunnel center line of each two-dimensional tunnel.
1) First calculating the center point between two segments
In the two-dimensional structure diagram of the roadway, each two-dimensional line is formed by connecting countless points, and then the central line between the two lines is also formed by connecting the points of the two line segments and the central point between the points. The line segment on one side of the roadway ground is a P1 line segment, the line segment on the other side of the roadway ground is a P2 line segment, and the middle line of the roadway ground is a P line segment; the P line segment is calculated from two points corresponding to two points on the line segments on two sides of the ground (the central point of the connecting line of the two points), and the algorithm is as follows:
coordinates (x, y) of a point P _01 are obtained from two points P1_01 (x 1, y 1) and P2_01 (x 2, y 2) of line segments on two sides of the roadway and the middle point of the line segment. The perpendicular lines P1M1 and P2M2 respectively drawn from the points P1_01 and P2_01 as the x-axis intersect the points M1 (x 1, 0), M2 (x 2, 0), M (x, 0), and the midpoint coordinate of the line segment connecting the points P1_01 and P2_01 is
2) And connecting the multiple points by a connecting line. The graphic development engine is provided with a LINE command function. A LINE can be used directly to connect multiple points into a LINE.
The center line of the resulting roadway is shown in fig. 4.
2. Generating a roadway section: the cross section of the roadway is generally square on the lower side and arc on the upper side. Such as: setting the length of a rectangle as X and the width as Y, and freely inputting the length and the width of a square; square drawing can be realized based on an OpenGL function library code statement glRectf (-Xf, -Yf, xf, yf); the roadway crown arc is typically a 180 degree semicircle with a radius denoted by R, and the code g.drawrarc (pen, 0, R,200, 0, 180) can be plotted for R by the corresponding value of measurement.
As shown in fig. 5, fig. 5 (a) is a tunnel cross section when the roof arc is 180 degrees, and fig. 5 (b) is a tunnel cross section when the roof arc is 150 degrees.
And 107, lofting the corrected two-dimensional structure diagram of each roadway by taking the shape of the roadway section of each roadway as an outline and taking the central line of the roadway as a path to generate a three-dimensional model of the roadway of each roadway.
The three-dimensional model is directly generated by using the central line as a path and the sectional view as a shape of a roadway through an OpenGL lofting function command left, as shown in fig. 6.
Respectively with the shape of the tunnel section of every tunnel is the profile, and the tunnel central line is the route and generates the tunnel three-dimensional model of every tunnel with the two-dimensional structure chart lofting after the correction of every tunnel, later still includes: and performing roadway intersection cutting processing on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain an intersected and cut three-dimensional roadway model.
As shown in fig. 7, the present invention requires automatic cropping of multiple intersecting lanes in the three-dimensional model, or else heavy faces. The cutting method is that two intersected roadways are tangent pairwise, two groups of models are obtained again, and a grid cutting algorithm is used: the cutting is completed by several sections of program codes, and the process is to obtain a coordinate point of each roadway (each three-dimensional model has own coordinate information), judge whether the three-dimensional model has an intersection position, and cut the intersection position.
And if the grid vertex exists through the array, the initial node and the final node of the first group of model point coordinate parameters and the second group of model point coordinate parameters are intersected, if the initial node and the final node are not intersected, the cutting is not needed, and if the initial node and the final node are intersected, the cutting can be directly carried out. And cutting to regenerate the grid.
The method comprises the following steps of carrying out roadway intersection cutting processing on a three-dimensional roadway model by using an intersection cutting calculation formula to obtain an intersected and cut three-dimensional roadway model, and then further comprising: and welding the points at the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model.
After face cutting, points are generated at the intersection of the two models, so that a plurality of points may be generated at one position, and therefore, intersection point welding is needed.
As shown in FIG. 8, the vertex welds are derived from three-dimensional modeling of a triangular mesh. Jian Shandian, vertex Welding (Vertex Welding), also called Vertex deduplication, is to remove repeated vertices or vertices with coincident positions in Mesh to form a Vertex, so that triangles sharing these vertices are "welded". Mesh is actually a set of vertices + a set of triangles, where a triangle is represented by three indices pointing to the set of vertices. In practical applications, however, the Mesh is often built from an original triangle set (triangle soup), where all triangles in the original triangle set are independent triangles, and each triangle directly contains coordinates of three vertices rather than vertex indexes. That is, the vertices of the triangles are independent of each other in the data structure, for example, the triangle a and the triangle B each have a vertex with the coordinate P (1,0,1), and should be geometrically the same point, but the relationship of such triangle sharing a vertex is not seen at all in the original triangle set. Establishing a Mesh capable of correctly expressing the connection mode between the vertexes from the original triangle requires extracting nonrepeating vertex sets from the original triangle set and converting the triangles into triangles based on the vertex indexes. Therefore, the Mesh which removes redundant information and can express a correct connection relation is successfully created. After such Mesh is established, the aforementioned triangles a and B are actually sharing the vertex P because they will have the same vertex index of P at the same time.
Welding the points of the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model, and then further comprising: and performing smooth rendering treatment on the welded three-dimensional roadway model to obtain the three-dimensional roadway model subjected to the smooth rendering treatment.
In the final effect expression, the automatically generated model cannot be automatically and smoothly processed, and the Laplace smoothing method is adopted on the welded model to obtain the final desired model. The Laplace smooth modifier can reduce the surface fluctuation noise of the grid under the condition that the shape of the grid is not modified as much as possible by the model. It may also use a negative coefficient enlargement shape. Laplacian smoothing may be useful for objects that are reconstructed well from the real world and have undesirable fluctuating noise. It eliminates the fluctuation noise while still maintaining the ideal geometry and shape of the original model.
The effect after the welding and rounding rendering process is shown in fig. 9.
As shown in fig. 10, the present invention also provides a three-dimensional modeling system for a coal mine roadway, including:
a latitude and longitude coordinate acquisition module 1001 for acquiring latitude and longitude coordinates of each key part of each roadway of the coal mine by using a GPS positioning device; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface;
the coordinate conversion module 1002 is configured to convert longitude and latitude coordinates of each key part of each roadway into a world coordinate system, so as to obtain world coordinates of each key part of each roadway;
the shape data measuring module 1003 is used for measuring shape data of each tunnel of the coal mine, wherein the shape data comprises distance information among key parts of the tunnel, and the length, width, height, top camber and radian radius of the cross section of the tunnel;
a two-dimensional structure diagram making module 1004 for making a two-dimensional structure diagram of each roadway according to the shape data of each roadway;
a correction module 1005, configured to correct the two-dimensional structure diagram of each lane according to the world coordinates of each key part of each lane, respectively, to obtain a corrected two-dimensional structure diagram of each lane;
the modification module 1005 specifically includes: the two-dimensional structure chart moving submodule is used for taking a tunnel entrance as an initial position and moving the tunnel entrance in the two-dimensional structure chart to the position of the world coordinate of the tunnel entrance; the judgment submodule is used for judging whether the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one or not to obtain a first judgment result; a first judgment result processing submodule, configured to, if the first judgment result indicates that the coordinates of each key portion in the moved two-dimensional structure diagram do not correspond to the world coordinates of each key portion one to one, remeasure the shape data of the lane of the key portion that does not correspond, modify the moved two-dimensional structure diagram using the remeasured shape data, and return to the step "judge whether the world coordinates of each key portion of the lane in the moved two-dimensional structure diagram correspond to the world coordinates of the latitude-longitude measurement conversion one to one, so as to obtain a first judgment result"; and the second judgment result processing submodule is used for outputting the two-dimensional structure diagram of the roadway as the corrected two-dimensional structure diagram if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure diagram correspond to the world coordinates of each key part one by one.
A roadway center line and roadway section generation module 1006, configured to correct the two-dimensional structure diagram of each roadway according to the world coordinates of each key part of each roadway, respectively, to obtain a corrected two-dimensional structure diagram of each roadway;
and a three-dimensional model generating module 1007, configured to use the shape of the cross section of each roadway as an outline, and a central line of the roadway as a path, and loft the corrected two-dimensional structure diagram of each roadway to generate a three-dimensional model of the roadway of each roadway.
The three-dimensional modeling system further includes: and the intersection cutting module is used for performing intersection cutting processing on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain the three-dimensional roadway model after intersection cutting. And the welding module is used for welding the points of the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model. The three-dimensional modeling system further includes: and the smooth rendering processing module is used for performing smooth rendering processing on the welded three-dimensional roadway model to obtain the three-dimensional roadway model subjected to the smooth rendering processing.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, the data measured by personnel are corrected by longitude and latitude data, so that the accuracy of three-dimensional modeling is improved, the technology of obtaining the whole roadway by adopting the central line lofting section of the roadway is adopted, the speed of three-dimensional modeling is improved, the intersection surface of the roadway is automatically cut, and the problem of heavy surface when a model is automatically generated is solved; welding intersection points, optimizing a scene and avoiding redundant point and line surfaces; and the three-dimensional scene of the roadway is processed smoothly, and the effect is optimal. The three-dimensional modeling method and the system are suitable for different environments and scenes, have modular three-dimensional modeling, higher automatic three-dimensional modeling efficiency, expandable model base, user customization, more flexible editing and modifying and more economical system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
The principles and embodiments of the present invention have been described herein using specific examples, which are set forth only to help understand the apparatus and its core concepts of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A three-dimensional modeling method for a coal mine tunnel is characterized by comprising the following steps:
acquiring longitude and latitude coordinates of each key part of each roadway of the coal mine by using GPS positioning equipment; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface;
converting the longitude and latitude coordinates of each key part of each roadway into a world coordinate system to obtain the world coordinates of each key part of each roadway;
measuring shape data of each tunnel of a coal mine, wherein the shape data comprises distance information among key parts of the tunnel, and the length, width, height, top camber and radian radius of the cross section of the tunnel;
manufacturing a two-dimensional structure chart of each roadway according to the shape data of each roadway;
correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain a corrected two-dimensional structure chart of each roadway;
generating a tunnel center line and a tunnel section of each tunnel according to the shape data of each tunnel and the corrected two-dimensional structure chart of each tunnel;
taking the shape of the tunnel section of each tunnel as an outline and the center line of the tunnel as a path, lofting the corrected two-dimensional structure chart of each tunnel to generate a three-dimensional model of each tunnel, and obtaining a three-dimensional tunnel model of the coal mine;
the two-dimensional structure chart of each tunnel is corrected according to the world coordinates of each key part of each tunnel, so that the corrected two-dimensional structure chart of each tunnel is obtained, and the method specifically comprises the following steps:
taking a tunnel entrance as an initial position, and moving the tunnel entrance in the two-dimensional structure diagram to the position of the world coordinate of the tunnel entrance;
judging whether the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one or not to obtain a first judgment result;
if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure chart do not correspond to the world coordinates of each key part one by one, re-measuring the shape data of the roadway of the non-corresponding key part, correcting the moved two-dimensional structure chart by using the re-measured shape data, and returning to the step of judging whether the world coordinates of each key part of the roadway in the moved two-dimensional structure chart correspond to the world coordinates of the longitude and latitude measurement conversion one by one or not to obtain a first judgment result;
and if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one, outputting the two-dimensional structure chart of the roadway as the corrected two-dimensional structure chart.
2. The coal mine tunnel three-dimensional modeling method according to claim 1, characterized in that the shape of the tunnel section of each tunnel is taken as a contour, a tunnel center line is taken as a path, the corrected two-dimensional structure diagram of each tunnel is lofted to generate a three-dimensional model of each tunnel, and a three-dimensional tunnel model of a coal mine is obtained, and then the method further comprises:
and performing roadway intersection cutting processing on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain an intersected and cut three-dimensional roadway model.
3. The coal mine roadway three-dimensional modeling method according to claim 2, wherein the roadway intersection cutting processing is performed on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain an intersection cut three-dimensional roadway model, and then the method further comprises:
and welding the points at the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model.
4. The coal mine tunnel three-dimensional modeling method according to claim 3, characterized in that welding points of intersection positions in the three-dimensional tunnel model after intersection cutting is performed to obtain a welded three-dimensional tunnel model, and then further comprising:
and performing smooth rendering treatment on the welded three-dimensional roadway model to obtain the three-dimensional roadway model subjected to the smooth rendering treatment.
5. A three-dimensional modeling system for a coal mine roadway, the three-dimensional modeling system comprising:
the longitude and latitude coordinate acquisition module is used for acquiring longitude and latitude coordinates of each key part of each roadway of the coal mine by using GPS positioning equipment; the key parts comprise a roadway entrance, a roadway corner, a roadway configuration room and a roadway working surface;
the coordinate conversion module is used for converting the longitude and latitude coordinates of each key part of each roadway into a world coordinate system to obtain the world coordinates of each key part of each roadway;
the shape data measuring module is used for measuring shape data of each tunnel of the coal mine, and the shape data comprises distance information among key parts of the tunnel and the length, width, height, top camber and radian radius of the cross section of the tunnel;
the two-dimensional structure chart manufacturing module is used for manufacturing a two-dimensional structure chart of each roadway according to the shape data of each roadway;
the correction module is used for correcting the two-dimensional structure chart of each roadway according to the world coordinates of each key part of each roadway to obtain a corrected two-dimensional structure chart of each roadway;
the tunnel center line and tunnel section generation module is used for correcting the two-dimensional structure chart of each tunnel according to the world coordinates of each key part of each tunnel to obtain a corrected two-dimensional structure chart of each tunnel;
the three-dimensional model generation module is used for lofting the corrected two-dimensional structure diagram of each roadway by taking the shape of the roadway section of each roadway as an outline and taking the central line of the roadway as a path to generate a roadway three-dimensional model of each roadway;
the correction module specifically comprises:
the two-dimensional structure chart moving submodule is used for taking a tunnel entrance as an initial position and moving the tunnel entrance in the two-dimensional structure chart to the position of the world coordinate of the tunnel entrance;
the judgment submodule is used for judging whether the coordinates of each key part in the moved two-dimensional structure chart correspond to the world coordinates of each key part one by one or not to obtain a first judgment result;
a first judgment result processing submodule, configured to, if the first judgment result indicates that the coordinates of each key portion in the moved two-dimensional structure diagram do not correspond to the world coordinates of each key portion one to one, remeasure the shape data of the lane of the key portion that does not correspond, modify the moved two-dimensional structure diagram using the remeasured shape data, and return to the step "judge whether the world coordinates of each key portion of the lane in the moved two-dimensional structure diagram correspond to the world coordinates of the latitude-longitude measurement conversion one to one, so as to obtain a first judgment result";
and the second judgment result processing submodule is used for outputting the two-dimensional structure diagram of the roadway as the corrected two-dimensional structure diagram if the first judgment result shows that the coordinates of each key part in the moved two-dimensional structure diagram correspond to the world coordinates of each key part one by one.
6. A coal mine roadway three dimensional modeling system as claimed in claim 5, wherein said three dimensional modeling system further comprises:
and the intersection cutting module is used for performing intersection cutting processing on the three-dimensional roadway model by using an intersection cutting calculation formula to obtain the three-dimensional roadway model after intersection cutting.
7. The coal mine roadway three-dimensional modeling system of claim 6, further comprising:
and the welding module is used for welding the points of the intersection positions in the three-dimensional roadway model after intersection cutting to obtain the welded three-dimensional roadway model.
8. The coal mine roadway three-dimensional modeling system of claim 7, further comprising:
and the smooth rendering processing module is used for performing smooth rendering processing on the welded three-dimensional roadway model to obtain the three-dimensional roadway model subjected to the smooth rendering processing.
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 CN110363844A (en) | 2019-10-22 |
| CN110363844B true 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) |
Families Citing this family (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 |
| 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 |
-
2019
- 2019-07-16 CN CN201910640081.4A patent/CN110363844B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110363844A (en) | 2019-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Badenko et al. | Scan-to-BIM methodology adapted for different application | |
| CN101634544B (en) | Water turbine blade blank profile measuring and machining allowance analyzing method | |
| CN112465976B (en) | Storage yard three-dimensional map establishing method, inventory management method, equipment and medium | |
| KR101659780B1 (en) | Method for Representing Global Spherical Space of 2 Dimentional Drawing data in GIS | |
| Yan et al. | Integration of 3D objects and terrain for 3D modelling supporting the digital twin | |
| CN102662179A (en) | Three-dimensional optimizing route selection method based on airborne laser radar | |
| KR101425576B1 (en) | Method for acquiring and processing a three-dimensional data to product a precise wide-area scale model | |
| US8600713B2 (en) | Method of online building-model reconstruction using photogrammetric mapping system | |
| CN110363844B (en) | Coal mine tunnel three-dimensional modeling method and system | |
| CN112862967B (en) | Method and device for establishing three-dimensional geological model | |
| CN110489896A (en) | A kind of temporary engineering addressing and design method based on multisource data fusion technology | |
| CN110489897A (en) | A kind of three-dimensional construction field cloth VR panoramic sand table production method based on BIM and GIS | |
| CN102495879A (en) | Industrial overhead pipeline measurement method based on ground LIDAR (Light Detection And Ranging) | |
| CN105005580A (en) | Method and device for displaying reservoir terrain | |
| Canevese et al. | Beyond point clouds and virtual reality. Innovative methods and technologies for the protection and promotion of cultural heritage | |
| CN113160403B (en) | Modeling method of high-precision highway information model | |
| KR100844452B1 (en) | The method for generating 3-dimensional apartment complex image | |
| Cheng | The workflows of 3D digitizing heritage monuments | |
| Tse et al. | Building reconstruction using LIDAR data | |
| Streilein et al. | Reconstruction of the Disentis monastery from high resolution still video imagery with object oriented measurement routines | |
| Ulm | Improved 3D city modeling with CyberCity-Modeler (CC-Modeler) using aerial-satellite imagery and laserscanner data | |
| CN100395779C (en) | Measurable seamless space stereomodel gereration method based on digital stereo normal incidence image mosaic | |
| Fidosova et al. | Three-Dimensional Modelling of Spatial Data in Urban Territory | |
| US11163920B2 (en) | Method for modeling structure in variable terrain | |
| CN116828485B (en) | UWB base station three-dimensional layout method and system suitable for complex environment in factory building |
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 |