CN113720308B - Head-on photography geological cataloging method and system - Google Patents
Head-on photography geological cataloging method and system Download PDFInfo
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Abstract
The invention relates to the technical field of photogrammetry, in particular to a method and a system for recording head-on photography geology, wherein the system comprises a fixed mapping module, a mapping photography module, an information interaction module and a processing module, and an indication laser unit is arranged on the fixed mapping module; the method comprises the steps of emitting line laser by a fixed mapping module, measuring a distance value between the line laser and a coal wall as a proportion scale for photogrammetry, adjusting the top end surface of the fixed mapping module to the horizontal direction, and modulating the plumb direction of the fixed mapping module; the fixed mapping module emits a plurality of indication light spots positioned on the same straight line to indicate the photographing position of the mapping photographing module, so that the mapping photographing module photographs a plurality of photographing images of the fixed mapping module and the head-on side and emits the photographing images to the background processing module; the photographic images are sequentially subjected to image processing analysis, three-dimensional model establishment and geological recording processing by the processing module, and then the head-on cross section is obtained by calculating the shape. The invention reduces the calculated amount caused by position errors.
Description
Technical Field
The invention relates to the technical field of photogrammetry, in particular to a head-on photography geological transcription method and system.
Background
The tunneling working face is also called tunneling head-on, which means that when preparing for the stoping working face, a roadway is firstly mined, and the roadway comprises the functions of coal detection, coal digging, water detection, gas detection and the like, which is equivalent to a single-head roadway mainly tunneling and assisted by other geological conditions, has no autonomous ventilation system, has no passage directly leading to the ground, and needs to be used for supporting the top and two sides of the roadway, and is generally mechanical tunneling and blasting tunneling. The head-on geological record is important because it relates to the safety assessment of subsequent coal mining operations.
At present, the geological transcription method of the head-on is that parameter measurement is carried out through a compass and a tape, then the geological structure information is obtained through hand drawing or AutoCAD drawing, and finally the structure shape is obtained through calculation. When the existing geological logging method is used, the parameter measurement error is large, the difference of subsequent image drawing and structure occurrence calculation is caused, and the logging data calculation amount is large.
Disclosure of Invention
The invention aims to provide a head-on photography geological logging system so as to solve the problem of large data calculation amount of the existing logging method.
The head-on photography geological logging system comprises a fixed mapping module, a mapping photography module, an information interaction module and a processing module;
the fixed mapping module is positioned in front of the head-on face and used as a proportional scale in the photographic image, and a leveling unit for adjusting the direction is arranged on the fixed mapping module;
the mapping photographing module is used for photographing the photographing images of the fixed mapping module and the head-on face;
the information interaction module is used for sending the photographic image to the processing module for recording;
the processing module is used for sequentially carrying out image processing analysis, three-dimensional model establishment and geological record processing on the photographic images, and then calculating the production shape to obtain a head-on section view;
the fixed mapping module is provided with an indication laser unit, the indication laser unit emits a plurality of indication light spots which are positioned on the same straight line so as to indicate the shooting position of the mapping shooting module, the indication laser unit is arranged on the fixed mapping module at a preset inclination angle, the indication laser unit is arranged downwards in an inclined mode towards one side of the ground, and the indication laser unit emits the indication light spots to the ground according to the preset inclination angle after the fixed mapping module adjusts the level.
The beneficial effect of this scheme is:
in the geological logging process, firstly, a fixed mapping module is placed at a preset position in front of an head-on face, and the top end face of the fixed mapping module is adjusted to be in the horizontal direction through a leveling unit; then, an indication laser unit on the fixed mapping module emits a plurality of indication light spots positioned on the same straight line, the shooting position of the mapping photographic module is indicated by the indication light spots, the mapping photographic module shoots photographic images of the fixed mapping module and the head-on face, and the information interaction module sends the photographic images to the processing module; finally, the photographic image is processed by a processing module, and then the head-on cross section is calculated to obtain the product. The shooting position of the surveying and mapping shooting module is indicated through the fixed surveying and mapping module, the accuracy of selection of the shooting position is improved, and the calculated amount caused by position errors is reduced.
Further, an adjusting unit which horizontally and vertically moves on the fixed mapping module is arranged on the indicating laser unit, and the adjusting unit is positioned on the leveling unit and is adjusted to be horizontal by the leveling unit.
The beneficial effects are that: whether the leveling unit is used for adjusting the level of the adjusting unit or not, and the adjusting unit is used for adjusting the distance between the indicating light spots projected to the ground, so that the image pickup position points of the mapping photographic module can be indicated at equal distance, and the error of image pickup position point selection is reduced.
Further, the fixed mapping module comprises a tripod unit, a calibration unit, an inclination angle sensing unit, a micro-processing unit and a display unit on the tripod unit;
the calibration unit is used for emitting line laser to both sides and measuring a distance value between the line laser and a coal wall as a photogrammetric proportion scale, the calibration unit emits a plurality of point lasers positioned on the same straight line, the emission included angles among the point lasers are set according to a preset angle, and the calibration unit measures the optical path distance of each laser point after emitting the point lasers;
the inclination angle sensing unit detects a horizontal included angle between the center and the horizontal when the calibration unit emits point laser;
the micro-processing unit acquires the emission included angle, the light path distance and the horizontal included angle, calculates horizontal projection of the light path distance of the point laser in the horizontal direction, judges whether the horizontal projections of the laser points are equal or not, and when the horizontal projections of any two laser points are equal, the processing module forms plumb information of the fixed mapping module and sends the plumb information to the display unit for display.
The beneficial effects are that: the line laser unit is used as a photogrammetric proportional scale, the point laser units emit a plurality of point lasers to adjust the plumb direction, the conventional marker post is not required to be used, the length of the fixed mapping module is greatly reduced, the portable is convenient, the distance value measured by the line laser unit is used as the proportional scale, the length of the proportional scale is adjustable, and the use is more convenient.
Further, the calibration unit includes a point laser emitter that emits point laser light toward the circumferential coal wall and a line laser emitter that emits line laser light toward the top coal wall.
The beneficial effects are that: the point laser transmitter and the line laser transmitter can be used as a proportion scale and plumb judgment respectively, so that the difficulty of adjustment is reduced.
Further, the inclination angle sensing unit detects inclination angle information of the top end of the calibration unit, the inclination angle information comprises a roll angle, an azimuth angle and a pitch angle, and the micro-processing unit acquires the inclination angle information and sends the inclination angle information to the display unit for display.
The beneficial effects are that: the monitored inclination angle information is displayed, so that the adjustment of the level of the top end surface of the fixed mapping module is convenient, meanwhile, the adjustment can be performed according to the level, and errors and time delay caused by blind adjustment are avoided.
Further, the indication laser unit measures the distance value between the indication light spots and the ground after emitting the indication light spots and sends the distance value to the micro-processing unit, the micro-processing unit sums the distance values of the two adjacent indication light spots to obtain a sum value of adjacent edges, the micro-processing unit pre-stores a preset sum value of the preset distance between the indication light spots corresponding to the adjacent oblique edges, the micro-processing unit takes an absolute value to obtain a difference value by taking the difference between the preset sum value and the sum value of the adjacent edges, the micro-processing unit compares the difference value with a threshold value, and when the difference value is larger than the threshold value, the micro-processing unit sends early warning prompt information to the display unit.
The beneficial effects are that: after the plurality of indication light spots are projected onto the ground through automatic judgment and correction, the adjacent edge sum value of the two indication light spots connected with the adjacent edge is different from the preset sum value, so that whether the distance between the two points meets the requirement of photogrammetry after the actual indication light spots are projected is determined, the automatic judgment is carried out, the error of manual judgment is reduced, the accuracy of a photographic place is improved, and a photographic image is uniformly shot.
The head-on photography geological cataloging method comprises the following steps:
step one, installing a fixed mapping module at a preset position in front of a head-on surface, taking a distance value between the fixed mapping module and a coal wall as a proportional scale for photogrammetry by emitting line laser and measuring the line laser, adjusting the top end surface of the fixed mapping module to a horizontal direction, and modulating the plumb direction of the fixed mapping module;
step two, a plurality of indication light spots positioned on the same straight line are emitted by the fixed mapping module to indicate the photographing position of the mapping photographing module, whether the photographing optical axis is perpendicular to the head-on surface or not is judged through a numerical value horizontal gauge on the mapping photographing module, if yes, the mapping photographing module photographs a plurality of photographing images of the fixed mapping module and the head-on surface, and the photographing images are emitted to a processing module of the background;
and thirdly, sequentially carrying out image processing analysis, three-dimensional model establishment and geological recording processing on the photographic images by a processing module, and calculating the yield to obtain a head-on profile.
The beneficial effect of this scheme is:
the line laser is used as a proportional scale for photogrammetry, the existing marker rod is not needed, the length of a fixed mapping module is greatly reduced, the portable type linear laser is convenient to carry, the distance value measured by the line laser unit is used as the proportional scale, the length of the proportional scale is adjustable, and the use is more convenient; and the light spot is indicated to serve as a shooting position, so that the accuracy of selecting the shooting position is improved, and the calculated amount caused by position errors is reduced.
In the first step, a plurality of laser points located on the same straight line are emitted through the fixed mapping module, the light path distance is measured while the laser points are emitted, the horizontal included angle between the emission center of the laser points and the horizontal direction is measured, the emission included angle between the emission directions of the laser points is known, the horizontal projection of the light path distances of the plurality of laser points in the horizontal direction is calculated according to the light path distance, the emission included angle and the horizontal included angle, the horizontal projections of any two laser points are compared, and when the horizontal projections of any two laser points are equal, the plumb information of the fixed mapping module is generated for display.
The beneficial effects are that: whether plumb is calculated and judged through laser emission, need not to carry the marking rod of great size as the proportion scale, more be applicable to the colliery and carry the use in the mine.
In the first step, the optical path distance, the azimuth angle and the pitch angle obtained by the fixed mapping module transmitting the point laser to the preset coordinate point of the coal wall are transmitted to the processing module, and the processing module calculates the absolute three-dimensional coordinates of the fixed mapping module according to the preset coordinate point, the optical path distance, the azimuth angle and the pitch angle.
The beneficial effects are that: and the related information of the photogrammetry site is sent to the processing module, the absolute three-dimensional coordinates of the fixed mapping module are calculated, and the geological condition is acquired more accurately due to the accuracy of geological record calculation.
Explanation: the azimuth angle is the angle between the emitted laser and the north direction.
In the second step, the distance value between the ground and the ground is measured while the indication light spots are emitted, the distance values between the adjacent two indication light spots are summed to obtain a boundary sum value, the preset sum value of the preset distance between the pre-stored indication light spots corresponding to the adjacent hypotenuses is subjected to difference absolute value to obtain a difference value, the difference value is compared with a threshold value, and when the difference value is larger than the threshold value, early warning prompt information is displayed.
The beneficial effects are that: because the two indicating light spots and the emitting position form a triangle, any one vertex angle of the triangle is fixed, a truncated line is drawn at different positions on two sides of the included angle, and the distance between the two sides and the truncated line when the intersection point of the two sides and the truncated line is used as the indicating light spot can change, the scheme determines whether the distance between the indicating light spots is positioned in a preset range or not by calculating the adjacent sides and the value, the accuracy of a photographing place is improved, and a photographing image is uniformly photographed.
Drawings
FIG. 1 is a schematic block diagram of a head-on photography geological logging system according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional model of a head-on geological model in a head-on photographic geological recording method according to a third embodiment of the present invention;
fig. 3 is a longitudinal sectional view of a track constructed by a head-on photography geological recording method according to a third embodiment of the present invention.
Detailed Description
Further details are provided below with reference to the specific embodiments.
Example 1
A head-on photography geological logging system, as shown in fig. 1: the system comprises a fixed mapping module, a mapping photography module, an information interaction module and a processing module.
The fixed mapping module is located at a preset position in front of the head-on face, the preset position can be 2m in front of the head-on face, the fixed mapping module is used as a proportional scale in a photographic image, a leveling unit for adjusting the direction is arranged on the fixed mapping module, and the leveling unit can be adjusted in the horizontal direction by using an existing universal joint or a cradle head.
The fixed mapping module comprises a tripod unit, wherein the tripod unit can be used for shooting and mapping by the existing shooting tripod capable of adjusting the height, and the tripod unit is adjusted and stably stands on the ground; the tripod unit is provided with a calibration unit, an inclination angle sensing unit, a microprocessor unit and a display unit, and the leveling unit is positioned between the tripod unit and the calibration unit; the calibration unit is used for emitting line laser to two sides and measuring a distance value between the line laser and a coal wall as a photogrammetric proportional scale, the calibration unit emits a plurality of point lasers positioned on the same straight line for plumb calculation, in the embodiment, firstly, three point lasers are emitted for example, the emission included angles among the point lasers are known through preset setting according to preset angles, after the calibration unit emits the point lasers, the optical path distance between each laser point and the coal wall is measured, the optical path distance can be measured according to the optical speed and time, the calibration unit comprises a point laser emitter and a line laser emitter, the point laser emitter and the line laser emitter can use the existing laser emitters, the point laser emitter emits point lasers towards the circumferential coal wall, and the line laser emitter emits line lasers towards the top coal wall; the inclination angle sensing unit detects the horizontal included angle between the center and the horizontal when the calibration unit emits point laser, the inclination angle sensing unit uses the existing sensor, the micro-processing unit calculates horizontal projection according to the emission included angle, the light path distance and the horizontal included angle, judges whether plumb according to the three horizontal projections, and the micro-processing unit can use the existing SOC chip.
The fixed mapping module is provided with an indication laser unit, the laser indication unit can use the existing laser transmitters, the indication laser unit emits a plurality of indication light spots which are positioned on the same straight line to indicate the shooting position of the mapping photographing module, the number of the indication light spots is set according to the number of the actually required measurement points, the indication laser unit is arranged on the fixed mapping module at a preset inclination angle, the indication laser unit is arranged downwards obliquely towards one side of the ground, and the indication laser unit emits the indication light spots to the ground according to the preset inclination angle after the fixed mapping module is adjusted to be horizontal.
The mapping photography module is used for shooting photographic images of the fixed mapping module and the head on, and the mapping photography module can use an existing intrinsic safety type camera, such as a KBA7.4A type camera. The information interaction module is used for sending the photographic images to the processing module for recording processing, and the information interaction module can use the existing serial communication or other data lines for information transmission.
The information interaction module is used for sending the photographic image to the processing module for cataloguing, the processing module is used for sequentially carrying out image processing analysis, establishing a three-dimensional model and geological cataloguing processing on the photographic image, calculating the production shape to obtain a head-on cross section, the image processing analysis in the geological cataloguing process is used for calculating the pose of image shooting through the existing three-dimensional calculation, the head-on three-dimensional model is established through the existing GeoLog3D software, directional calculation is carried out in the three-dimensional model, and geological cataloguing processing such as geological structure surface/line/point, production shape calculation, geological attribute input, lane height, coal thickness measurement and the like is carried out on the three-dimensional model, and the processing of the process is the prior art and is not described in detail herein.
The laser unit is indicated to be equipped with on the laser unit and carries out the adjustment unit that level was to and vertical to removing on fixed survey and drawing module, adjustment unit is located the leveling unit and is adjusted the level by the leveling unit, adjustment unit includes transverse guide, sliding connection has horizontal seat on the transverse guide, and the welding has vertical guide on the horizontal seat, and sliding connection has vertical seat on the vertical guide, and transverse guide and vertical guide set up two respectively to can form "well" font, instruct laser unit fixed mounting on vertical seat.
The inclination angle sensing unit detects the inclination angle information of the top end of the calibration unit, the inclination angle information comprises a roll angle, an azimuth angle and a pitch angle, and the micro-processing unit acquires the inclination angle information and sends the inclination angle information to the display unit for display so as to conveniently and timely check the corresponding adjustment result; the micro-processing unit acquires the emission included angle, the light path distance and the horizontal included angle, calculates horizontal projection of the light path distance of the point laser in the horizontal direction, judges whether the horizontal projections of the laser points are equal or not, and when the horizontal projections of any two laser points are equal, the processing module forms plumb information of the fixed mapping module and sends the plumb information to the display unit for display.
The head-on shooting geological logging method based on the head-on shooting geological logging system comprises the following steps of:
step one, a plurality of laser points positioned on the same straight line are emitted through a fixed mapping module, the method takes three laser points as an example, the laser points are emitted, the light path distance is measured at the same time, the laser points are respectively expressed as OA, OB and OC, the emission angles of the laser points are known, the emission angles are expressed as psi 1 and psi 2, the horizontal angles of the emission center of the laser points and the horizontal direction are measured, the emission angles between the emission directions of the laser points are known, the horizontal angles are expressed as alpha, the horizontal projection of the light path distances of the laser points in the horizontal direction is calculated according to the light path distance, the emission angles and the horizontal angles, and the horizontal projection is expressed as:
OA`＝OA*cosα；
OB`＝OB*cos(α+ψ1)；
OC`＝OC*cos(α-ψ2)；
comparing the horizontal projections of any two laser points by the micro-processing unit, and generating plumb information of the fixed mapping module for display when the horizontal projections of any two laser points are equal;
the method comprises the steps of installing a fixed mapping module at a preset position in front of an head-on face, taking a distance value between the fixed mapping module and a coal wall as a photogrammetric proportional scale by emitting line laser and measuring the line laser, adjusting the top end face of the fixed mapping module to the horizontal direction, and modulating the plumb direction of the fixed mapping module, namely adjusting a leveling unit until any two horizontal projections are equal.
And secondly, emitting a plurality of indication light spots positioned on the same straight line by the fixed mapping module, indicating the photographing position of the mapping photographing module, judging whether a photographing optical axis is perpendicular to the head-on surface or not by a numerical value horizontal gauge on the mapping photographing module, if so, enabling the mapping photographing module to photograph a plurality of photographing images of the fixed mapping module and the head-on surface at each indication light spot, and transmitting the photographing images to a background processing module by the information interaction module.
And thirdly, sequentially carrying out image processing analysis, establishment of a head-on three-dimensional model and geological record processing on the photographic image by a processing module, and then calculating the production to obtain a head-on section view.
In the first step, the optical path distance, the azimuth angle and the pitch angle obtained by transmitting the point laser to the preset coordinate point of the coal wall through the fixed mapping module are transmitted to the processing module, the absolute three-dimensional coordinates of the fixed mapping module are calculated by the processing module according to the preset coordinate point, the optical path distance, the azimuth angle and the pitch angle, the preset coordinate point is obtained through the existing GNSS photogrammetry and is represented as (x, y, z), the azimuth angle is represented as beta, the pitch angle is represented as theta, and the absolute three-dimensional coordinates of the fixed mapping module are (x+oa×sin beta, y+oa×cos beta, z+oa×sin theta).
According to the embodiment, firstly, the light spot is indicated to serve as the shooting position, so that the accuracy of selection of the shooting position is improved, the calculated amount caused by position errors is reduced, the absolute three-dimensional coordinates of the fixed mapping module are automatically calculated, manual measurement is not needed, the safety of underground photogrammetry activities is improved, errors or mistakes caused by manual measurement are avoided, and the accuracy of the photogrammetry activities is improved.
Example two
The difference from the first embodiment is that the system further includes that after the indication laser unit emits the indication light spots, the distance value between the indication laser unit and the ground is measured and sent to the micro-processing unit, the micro-processing unit sums the distance values of two adjacent indication light spots to obtain a threshold sum value, the micro-processing unit pre-stores a preset sum value of the preset distance between the indication light spots corresponding to the adjacent hypotenuse, the preset sum value is set according to the length between the actually set indication light spots, the micro-processing unit makes a difference between the preset sum value and the threshold sum value to obtain a difference value, the micro-processing unit compares the difference value with a threshold value, and when the difference value is larger than the threshold value, the micro-processing unit sends early warning prompt information to the display unit.
In the second step, the distance value between the ground and the ground is measured while the indication light spots are emitted, the distance values of the two adjacent indication light spots are summed to obtain a boundary sum value, the preset sum value of the preset distance between the pre-stored indication light spots corresponding to the adjacent hypotenuses is subjected to difference absolute value to obtain a difference value, the difference value is compared with a threshold value, and when the difference value is larger than the threshold value, early warning prompt information is displayed.
In this embodiment, whether the distance between the indication light spots is within the preset range is determined by calculating the edges and the values, so as to determine whether the measurement points of the mapping photography module are uniformly distributed, and improve the accuracy of the photography places, so as to uniformly photograph the photography images.
Example III
The difference from the first embodiment is that, as shown in fig. 2 and fig. 3, the head-on photographing geological logging system is provided with a future number unit, a modeling unit, an interpolation unit and a section unit in a processing module, wherein the future number unit is used for adding future number information to a single head-on three-dimensional model obtained by logging, and the future number information is represented by a digital incoming line according to the time sequence before and after the logging; the modeling unit adds the head-on three-dimensional model into the three-dimensional coordinate space according to the front-back time sequence of the future number information to form a head-on geological three-dimensional model, the modeling unit can be performed by using the existing EgoInfo software, and the head-on geological three-dimensional model formed by a plurality of head-on three-dimensional models can be performed by the operations of moving, deleting, copying and the like of the software, and the operations of drawing line segments, folding lines, picking points and the like are assisted; the difference unit performs smoothing treatment on the corner of the spliced stratum surface by utilizing the track line of the head-on structure, for example, a two-dimensional difference algorithm and a three-dimensional space difference algorithm are used for smoothing treatment, so that the authenticity of the model is improved; the section unit picks up geological data such as coal thickness, top-bottom plate elevation and the like on the head-on geological three-dimensional model, and the section unit constructs a geological structure change track line according to the geological data, and forms a tunnel section view such as an H line in fig. 2 through the geological change of the multi-period head-on.
In the method, when a single-period head-on three-dimensional model is obtained through programming, the head-on three-dimensional model is added with future information through a future unit, and then the modeling unit adds the head-on three-dimensional model into a three-dimensional coordinate space according to the front-back time sequence of the future information to form the head-on three-dimensional geological model; splicing the corner of the stratum surface by using a track line of a head-on structure through a difference unit for smooth treatment; the geological data on the head-on geological three-dimensional model is picked up through the section unit, geological change track lines are constructed according to the geological data, section data of the geological change central axis of the multi-period head-on face is picked up on the multi-period head-on face to form a tunnel section view, and in the longitudinal section view of the construction track, the construction change track along the tunnel trend can be outlined by utilizing at least two discrete tunnel interface photographic pictures.
Because the head-on construction track is only a discrete section of the roadway, the mine ground survey personnel can hardly restore the change rule of the construction track along the longitudinal direction of the roadway, so the embodiment can outline the continuous change characteristic of the construction track along with the head-on propulsion by processing and recording the multi-period head-on geological data and then forming a head-on section graph, so that the longitudinal section graph of the construction track penetrating through the whole roadway is formed by head-on recording, the geological change characteristic on the head-on in the mining process is continuously reflected, and the change rule of the construction track along the longitudinal direction of the roadway can be accurately restored in the follow-up process.
The foregoing is merely exemplary embodiments of the present invention, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (8)
1. A head-on photography geological logging system comprises a fixed mapping module, a mapping photography module, an information interaction module and a processing module;
the fixed mapping module is positioned in front of the head-on face and used as a proportional scale in the photographic image, and a leveling unit for adjusting the direction is arranged on the fixed mapping module;
the mapping photographing module is used for photographing the photographing images of the fixed mapping module and the head-on face;
the information interaction module is used for sending the photographic image to the processing module for recording;
the processing module is used for sequentially carrying out image processing analysis, three-dimensional model establishment and geological record processing on the photographic images, and then calculating the production shape to obtain a head-on section view;
the method is characterized in that:
the fixed mapping module is provided with an indication laser unit, the indication laser unit emits a plurality of indication light spots positioned on the same straight line so as to indicate the shooting position of the mapping shooting module, the indication laser unit is arranged on the fixed mapping module at a preset inclination angle, the indication laser unit is arranged downwards in an inclined mode towards one side of the ground, and the indication laser unit emits the indication light spots to the ground according to the preset inclination angle after the fixed mapping module adjusts the level;
the fixed mapping module comprises a tripod unit, wherein a calibration unit, an inclination angle sensing unit, a micro-processing unit and a display unit are arranged on the tripod unit;
the calibration unit is used for emitting line laser to both sides and measuring a distance value between the line laser and a coal wall as a photogrammetric proportion scale, the calibration unit emits a plurality of point lasers positioned on the same straight line, the emission included angles among the point lasers are set according to a preset angle, and the calibration unit measures the optical path distance of each laser point after emitting the point lasers;
the inclination angle sensing unit detects a horizontal included angle between the center and the horizontal when the calibration unit emits point laser;
the micro-processing unit acquires the emission included angle, the light path distance and the horizontal included angle, calculates horizontal projection of the light path distance of the point laser in the horizontal direction, judges whether the horizontal projections of the laser points are equal or not, and when the horizontal projections of any two laser points are equal, the processing module forms plumb information of the fixed mapping module and sends the plumb information to the display unit for display.
2. A head-on photography geological logging system according to claim 1, wherein: the indicating laser unit is provided with an adjusting unit which horizontally and vertically moves on the fixed mapping module, and the adjusting unit is positioned on the leveling unit and is adjusted to be horizontal by the leveling unit.
3. A head-on photography geological logging system according to claim 1, wherein: the calibration unit includes a point laser emitter that emits point laser light toward the circumferential coal wall and a line laser emitter that emits line laser light toward the top coal wall.
4. A head-on photography geological logging system according to claim 3, wherein: the inclination angle sensing unit detects inclination angle information of the top end of the calibration unit, the inclination angle information comprises a roll angle, an azimuth angle and a pitch angle, and the micro-processing unit acquires the inclination angle information and sends the inclination angle information to the display unit for display.
5. A head-on photography geological logging system according to claim 4, wherein: the method comprises the steps that after an indication laser unit emits indication light spots, a distance value between the indication laser unit and the ground is measured and sent to a micro-processing unit, the micro-processing unit sums the distance values of two adjacent indication light spots to obtain a sum value of adjacent edges, a preset sum value of adjacent hypotenuses corresponding to a preset distance between the indication light spots is prestored in the micro-processing unit, the micro-processing unit takes an absolute value of the preset sum value and the sum value of the adjacent edges to obtain a difference value, the micro-processing unit compares the difference value with a threshold value, and when the difference value is larger than the threshold value, the micro-processing unit sends early warning prompt information to a display unit.
6. A method for head-on photography geological cataloging, characterized in that the head-on photography geological cataloging system according to claim 1 is adopted, comprising the following steps:
step one, installing a fixed mapping module at a preset position in front of a head-on surface, taking a distance value between the fixed mapping module and a coal wall as a proportional scale for photogrammetry by emitting line laser and measuring the line laser, adjusting the top end surface of the fixed mapping module to a horizontal direction, and modulating the plumb direction of the fixed mapping module;
the method comprises the steps that a plurality of laser points positioned on the same straight line are emitted through a fixed mapping module, the light path distance is measured while the laser points are emitted, the horizontal included angle between the emission center of the laser points and the horizontal direction is measured, the emission included angle between the emission directions of the laser points is known, the horizontal projection of the light path distances of the plurality of laser points in the horizontal direction is calculated according to the light path distance, the emission included angle and the horizontal included angle, the horizontal projections of any two laser points are compared, and when the horizontal projections of any two laser points are equal, plumb information of the fixed mapping module is generated for display;
step two, a plurality of indication light spots positioned on the same straight line are emitted by the fixed mapping module to indicate the photographing position of the mapping photographing module, whether the photographing optical axis is perpendicular to the head-on surface or not is judged through a numerical value horizontal gauge on the mapping photographing module, if yes, the mapping photographing module photographs a plurality of photographing images of the fixed mapping module and the head-on surface, and the photographing images are emitted to a processing module of the background;
and thirdly, sequentially carrying out image processing analysis, three-dimensional model establishment and geological recording processing on the photographic images by a processing module, and calculating the yield to obtain a head-on profile.
7. The method for head-on photography geological logging according to claim 6, wherein: in the first step, the optical path distance, the azimuth angle and the pitch angle obtained by transmitting the point laser to the preset coordinate point of the coal wall through the fixed mapping module are transmitted to the processing module, and the absolute three-dimensional coordinates of the fixed mapping module are calculated by the processing module according to the preset coordinate point, the optical path distance, the azimuth angle and the pitch angle.
8. The method for head-on photography geological logging according to claim 6, wherein: and in the second step, the distance value between the ground and the ground is measured while the indication light spots are emitted, the distance values between the adjacent two indication light spots are summed to obtain a boundary sum value, the preset sum value of the preset distance between the pre-stored indication light spots corresponding to the adjacent hypotenuses is subjected to difference with the boundary sum value to obtain a difference value, the difference value is compared with a threshold value, and when the difference value is larger than the threshold value, early warning prompt information is displayed.
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