CN-121147407-B - Method, system, equipment and storage medium for constructing three-dimensional model of open coal mine

CN121147407BCN 121147407 BCN121147407 BCN 121147407BCN-121147407-B

Abstract

The invention relates to the technical field of construction of three-dimensional models of open-pit coal mines, in particular to a method, a system, equipment and a storage medium for constructing the three-dimensional model of the open-pit coal mine, wherein firstly, each area image of the open-pit coal mine is subjected to pixel mixing based on dust concentration to realize splicing, an open-pit coal mine spliced image is obtained, and dust removal treatment is carried out to obtain an open-pit coal mine dust-free image; and finally, unifying coordinates of the dust-free map of the opencast coal mine and the point cloud model of the coal mine, registering to obtain texture mapping, merging, removing unnecessary point clouds to obtain a three-dimensional model of the opencast coal mine, improving accuracy and authenticity of the three-dimensional model of the opencast coal mine and meeting application requirements of multiple scenes.

Inventors

ZHANG QI
WANG SHUGUO
WANG HETANG
LI SHIYIN
ZHU XIAOLONG
WANG YUNPENG
ZHANG YADONG

Assignees

中国矿业大学
新疆鼎飞益智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250917

Claims (9)

1. The method for constructing the three-dimensional model of the open pit coal mine is characterized by comprising the following operations: S1, acquiring a plurality of area images of an opencast coal mine to be detected, extracting the pixel dust concentration of each area image, and collecting dust concentration distribution information; the method comprises the steps of obtaining each area image after noise reduction treatment, obtaining each area dark channel image based on the atmospheric light value of each area dark channel image and the corresponding area image, obtaining each area transmittance image based on each area transmittance image, obtaining each pixel dust concentration image, converting each pixel dust concentration image into a coal mine global coordinate system based on image obtaining time, and obtaining dust concentration distribution information after spatial interpolation and outlier rejection, wherein the spatial interpolation is realized by performing Kriging interpolation on the empty areas according to the concentration values of adjacent areas; Based on dust concentration distribution information, splicing a plurality of regional images to obtain an opencut coal mine splicing chart; carrying out dust removal treatment on the open pit coal mine spliced graph based on dust concentration distribution information to obtain an open pit coal mine dust-free graph; S2, carrying out semantic segmentation processing on a dust-free map of the open pit coal mine by combining the topographic information and the dust concentration distribution information of the open pit coal mine to be detected to obtain a plurality of coal mine scenes; Carrying out respective unmanned aerial vehicle route planning according to each coal mine scene and corresponding dust concentration distribution information; The point cloud data of each coal mine scene are preprocessed respectively and then subjected to point cloud registration to obtain an initial point cloud model; the initial coal mine point cloud model is subjected to curved surface optimization treatment to obtain a coal mine point cloud model; And S3, carrying out coordinate system integration and registration on the dust-free map of the open-pit coal mine and the coal mine point cloud model to obtain an open-pit coal mine texture map, fusing the open-pit coal mine texture map and the coal mine point cloud model, deleting non-ground point clouds, and supplementing point clouds of a missing area to obtain the three-dimensional model of the open-pit coal mine.
2. The method for constructing a three-dimensional model of an open pit coal mine according to claim 1, wherein in S1, the method for acquiring a splice map of the open pit coal mine comprises the steps of: The method comprises the steps of respectively carrying out normalization processing on pixel dust concentration of each area image to obtain respective area dust weight images, obtaining characteristic points of a plurality of area images, obtaining accurate characteristic point matching pairs through rough registration and mismatching point elimination, obtaining a geometric transformation matrix between adjacent area images based on the accurate characteristic point matching pairs, carrying out geometric correction on the area images to obtain a plurality of area correction images, and carrying out pixel fusion of overlapping areas on all the area correction images based on the area dust weight images to obtain an opencast coal mine spliced image.
3. The method for constructing a three-dimensional model of an open pit coal mine according to claim 1, wherein in S1, the method for acquiring a dust-free map of the open pit coal mine comprises the steps of: Dividing a dust area in an opencast coal mine splice graph into a primary dust concentration area, a secondary dust concentration area and a tertiary dust concentration area based on dust concentration distribution information and dust concentration grade division standards, and respectively carrying out dust removal treatment, atmosphere scattering model treatment, self-adaptive bilateral filtering and LAB color space restoration treatment based on a GAN network to obtain an opencast coal mine dust-free graph; the dust concentration mean value of the first-stage dust concentration area, the second-stage dust concentration area and the third-stage dust concentration area is sequentially reduced.
4. The method for constructing a three-dimensional model of an opencast coal mine according to claim 1, wherein in S2, the operation of the surface optimization process is: The method comprises the steps of obtaining all point clouds in a neighborhood range of each point cloud in an initial coal mine point cloud model, obtaining a neighborhood point cloud set of each point cloud, constructing a fitting curved surface function based on the respective neighborhood point cloud set, calculating respective new coordinates by minimizing error square sum to solve curved surface function parameters, and replacing corresponding original coordinates to obtain the coal mine point cloud model.
5. The method for constructing a three-dimensional model of an open pit coal mine according to claim 1, wherein in S3, the method for acquiring the texture map of the open pit coal mine comprises the steps of: The method comprises the steps of converting pixel coordinates of an opencast coal mine dust-free map into two-dimensional projection coordinates under a world coordinate system to obtain a coordinate standardized image, carrying out point cloud resampling on a coal mine point cloud model, then matching with characteristic points of the coordinate standardized image, calculating a space transformation matrix, carrying out space alignment on the coal mine point cloud model to obtain a coordinate pair Ji Dian cloud model, carrying out texture mapping treatment on the coordinate standardized image and the coordinate pair Ji Dianyun model, and obtaining the opencast coal mine texture map.
6. The method for constructing a three-dimensional model of an opencast coal mine according to claim 1, wherein in S2, the method for acquiring a coal mine scene is as follows: And performing spatial coordinate alignment on the dust-free map of the opencast coal mine and the topographic information of the opencast coal mine to be detected, and performing feature fusion based on an attention mechanism with the topographic information and the dust concentration distribution information to obtain a fusion feature map, wherein the fusion feature map is processed by a training U-Net semantic segmentation model to obtain a plurality of coal mine scenes.
7. An opencast coal mine three-dimensional model construction system for implementing the opencast coal mine three-dimensional model construction method according to claim 1, characterized by comprising: The system comprises an opencast coal mine dust-free map generation module, a dust concentration distribution information acquisition module and a dust distribution information acquisition module, wherein the dust concentration distribution information acquisition module is used for acquiring a plurality of regional images of an opencast coal mine to be detected, extracting the pixel dust concentration of each regional image and summarizing the pixel dust concentration of each regional image to obtain dust concentration distribution information; The system comprises a coal mine point cloud model generation module, an initial coal mine point cloud model, a curve optimization processing module, a data processing module and a data processing module, wherein the coal mine point cloud model generation module is used for carrying out semantic segmentation processing on an open-pit coal mine dust-free map by combining with the topographic information and the dust concentration distribution information of an open-pit coal mine to be detected to obtain a plurality of coal mine scenes; The system comprises an open-pit coal mine three-dimensional model generation module, a control module and a control module, wherein the open-pit coal mine three-dimensional model generation module is used for carrying out coordinate system unification and registration on an open-pit coal mine dust-free map and a coal mine point cloud model to obtain an open-pit coal mine texture map, fusing the open-pit coal mine texture map and the coal mine point cloud model, deleting non-ground point clouds, and carrying out point cloud supplement on a missing area to obtain the open-pit coal mine three-dimensional model.
8. An opencut three-dimensional model construction device, comprising a processor and a memory, wherein the processor implements the opencut three-dimensional model construction method according to any one of claims 1-6 when executing a computer program stored in the memory.
9. A computer readable storage medium for storing a computer program, wherein the computer program when executed by a processor implements the method of constructing a three-dimensional model of an opencast coal mine as claimed in any one of claims 1 to 6.

Description

Method, system, equipment and storage medium for constructing three-dimensional model of open coal mine Technical Field The invention relates to the technical field of open pit coal mine three-dimensional model construction, in particular to an open pit coal mine three-dimensional model construction method, system, equipment and storage medium. Background The resource reserves of the opencast coal mine are rich, and the opencast coal mine can be used as an important national energy strategy reserve base, and the economic effect of the opencast coal mine is realized by guaranteeing energy supply, driving regional industrial chain extension and promoting employment. The three-dimensional model of the open-pit coal mine is constructed, the resource recovery rate can be optimized through digital mining planning, the equipment operation and maintenance cost is reduced, meanwhile, the slope stability real-time monitoring and the equipment collision risk dynamic prevention and control are conveniently realized, a digital technical paradigm is provided for mine development under the geological conditions of extreme drought and multiple wind erosion, the open-pit mining is promoted to be converted from 'experience driving' to 'data driving', and the technical achievement can be promoted to a mine of the middle and sub-class, so that the international mining technology output capability is formed. The topography of the opencast coal mine is complex (multiple steps with different heights, large surface fluctuation and various lithology), and the dust concentration of the operation environment is high, so that the collected point cloud data deviate from the actual occurrence, and finally, the built three-dimensional point cloud model has geometrical distortion phenomenon and has poor accuracy. Disclosure of Invention The invention aims to provide a method, a system, equipment and a storage medium for constructing a three-dimensional model of an opencast coal mine. The technical scheme of the invention is as follows: The method for constructing the three-dimensional model of the open coal mine comprises the following operations: S1, acquiring a plurality of area images of an opencast coal mine to be detected, extracting the dust concentration of pixels of each area image, and collecting to obtain dust concentration distribution information; s2, carrying out semantic segmentation processing on a dust-free map of the open pit coal mine by combining the topographic information and the dust concentration distribution information of the open pit coal mine to be detected to obtain a plurality of coal mine scenes, carrying out respective unmanned aerial vehicle route planning according to each coal mine scene and the corresponding dust concentration distribution information, acquiring respective point cloud data according to the unmanned aerial vehicle route planning, carrying out point cloud registration after the point cloud data of each coal mine scene are respectively preprocessed to obtain an initial point cloud model, and carrying out curved surface optimization processing on the initial coal mine point cloud model to obtain a coal mine point cloud model; And S3, carrying out coordinate system integration and registration on the dust-free map of the open-pit coal mine and the coal mine point cloud model to obtain an open-pit coal mine texture map, fusing the open-pit coal mine texture map and the coal mine point cloud model, deleting non-ground point clouds, and supplementing point clouds of a missing area to obtain the three-dimensional model of the open-pit coal mine. In S1, the dust concentration distribution information acquisition method comprises the steps of acquiring each area dark channel image after noise reduction treatment of each area image, acquiring each area transmittance image based on each area dark channel image and the atmospheric light value of the corresponding area, acquiring each pixel dust concentration image based on each area transmittance image, converting each pixel dust concentration image into a coal mine global coordinate system based on image acquisition time, and acquiring dust concentration distribution information after spatial interpolation and outlier rejection and summarization. In S1, the method for acquiring the opencast coal mine mosaic comprises the steps of respectively carrying out normalization processing on the pixel dust concentration of each area image to obtain respective area dust weight images, acquiring characteristic points of a plurality of area images, carrying out rough registration and mismatching point elimination to obtain accurate characteristic point matching pairs, acquiring a geometric transformation matrix between adjacent area images based on the accurate characteristic point matching pairs, carrying out geometric correction on the area images to obtain a plurality of area correction images, and carrying out pixel fusion of overlapping areas on all the are