阅读说明：本技术 矿井采空区空间体积的计算方法、装置、设备及存储介质 (Method, device and equipment for calculating space volume of mine goaf and storage medium ) 是由 邓三明 杨桂远 林远华 李先敬 曾春茂 冯建华 钟水平 苏红军 陈涛 曾文 于 2021-07-30 设计创作，主要内容包括：本申请适用于矿产开采技术领域,提供了一种矿井采空区空间体积的计算方法、装置、设备及存储介质,包括：基于矿井内采空区的多个点云数据之间的空间拓扑关系,建立用于表示采空区形状的实体三角网模型；分别将实体三角网模型中的多个三角型区域投影至目标平面区域,得到多个投影三角形区域；针对任一三角形区域和三角形区域对应的投影三角形区域,根据三角形投影体积算法,计算三角形区域与投影三角形区域之间的目标体积；对多个目标体积进行加和得到采空区的空间体积。采用上述方法,终端设备可精确的计算出采空区的空间体积。(The application is suitable for the technical field of mineral exploitation, and provides a method, a device, equipment and a storage medium for calculating the space volume of a mine goaf, wherein the method comprises the following steps: establishing an entity triangular net model for representing the shape of a goaf based on the spatial topological relation among a plurality of point cloud data of the goaf in the mine; respectively projecting a plurality of triangular areas in the entity triangulation network model to a target plane area to obtain a plurality of projected triangular areas; calculating a target volume between the triangular region and the projection triangular region according to a triangular projection volume algorithm aiming at any triangular region and the projection triangular region corresponding to the triangular region; and adding the target volumes to obtain the space volume of the goaf. By adopting the method, the terminal equipment can accurately calculate the space volume of the goaf.)

1. A method for calculating the space volume of a mine goaf is applied to terminal equipment, and comprises the following steps:

acquiring a plurality of point cloud data of a goaf in a mine;

establishing an entity triangulation model for representing the shape of the goaf based on the spatial topological relation among the plurality of point cloud data; the entity triangulation network model consists of a plurality of triangular areas, and the vertex of each triangular area is point cloud data;

respectively projecting the triangular areas to a target plane area to obtain a plurality of projected triangular areas; the target plane area is a plane area in the internal space of the entity triangulation network model;

aiming at any triangular region and a projection triangular region corresponding to the triangular region, calculating a target volume between the triangular region and the projection triangular region according to a triangular projection volume algorithm;

and adding the target volumes to obtain the space volume of the goaf.

2. The method of calculating the spatial volume of a mine goaf as claimed in claim 1, wherein obtaining a plurality of point cloud data of a mine goaf comprises:

and scanning the goaf through a goaf detection system to obtain the plurality of point cloud data.

3. The method of calculating the spatial volume of a mined-out area in a mine according to claim 1 or 2, further comprising, after the obtaining the plurality of point cloud data of the mined-out area in the mine:

and storing the plurality of point cloud data into the terminal equipment in a DXF file format.

4. The method of claim 2, wherein the scanning of the gob by the gob detection system to obtain the plurality of point cloud data comprises:

respectively adjusting the detection angle of the empty area detection system to a plurality of target preset angles; the target preset angle before adjustment is different from the target preset angle after adjustment;

and aiming at any target preset angle, the goaf detection system rotates for one circle under the target preset angle to scan the goaf, and a circle of point cloud data of the goaf under the target preset angle is obtained.

5. The method of calculating the spatial volume of a mine goaf according to claim 4, wherein building a solid triangulation model for representing the goaf shape based on the spatial topological relationship between the plurality of point cloud data comprises:

s1, determining a plurality of first point cloud data scanned corresponding to the preset target angle before adjustment and a plurality of second point cloud data scanned corresponding to the preset target angle after adjustment based on the sequence of adjustment of the preset target angles;

s2, connecting any two adjacent first point cloud data in the plurality of first point cloud data to obtain a plurality of bottom edges;

s3, aiming at any bottom side, respectively taking the second point cloud data as a vertex, and connecting the vertex with two first point cloud data at two ends of the bottom side to generate a plurality of initial triangular areas;

s4, determining the minimum triangle perimeter from the plurality of triangle perimeters according to the triangle perimeters corresponding to the plurality of initial triangle areas;

s5, determining the initial triangular area corresponding to the minimum triangular perimeter as the final triangular area, so as to respectively obtain the triangular areas corresponding to the bottom edges;

s6, aiming at a circle of point cloud data corresponding to each target preset angle, the steps from S1 to S5 are respectively executed until the entity triangulation network model consisting of the triangular areas is obtained.

6. The method of calculating the spatial volume of the mine goaf according to any one of claims 1, 2, 4 or 5, wherein establishing a solid triangulation model for representing the goaf shape based on the spatial topological relationship between the point cloud data comprises:

and recognizing the point cloud data by adopting a digital tool to generate the three-dimensional visual entity triangular model.

7. The method for calculating the spatial volume of the mine goaf according to any one of claims 1, 2, 4 and 5, wherein the step of calculating the target volume between the triangular region and the projected triangular region according to a triangular projected volume algorithm for any one of the triangular region and the projected triangular region corresponding to the triangular region comprises:

respectively determining each vertex of the triangular region and each projection vertex of the projection triangular region;

connecting each vertex with the corresponding projection vertex to form a pentahedron;

and calculating the volume of the pentahedron, and taking the volume of the pentahedron as a target volume between the triangular region and the projection triangular region.

8. A device for calculating the space volume of a mine goaf is applied to terminal equipment, and comprises:

the acquisition module is used for acquiring a plurality of point cloud data of the goaf in the mine;

the establishing module is used for establishing a solid triangulation network model for representing the shape of the goaf based on the space topological relation among the plurality of point cloud data; the entity triangulation network model consists of a plurality of triangular areas, and the vertex of each triangular area is point cloud data;

the projection module is used for projecting the triangular areas to a target plane area respectively to obtain a plurality of projected triangular areas; the target plane area is a plane area in the internal space of the entity triangulation network model;

the first calculation module is used for calculating a target volume between any triangular region and a projection triangular region corresponding to the triangular region according to a triangular projection volume algorithm;

and the second calculation module is used for summing the target volumes to obtain the space volume of the goaf.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

Technical Field

The application belongs to the technical field of mining in mines, and particularly relates to a method, a device, equipment and a storage medium for calculating the space volume of a mine goaf.

Background

In recent years, a goaf formed by underground mining of mineral resources is one of main disaster sources endangering safe production of mines. The domestic acquisition of the spatial characteristic information (the position of the goaf, the space size of the goaf and the three-dimensional boundary of the goaf) of the goaf is mainly carried out by engineering drilling and geophysical exploration (such as a ground penetrating radar method, a high-density resistivity method, a seismic mapping method and the like).

However, when the traditional methods are used for detecting the goaf, the goaf information is acquired by emphasizing on explanation, and the space volume of the goaf cannot be accurately calculated.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a storage medium for calculating the spatial volume of a mine goaf, and can solve the problem that the spatial volume of the goaf cannot be accurately calculated by a traditional method.

In a first aspect, an embodiment of the present application provides a method for calculating a spatial volume of a mine goaf, which is applied to a terminal device, and the method includes:

acquiring a plurality of point cloud data of a goaf in a mine;

establishing an entity triangulation network model for representing the shape of the goaf based on the spatial topological relation among the point cloud data; the entity triangulation network model consists of a plurality of triangular areas, and the vertex of each triangular area is point cloud data;

respectively projecting the triangular areas to a target plane area to obtain a plurality of projected triangular areas; the target plane area is a plane area in the internal space of the entity triangulation network model;

calculating a target volume between the triangular region and the projection triangular region according to a triangular projection volume algorithm aiming at any triangular region and the projection triangular region corresponding to the triangular region;

and adding the target volumes to obtain the space volume of the goaf.

In one embodiment, acquiring a plurality of point cloud data of a gob in a mine comprises:

and scanning the goaf through a goaf detection system to obtain a plurality of point cloud data.

In one embodiment, after acquiring the plurality of point cloud data of the goaf in the mine, the method further comprises:

and storing the plurality of point cloud data into the terminal equipment in a DXF file format.

In one embodiment, scanning the goaf by the goaf detection system to obtain a plurality of point cloud data includes:

respectively adjusting the detection angle of the empty area detection system to a plurality of target preset angles; the target preset angle before adjustment is different from the target preset angle after adjustment;

and aiming at any target preset angle, the goaf detection system rotates for a circle under the target preset angle to scan the goaf, and a circle of point cloud data of the goaf under the target preset angle is obtained.

In one embodiment, building a solid triangulation model for representing the goaf shape based on the spatial topological relationship between the plurality of point cloud data includes:

s1, determining a plurality of first point cloud data scanned corresponding to the preset target angle before adjustment and a plurality of second point cloud data scanned corresponding to the preset target angle after adjustment based on the sequential adjustment sequence of the preset target angles;

s2, connecting any two adjacent first point cloud data in the plurality of first point cloud data to obtain a plurality of bottom edges;

s3, aiming at any bottom side, respectively taking the second point cloud data as vertexes, and connecting the vertexes with the two first point cloud data at the two ends of the bottom side to generate a plurality of initial triangular areas;

s4, determining the minimum triangle perimeter from the plurality of triangle perimeters according to the triangle perimeters corresponding to the plurality of initial triangle areas;

s5, determining the initial triangular area corresponding to the minimum triangular perimeter as the final triangular area, and obtaining a plurality of triangular areas corresponding to the bottom edges respectively;

and S6, respectively executing the steps from S1 to S5 aiming at the circle of point cloud data corresponding to each target preset angle until an entity triangulation network model consisting of a plurality of triangular areas is obtained.

In one embodiment, building a solid triangulation model for representing the goaf shape based on the spatial topological relationship between the plurality of point cloud data includes:

and (3) identifying a plurality of point cloud data by adopting a digital tool to generate a three-dimensional visual entity triangular model.

In one embodiment, for any one of the triangular regions and the projection triangular region corresponding to the triangular region, calculating a target volume between the triangular region and the projection triangular region according to a triangular projection volume algorithm, including:

respectively determining each vertex of the triangular area and each projection vertex of the projection triangular area;

connecting each vertex with the corresponding projection vertex respectively to form a pentahedron;

the volume of the pentahedron is calculated and taken as the target volume between the triangular region and the projected triangular region.

In a second aspect, an embodiment of the present application provides a device for calculating a spatial volume of a mine goaf, which is applied to a terminal device, and includes:

the acquisition module is used for acquiring a plurality of point cloud data of the goaf in the mine;

the system comprises an establishing module, a calculating module and a calculating module, wherein the establishing module is used for establishing an entity triangulation network model for representing the shape of the goaf based on the space topological relation among a plurality of point cloud data; the entity triangulation network model consists of a plurality of triangular areas, and the vertex of each triangular area is point cloud data;

the projection module is used for projecting the triangular areas to a target plane area respectively to obtain a plurality of projected triangular areas; the target plane area is a plane area in the internal space of the entity triangulation network model;

the first calculation module is used for calculating a target volume between a triangular region and a projection triangular region according to a triangular projection volume algorithm aiming at any triangular region and the projection triangular region corresponding to the triangular region;

and the second calculation module is used for summing the target volumes to obtain the space volume of the goaf.

In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to any one of the first aspect is implemented.

In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to any one of the above first aspects.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.

Compared with the prior art, the embodiment of the application has the advantages that: the terminal equipment can process a large amount of point cloud data by taking a simple triangular plane as a basic unit based on the obtained space topological relation among the plurality of point cloud data, and establish a solid triangular network model which can be used for expressing the shape of the goaf. Therefore, the calculation difficulty of the terminal equipment in processing a large amount of point cloud data can be reduced, and the modeling time for modeling the goaf is shortened. And then, projecting each triangular area in the entity triangulation network model to form a polyhedral structure, so that the terminal equipment can accurately calculate the target volume between the triangular area and the projected triangular area. Furthermore, the terminal equipment can sum each target volume to accurately obtain the space volume of the goaf.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a flowchart illustrating an implementation of a method for calculating a spatial volume of a goaf in a mine according to an embodiment of the present disclosure;

fig. 2 is a spatial diagram of a triangular area and a projected triangular area in a method for calculating a spatial volume of a mine goaf according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram illustrating an implementation manner of S101 of a method for calculating a spatial volume of a mine goaf according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram illustrating an implementation manner of S102 of a method for calculating a spatial volume of a goaf in a mine according to an embodiment of the present disclosure;

fig. 5 is a schematic view of an application scenario for generating a triangular region in a method for calculating a spatial volume of a mine goaf according to an embodiment of the present application;

fig. 6 is a schematic diagram illustrating an implementation manner of S104 of a method for calculating a spatial volume of a goaf in a mine according to an embodiment of the present disclosure;

fig. 7 is a block diagram illustrating a device for calculating a spatial volume of a goaf in a mine according to an embodiment of the present disclosure;

fig. 8 is a block diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

The method for calculating the spatial volume of the mine goaf can be applied to terminal devices such as a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook and the like, and the specific type of the terminal device is not limited in any way in the embodiment of the application.

Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a method for calculating a spatial volume of a mined-out area of a mine according to an embodiment of the present application, where the method includes the following steps:

s101, terminal equipment obtains a plurality of point cloud data of a goaf in a mine.

In an embodiment, the plurality of point cloud data may be obtained by scanning the goaf by a staff through a goaf detection system in advance, and then the scanned plurality of point cloud data are uploaded to the terminal device by the goaf detection system for storage. The point cloud data scanned by the goaf detection system for the goaf can also be acquired from the goaf detection system for the terminal device in real time, and the point cloud data is not limited.

In an embodiment, the empty zone detection system may be a three-dimensional laser scanning detection system or a laser radar detection system, which is not limited in this respect. The three-dimensional laser scanning detection system is taken as an example for explanation, and the three-dimensional laser scanning detection system scans the goaf through three-dimensional laser. Specifically, the staff can set up the erection place of three-dimensional laser scanning detection system in the collecting space area in advance. And then, rotating the three-dimensional laser for multiple circles, and acquiring point cloud data of each circle of the goaf. When the three-dimensional laser is rotated for multiple circles, the included angles between the emission angle of each circle of the three-dimensional laser and the horizontal plane are different. Therefore, the three-dimensional laser can complete scanning of the whole space structure of the goaf.

In an embodiment, display software for reading and displaying the three-dimensional point cloud data is further installed in the terminal device. In this embodiment, the display software is specifically OpenGL (open graphics library) software. OpenGL is an open three-dimensional graphics software package, which is independent of the windowing system and the operating system. In addition, the OpenGL graphics library can provide not only basic point, line, polygon rendering functions, but also complex three-dimensional objects (spheres, cones, polyhedrons, teapots, etc.) and complex curve and surface rendering functions. Based on this, the terminal device can process the three-dimensional point cloud data through OpenGL.

S102, the terminal equipment establishes an entity triangular network model for representing the shape of the goaf based on the space topological relation among the point cloud data; the entity triangulation network model is composed of a plurality of triangular areas, and the top point of each triangular area is point cloud data.

In an embodiment, the spatial topological relation refers to a mutual relation between spatial data satisfying a topological geometry principle. I.e., adjacency, association, containment, and connectivity relationships between entities represented by points, lines, and faces. Based on the point cloud data, the terminal device can take the point cloud data as points, and based on the adjacent relation between the points in the space topological relation, the interconnection among the plurality of point cloud data is realized. Further, the terminal device may establish a solid triangulation network model for representing the goaf shape. The entity triangulation network model is composed of a plurality of triangular areas, and the top point of each triangular area is point cloud data.

It can be understood that, because a solid triangulation model which can be used for representing the shape of the goaf needs to be generated, the number of point cloud data acquired by the terminal device is generally large. When the point cloud data is subjected to subsequent processing, the triangle can be regarded as the most basic plane figure, and the structure is simple. Therefore, when the terminal equipment acquires a large amount of point cloud data, the terminal equipment can process the large amount of point cloud data by taking the plane of the triangle as a basic unit to obtain the entity triangulation network model. Therefore, the calculation difficulty of the terminal equipment when the point cloud data is processed by using the plane with too many other edges as a basic unit can be reduced, and the required modeling time is reduced.

It should be noted that, for the point cloud data detected by the three-dimensional laser scanning detection system, the data format of the original data may not be directly recognized by the OpenGL software because the point cloud data is original data. Therefore, the terminal device cannot directly identify the original data through the OpenGL software to generate the entity triangulation network model. Based on the method, the terminal equipment can pre-process a plurality of point cloud data to generate point cloud data in a DXF file format. And then, sending the point cloud data in the DFX file format to OpenGL software for processing. Specifically, the terminal device may process the raw data in advance through an existing Computer Aided Design (CAD), and convert the data format of the raw data into the data in the DXF file format for storage. It will be appreciated that because the DXF file format is a text format, which is public, it is versatile and recognizable by a variety of drawing software. The point cloud data in the DXF file format can be recognized and processed by OpenGL software.

In an embodiment, since the point cloud data is obtained by scanning the goaf by the goaf detection system, the point cloud data may be regarded as three-dimensional position data of each boundary of the goaf relative to the goaf detection system. Therefore, the terminal device further needs to use a digital tool recognition tool to recognize three-dimensional position data corresponding to the plurality of point cloud data so as to generate a three-dimensional visualized entity triangular model. The digitizing tool may be the CAD tool and the OpenGL software tool described above. Specifically, the CAD tool processes point cloud data obtained by detection by the three-dimensional laser scanning detection system, and converts the point cloud data into point cloud data in the DXF file format. And then, transmitting the point cloud data in the DXF format to OpEnGL software to generate a three-dimensional visualized entity triangular model.

S103, the terminal equipment respectively projects the triangular areas to a target plane area to obtain a plurality of projected triangular areas; the target plane area is a plane area in the internal space of the entity triangulation network model.

In an embodiment, the target plane area may be any plane area in the internal space of the solid triangular model, which is not limited herein. However, in order to facilitate the triangular areas at the top and bottom of the mine to be better projected in the target plane area, the target plane area can be set to be a plane area located in the middle between the top and the bottom of the mine.

In one embodiment, after the target plane region is determined, the internal space of the solid triangulation network model may be considered to have been divided into two parts by the target plane region. The triangular area in each partial space can be correspondingly projected onto the target plane area, and the projected triangular areas are obtained in sequence. Specifically, taking fig. 2 as an example, in the drawing, a triangle Δ ABC is any one of a plurality of triangular regions, the plane II is a target plane region, and a triangle Δ A1B1C1 is a projection of the triangle Δ ABC on the target plane region (plane II).

And S104, aiming at any one triangular region and the projection triangular region corresponding to the triangular region, the terminal equipment calculates the target volume between the triangular region and the projection triangular region according to a triangular projection volume algorithm.

And S105, the terminal equipment sums the target volumes to obtain the space volume of the goaf.

In one embodiment, the above-mentioned calculating the target volume between the triangular region and the projected triangular region can be regarded as: and determining a three-dimensional structure formed between the projected triangular area and the projected triangular area. Then, the terminal device can calculate the volume of the three-dimensional structure, namely the target volume.

Specifically, taking fig. 2 as an example, the corresponding vertices between the triangle Δ ABC and the triangle Δ A1B1C1 are connected. I.e., vertex a is connected to a1, vertex B is connected to B1, and vertex C is connected to C1, forming a pentahedron. The volume of the pentahedron is the target volume. For the volume calculation of the pentahedron, the terminal equipment can divide the pentahedron to obtain 3 tetrahedrons. Illustratively, taking A1 as an example of a tetrahedron vertex, the obtained 3 tetrahedrons are A1B1BC1, A1C1BA, and A1ABC, respectively, and the volumes of the 3 tetrahedrons are added to obtain a volume of a pentahedron, such as the tetrahedron formed by the planes represented by (i), (ii), and (iii) and the vertex A1, respectively, as shown in fig. 2. It is understood that since each vertex is three-dimensional point cloud data, a volume calculation can be performed based on the point cloud data and a tetrahedral calculation formula. Finally, the 3 tetrahedra are summed to obtain the target volume. The calculation of the volume of the tetrahedron is a known calculation method, and will not be described in detail.

In an embodiment, there may be a plurality of the above-mentioned triangular regions generated according to the point cloud data, and therefore, after calculating the target volume between each triangular region and the projected triangular region, all the target volumes need to be added to obtain the spatial volume of the goaf.

In this embodiment, the terminal device may process a large amount of point cloud data with a simple triangular plane as a basic unit based on the obtained spatial topological relation among the plurality of point cloud data, and establish an entity triangulation model that can be used for representing the shape of the gob. Therefore, the calculation difficulty of the terminal equipment in processing a large amount of point cloud data can be reduced, and the modeling time for modeling the goaf is shortened. And then, projecting each triangular area in the entity triangulation network model to form a polyhedral structure, so that the terminal equipment can accurately calculate the target volume between the triangular area and the projected triangular area. Furthermore, the terminal equipment can sum each target volume to accurately obtain the space volume of the goaf.

Referring to fig. 3, in an embodiment, the following sub-steps S1011 to S1012 are specifically included in the step of scanning the goaf by the goaf detection system to obtain a plurality of point cloud data, which is described in detail as follows:

s1011, the terminal equipment respectively adjusts the detection angle of the empty zone detection system to a plurality of target preset angles; the target preset angle before adjustment is different from the target preset angle after adjustment.

In one embodiment, the three-dimensional laser scanning detection system described in S101 above can rotate the three-dimensional laser for multiple turns to collect the point cloud data of each turn of the goaf. When the three-dimensional laser is rotated for multiple circles, the included angles between the emission angle of each circle of the three-dimensional laser and the horizontal plane are different. Therefore, the terminal equipment can enable the three-dimensional laser to complete scanning of the whole space structure of the goaf. Based on this, it can be understood that if the angle between the three-dimensional laser and the horizontal plane is not changed when the three-dimensional laser rotates, only part of the point cloud data of the goaf is scanned by the three-dimensional laser.

In an embodiment, the preset target angles may be preset by a worker according to actual conditions. The target preset angle may be that after the three-dimensional laser rotates one circle, the three-dimensional laser is raised or lowered by a fixed angle (for example, 1 ° or 2 °) under an included angle between the current angle and a horizontal plane to perform scanning. At this time, the included angle between the three-dimensional laser and the horizontal plane after the fixed angle is raised or lowered each time is the target preset angle.

In an embodiment, the value of the fixed angle may be set by a worker, and is not limited thereto. In this embodiment, the fixed angle may be 2 ° to reduce the number of times the detection angle is adjusted by the empty zone detection system.

S1012, aiming at any target preset angle, the terminal equipment scans the goaf by rotating the goaf detection system for one circle under the target preset angle to obtain a circle of point cloud data of the goaf under the target preset angle.

In an embodiment, the target preset angles are multiple, so that the empty zone detection system can obtain multiple circles of point cloud data. It can be understood that, because the angle of the three-dimensional laser rotating for one circle is 360 °, when the goaf detection system controls the three-dimensional laser to rotate, the number of the point cloud data acquired by the three-dimensional laser rotating for one circle can be set to be 360, so as to obtain a complete circle of point cloud data of the goaf. Namely, in the process of rotating for one circle, point cloud data of the goaf under each angle is collected.

It is necessary to supplement that the adjustment of the detection angle to the target preset angle is an adjustment in the vertical direction; the goaf is scanned by rotating for a circle under the target preset angle to rotate in the horizontal direction.

In this embodiment, the detection angle of the three-dimensional laser scanning detection system is adjusted by adjusting every 2 degrees, and the three-dimensional laser is controlled to collect 360 point cloud data at each preset target angle, so that the three-dimensional laser scanning detection system can collect point cloud data capable of completely representing the shape of the goaf on the basis of reducing the number of times of adjusting the detection angle.

Referring to fig. 4, in an embodiment, in the step S102 of establishing a solid triangulation model for representing the shape of the gob based on the spatial topological relationship among the point cloud data, the following sub-steps S1021 to S1026 are specifically included, which are detailed as follows:

s1021, the terminal device determines a plurality of first point cloud data scanned by the target preset angle before adjustment and a plurality of second point cloud data scanned by the target preset angle after adjustment based on the sequence of adjustment of the target preset angles.

In an embodiment, the above-mentioned S1011 has been described to adjust the detection angle of the three-dimensional laser scanning detection system to a plurality of target preset angles, and therefore, each target preset angle should have a sequential adjustment sequence. Correspondingly, the plurality of point cloud data correspondingly scanned at each preset target angle should have a sequence. Based on the above, for two circles of point cloud data respectively detected by the three-dimensional laser scanning detection system at any two adjacent detection angles, a plurality of point cloud data correspondingly scanned at the target preset angle before adjustment can be used as first point cloud data, and a plurality of point cloud data correspondingly scanned at the target preset angle after adjustment can be used as second point cloud data. At this time, it should be understood that the "first" and "second" are only used to describe the plurality of point cloud data scanned correspondingly under each preset target angle in a distinguishing manner.

And S1022, the terminal device connects any two adjacent first point cloud data in the plurality of first point cloud data to obtain a plurality of bottom edges.

In an embodiment, it has been described in the above S1012 that the three-dimensional laser scanning detection system scans the gob by rotating for one rotation at the preset target angle, and therefore, the point cloud data scanned in the process of rotating for one rotation should have a sequential time relationship. Based on this, the terminal device may determine that two point cloud data scanned at adjacent times are adjacent two point cloud data. Therefore, the terminal device can connect any two adjacent first point cloud data in the plurality of first point cloud data to obtain a plurality of bottom edges.

And S1023, aiming at any bottom side, the terminal equipment respectively uses the second point cloud data as vertexes, and connects the vertexes with the two first point cloud data at the two ends of the bottom side to generate a plurality of initial triangular areas.

And S1024, the terminal device determines the minimum triangle perimeter from the plurality of triangle perimeters according to the triangle perimeters corresponding to the plurality of initial triangle areas.

S1025, the terminal device determines the initial triangular area corresponding to the minimum triangular perimeter as the final triangular area, so as to respectively obtain a plurality of triangular areas corresponding to the bottom edges.

In an embodiment, for any bottom side, the terminal device may sequentially use each second point cloud data as a vertex, and connect two first point cloud data of two sections of the bottom side with the vertex at all to form a plurality of initial triangular regions. And then, calculating the perimeter of the triangle based on the specific point cloud data values of the vertexes of each initial triangular area. And finally, determining the initial triangular area corresponding to the minimum triangular perimeter as the final triangular area. It will be appreciated that a base ultimately forms a triangular region with a vertex (a second point cloud data).

Specifically, referring to fig. 5, the point cloud data of the nth circle in fig. 5 are first point cloud data scanned corresponding to the target preset angle before adjustment, and the point cloud data of the (n + 1) th circle are second point cloud data scanned corresponding to the target preset angle after adjustment. For the i and the (i + 1) th first point cloud data, the two first point cloud data may be connected first to serve as a bottom edge. Next, the jth second point cloud data and the jth +1 first point cloud data are taken as an example for explanation. And connecting the bottom edge with two vertexes respectively to obtain an initial triangular area delta i/i +1/j and an initial triangular area delta i/i +1/j + 1. And then, performing the same operation on the rest second point cloud data to obtain a plurality of initial triangular areas. And then, determining the initial triangular area corresponding to the minimum triangular perimeter as the final triangular area. For example, the initial triangular region Δ i/i +1/j +1 is defined as the final triangular region. And finally, the terminal equipment can respectively execute the processing procedures on the other bottom edges to obtain a triangular area corresponding to each bottom edge.

And S1026, aiming at the circle of point cloud data corresponding to each target preset angle, the terminal device respectively executes the steps from S1021 to S1025 until an entity triangulation network model consisting of a plurality of triangular areas is obtained.

In one embodiment, based on the steps of S1021-S1025, the terminal device may obtain a triangular area formed by two circles of point cloud data. Based on the method, for the multi-circle point cloud data, the terminal device can sequentially execute the steps once for each circle of point cloud data so as to obtain an entity triangulation network model formed by a plurality of triangular areas.

In this embodiment, a plurality of adjacent first point cloud data scanned correspondingly before adjustment are connected, and second point cloud data corresponding to the minimum triangle perimeter is determined from a plurality of adjacent second point cloud data scanned correspondingly after adjustment, so as to generate a plurality of triangle areas. Furthermore, an entity triangulation network model composed of a plurality of triangular areas can be obtained, the shape structure of each boundary in the goaf can be better expressed, and the generated entity triangulation network model is closer to the real goaf shape.

Referring to fig. 6, in an embodiment, in step S104, for any one of the triangle region and the projection triangle region corresponding to the triangle region, calculating a target volume between the triangle region and the projection triangle region according to a triangle projection volume algorithm, specifically includes the following sub-steps S1041-S1043, which are detailed as follows:

s1041, the terminal device determines each vertex of the triangular area and each projection vertex of the projection triangular area respectively.

And S1042, connecting each vertex with the corresponding projection vertex by the terminal equipment to form a pentahedron.

S1043, the terminal device calculates the volume of the pentahedron, and the volume of the pentahedron is used as a target volume between the triangular region and the projection triangular region.

In an embodiment, the generation of the pentahedron from the triangle region and the projection triangle region, and the calculation of the volume of the pentahedron are both described in the above S105, and will not be explained again.

Referring to fig. 7, fig. 7 is a block diagram illustrating a device for calculating a spatial volume of a goaf in a mine according to an embodiment of the present disclosure. The device for calculating the spatial volume of the mine goaf in the embodiment comprises modules for executing the steps in the embodiments corresponding to fig. 1, 3, 4 and 6. Please refer to fig. 1, fig. 3, fig. 4, and fig. 6, and the related descriptions in the embodiments corresponding to fig. 1, fig. 3, fig. 4, and fig. 6. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 7, the apparatus 700 for calculating the volume of the goaf space in the mine includes: an obtaining module 710, an establishing module 720, a projecting module 730, a first calculating module 740, and a second calculating module 750, wherein:

the obtaining module 710 is configured to obtain a plurality of point cloud data of a goaf in a mine.

An establishing module 720, configured to establish a solid triangulation model for representing a goaf shape based on a spatial topological relationship among the plurality of point cloud data; the entity triangulation network model is composed of a plurality of triangular areas, and the top point of each triangular area is point cloud data.

The projection module 730 is configured to project the plurality of triangular regions to a target plane region respectively to obtain a plurality of projected triangular regions; the target plane area is a plane area in the internal space of the entity triangulation network model.

The first calculating module 740 is configured to calculate, according to a triangle projection volume algorithm, a target volume between any one of the triangle areas and the projection triangle area corresponding to the triangle area, and between the triangle area and the projection triangle area.

And a second calculating module 750, configured to sum the target volumes to obtain a spatial volume of the gob.

In an embodiment, the obtaining module 710 is further configured to:

and scanning the goaf through a goaf detection system to obtain a plurality of point cloud data.

In an embodiment, the calculating means 700 for the volume of the goaf space in the mine further comprises

And the storage module is used for storing the plurality of point cloud data into the terminal equipment in a DXF file format.

In an embodiment, the obtaining module 710 is further configured to:

respectively adjusting the detection angle of the empty area detection system to a plurality of target preset angles; the target preset angle before adjustment is different from the target preset angle after adjustment; and aiming at any target preset angle, the goaf detection system rotates for a circle under the target preset angle to scan the goaf, and a circle of point cloud data of the goaf under the target preset angle is obtained.

In an embodiment, the establishing module 720 is further configured to:

s1, determining a plurality of first point cloud data scanned corresponding to the preset target angle before adjustment and a plurality of second point cloud data scanned corresponding to the preset target angle after adjustment based on the sequential adjustment sequence of the preset target angles; s2, connecting any two adjacent first point cloud data in the plurality of first point cloud data to obtain a plurality of bottom edges; s3, aiming at any bottom side, respectively taking the second point cloud data as vertexes, and connecting the vertexes with the two first point cloud data at the two ends of the bottom side to generate a plurality of initial triangular areas; s4, determining the minimum triangle perimeter from the plurality of triangle perimeters according to the triangle perimeters corresponding to the plurality of initial triangle areas; s5, determining the initial triangular area corresponding to the minimum triangular perimeter as the final triangular area, and obtaining a plurality of triangular areas corresponding to the bottom edges respectively; and S6, respectively executing the steps from S1 to S5 aiming at the circle of point cloud data corresponding to each target preset angle until an entity triangulation network model consisting of a plurality of triangular areas is obtained.

In an embodiment, the first calculation module 740 is further configured to:

respectively determining each vertex of the triangular area and each projection vertex of the projection triangular area; connecting each vertex with the corresponding projection vertex respectively to form a pentahedron; the volume of the pentahedron is calculated and taken as the target volume between the triangular region and the projected triangular region.

It should be understood that, in the structural block diagram of the device for calculating the volume of the mine goaf space shown in fig. 7, each unit/module is used to execute each step in the embodiments corresponding to fig. 1, fig. 3, fig. 4, and fig. 6, and each step in the embodiments corresponding to fig. 1, fig. 3, fig. 4, and fig. 6 has been explained in detail in the above embodiments, specifically please refer to the description in the embodiments corresponding to fig. 1, fig. 3, fig. 4, and fig. 6 and fig. 1, fig. 3, fig. 4, and fig. 6, and will not be repeated herein.

Fig. 8 is a block diagram of a terminal device according to another embodiment of the present application. As shown in fig. 8, the terminal apparatus 800 of this embodiment includes: a processor 810, a memory 820, and a computer program 830, such as a program for a method of calculating a volume of a mine goaf space, stored in the memory 820 and executable on the processor 810. The steps in the embodiments of the method for calculating the volume of the goaf space in each mine described above, such as S101 to S105 shown in fig. 1, are implemented when the processor 810 executes the computer program 830. Alternatively, the processor 810, when executing the computer program 830, implements the functions of the modules in the embodiment corresponding to fig. 7, for example, the functions of the modules 710 to 750 shown in fig. 7, and refer to the related description in the embodiment corresponding to fig. 7 specifically.

Illustratively, the computer program 830 may be divided into one or more units, which are stored in the memory 820 and executed by the processor 810 to accomplish the present application. One or more elements may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 830 in the terminal device 800.

The terminal equipment may include, but is not limited to, a processor 810, a memory 820. Those skilled in the art will appreciate that fig. 8 is merely an example of a terminal device 800 and does not constitute a limitation of terminal device 800 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., terminal device may also include input output devices, network access devices, buses, etc.

The processor 810 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 820 may be an internal storage unit of the terminal device 800, such as a hard disk or a memory of the terminal device 800. The memory 820 may also be an external storage device of the terminal device 800, such as a plug-in hard disk, a smart card, a flash memory card, etc. provided on the terminal device 800. Further, the memory 820 may also include both internal and external memory units of the terminal apparatus 800.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.