阅读说明：本技术 一种迎头面摄影地质编录方法及系统 (Head-on photography geological logging method and system ) 是由 李云波 单礼岩 谢成梁 赵哲 杨鹏飞 张军 胡万利 何昭友 阎家光 覃海明 孙喆 于 2021-08-31 设计创作，主要内容包括：本发明涉及摄影测量技术领域,具体涉及一种迎头面摄影地质编录方法及系统,系统包括固定测绘模块、测绘摄影模块、信息交互模块和处理模块,固定测绘模块上设有指示激光单元；方法包括,以固定测绘模块发射出线激光并测量与煤壁的距离值作为摄影测量的比例标尺,并调节固定测绘模块的顶端面至水平方向,及调制固定测绘模块的铅垂方向；由固定测绘模块发射出多个位于同一直线上的指示光点,指示测绘摄影模块的摄影位置,让测绘摄影模块拍摄固定测绘模块和迎头面的多张摄影图像,发射至后台的处理模块；由处理模块将摄影图像依次进行影像处理分析、建立三维模型和地质编录处理,再计算出产状得到迎头面剖面图。本发明减少因位置误差带来的计算量。(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 surveying and mapping module, a surveying and mapping photography module, an information interaction module and a processing module, wherein the fixed surveying and mapping module is provided with an indication laser unit; the method comprises the steps of using a fixed mapping module to emit outgoing line laser and measure the distance value between the outgoing line laser and the coal wall as a proportional scale for photogrammetry, adjusting the top end surface of the fixed mapping module to the horizontal direction, and modulating the vertical direction of the fixed mapping module; the fixed mapping module emits a plurality of indicating light spots on the same straight line to indicate the photographing position of the mapping and photographing module, so that the mapping and photographing module photographs a plurality of photographic images of the fixed mapping module and the head-on side and emits the photographic images to the processing module of the background; the processing module sequentially carries out image processing analysis, three-dimensional model establishment and geological record processing on the photographic images, and then calculates the occurrence to obtain a head-on section map. The invention reduces the amount of calculation caused by position errors.)

1. A head-on photography geological recording system comprises a fixed mapping module, a mapping and photographing module, an information interaction module and a processing module;

the fixed mapping module is positioned in front of the head-facing surface and used as a proportional scale in a photographic image, and a leveling unit used for adjusting the direction is arranged on the fixed mapping module;

the surveying and mapping photographing module is used for photographing the fixed surveying and mapping module and photographic images of the head-facing side;

the information interaction module is used for sending the photographic images to the processing module for editing and 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 occurrence to obtain a head-on section map;

the method is characterized in that:

be equipped with on the fixed mapping module and instruct laser unit, instruct laser unit to launch a plurality of instruction light spots that are located collinear in order to instruct the shooting position of survey and drawing photographic module, instruct laser unit to set up on fixed mapping module with presetting inclination, instruct laser unit towards ground one side slope and set up downwards, instruct laser unit to instruct the light spot to ground transmission according to presetting inclination after fixed mapping module adjusts the level.

2. The head-on photographic geological logging system of claim 1, wherein: the indicating laser unit is provided with an adjusting unit which moves horizontally and vertically on the fixed mapping module, and the adjusting unit is positioned on the leveling unit and is adjusted horizontally by the leveling unit.

3. The head-on photographic geological logging system of claim 2, wherein: the fixed mapping module comprises a tripod unit, and a calibration unit, an inclination angle sensing unit, a microprocessing unit and a display unit are arranged on the tripod unit;

the calibration unit is used for emitting outgoing line lasers to both sides and measuring a distance value between the outgoing line lasers and a coal wall to serve as a proportion scale for photogrammetry, the calibration unit emits a plurality of point lasers which are positioned on the same straight line, an emission included angle between the point lasers is set according to a preset angle, and the calibration unit measures a light 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 level when the calibration unit emits point laser;

the micro-processing unit obtains the emission included angle, the light path distance and the horizontal included angle, and calculates the horizontal projection of the light path distance of the point laser in the horizontal direction, the micro-processing unit judges whether the horizontal projection of every two laser points is equal, and when the horizontal projection of any two laser points is equal, the processing module forms the vertical information of the fixed mapping module and sends the vertical information to the display unit for display.

4. A head-on photographic geology documentation system according to claim 3 wherein: the calibration unit comprises a point laser transmitter and a line laser transmitter, the point laser transmitter emits point laser towards the circumferential coal wall, and the line laser transmitter emits line laser towards the top coal wall.

5. The head-on photographic geological logging system of claim 4, 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 to be displayed.

6. The head-on photographic geological logging system of claim 5, wherein: the indicating laser unit emits indicating light spots, then the distance value between the indicating 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 indicating light spots to obtain a marginal sum value, the micro-processing unit is internally pre-stored with a preset sum value of a preset distance between the indicating light spots corresponding to adjacent bevel edges, the micro-processing unit compares the preset sum value with the marginal sum value to obtain an absolute value to obtain a difference value, and when the difference value is larger than a threshold value, the micro-processing unit sends early warning prompt information to the display unit.

7. A head-on photographic geological logging method, characterized in that a geological logging system is arranged on the head-on side according to claim 1, and the method comprises the following steps:

firstly, mounting a fixed mapping module at a preset position in front of a head-on face, using the fixed mapping module to emit outgoing line laser and measure a distance value between the outgoing line laser and a coal wall as a proportion scale for photogrammetry, adjusting the top end face of the fixed mapping module to the horizontal direction, and modulating the vertical direction of the fixed mapping module;

step two, the fixed mapping module emits a plurality of indication light spots on the same straight line to indicate the photographing position of the mapping and photographing module, whether the photographing optical axis is perpendicular to the head-on surface during photographing is judged through a numerical value horizontal gauge on the mapping and photographing module, if so, the mapping and photographing module is enabled to photograph a plurality of photographic images of the fixed mapping module and the head-on surface and emit the photographic images to the processing module of the background;

and thirdly, the processing module sequentially performs image processing analysis, three-dimensional model establishment and geological record processing on the photographic images, and calculates the occurrence to obtain a head-on section map.

8. The head-on photography geological logging method of claim 7, wherein: in the first step, a plurality of laser points on the same straight line are transmitted through the fixed mapping module, the light path distance is measured while the laser points are transmitted, the horizontal included angle between the transmitting center of each laser point and the horizontal direction is measured, the transmitting included angle between the transmitting directions of the laser points is known, the horizontal projections of the light path distances of the laser points on the horizontal direction are calculated according to the light path distance, the transmitting 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 vertical information of the fixed mapping module is generated to be displayed.

9. The head-on photography geological logging method of claim 7, wherein: in the first step, the preset coordinate point, the light path distance, the azimuth angle and the pitch angle are sent to the processing module through the light path distance, the azimuth angle and the pitch angle obtained by the fixed mapping module from the laser emitting point to the preset coordinate point of the coal wall, and the absolute three-dimensional coordinate of the fixed mapping module is calculated by the processing module according to the preset coordinate point, the light path distance, the azimuth angle and the pitch angle.

10. The head-on photography geological logging method of claim 7, wherein: and in the second step, the distance value between the light source and the ground is measured while the indicating light points are emitted, the distance values of two adjacent indicating light points are summed to obtain an adjacent edge sum value, the preset sum value of the preset distance between the prestored indicating light points corresponding to the adjacent oblique edges is subtracted from the adjacent edge sum value to obtain an absolute value to obtain a difference value, the difference value is compared with a threshold value, and when the difference value is greater than the threshold value, early warning prompt information is displayed.

Technical Field

The invention relates to the technical field of photogrammetry, in particular to a method and a system for recording head-on photographic geology.

Background

The heading face is also called heading head, which means that when preparing for a stope face, a roadway is firstly mined, the roadway comprises the functions of coal detection, coal excavation, water detection, gas detection and the like, and is equivalent to a single independent head roadway which mainly takes heading and is assisted by other geological conditions, has no independent ventilation system, does not have a channel directly leading to the ground, needs to support the top and two sides of the roadway, and is generally mechanical heading and blasting heading. The geological record of the head-on side is related to the safety assessment of the subsequent coal mine excavation work, so the geological record of the head-on side is very important.

At present, the method for recording the head-on geology is to measure parameters through a compass and a tape, then draw by hand or by AutoCAD to obtain information with geological structure, and finally obtain the structural occurrence through calculation. When the existing geological logging method is used, parameter measurement errors are large, differences of subsequent image drawing and structure occurrence calculation are caused, and the computation amount of logging data is large.

Disclosure of Invention

The invention aims to provide a head-on photography geological recording system to solve the problem of large data calculation amount of the existing recording method.

The system for recording the head-on photography geology comprises a fixed mapping module, a mapping and photographing module, an information interaction module and a processing module;

the fixed mapping module is positioned in front of the head-facing surface and used as a proportional scale in a photographic image, and a leveling unit used for adjusting the direction is arranged on the fixed mapping module;

the surveying and mapping photographing module is used for photographing the fixed surveying and mapping module and photographic images of the head-facing side;

the information interaction module is used for sending the photographic images to the processing module for editing and 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 occurrence to obtain a head-on section map;

be equipped with on the fixed mapping module and instruct laser unit, instruct laser unit to launch a plurality of instruction light spots that are located collinear in order to instruct the shooting position of survey and drawing photographic module, instruct laser unit to set up on fixed mapping module with presetting inclination, instruct laser unit towards ground one side slope and set up downwards, instruct laser unit to instruct the light spot to ground transmission according to presetting inclination after fixed mapping module adjusts the level.

The beneficial effect of this scheme is:

in the geological recording process, a fixed mapping module is placed at a preset position in front of a head-facing surface, and the top end surface of the fixed mapping module is adjusted to the horizontal direction through a leveling unit; then, a plurality of indicating light spots located on the same straight line are emitted by an indicating laser unit on the fixed mapping module, the shooting position of the mapping photographing module is indicated by the indicating light spots, the fixed mapping module and the head-facing photographed image are shot by the mapping photographing module, and the photographed image is sent to the processing module by the information interaction module; and finally, processing the photographic image by a processing module, and calculating the occurrence to obtain a head-on section view. The shooting position of the surveying and mapping photographing module is indicated through the fixed surveying and mapping module, the accuracy of selection of the shooting position is improved, and the calculation amount caused by position errors is reduced.

Further, be equipped with on the instruction laser unit and carry out the adjusting unit that moves to and vertical on fixed mapping module, adjusting unit is located leveling unit and is adjusted the level by leveling unit.

The beneficial effects are that: whether the adjusting unit is adjusted horizontally or not is adjusted through the leveling unit, then the adjusting unit adjusts the distance between the indicating light spots projected to the ground, the camera shooting position points of the surveying and mapping camera module can be indicated at equal intervals, and the error of camera shooting position point selection is reduced.

Further, the fixed mapping module comprises a tripod unit, and a calibration unit, an inclination sensing unit, a microprocessing unit and a display unit are arranged on the tripod unit;

the calibration unit is used for emitting outgoing line lasers to both sides and measuring a distance value between the outgoing line lasers and a coal wall to serve as a proportion scale for photogrammetry, the calibration unit emits a plurality of point lasers which are positioned on the same straight line, an emission included angle between the point lasers is set according to a preset angle, and the calibration unit measures a light 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 level when the calibration unit emits point laser;

the micro-processing unit obtains the emission included angle, the light path distance and the horizontal included angle, and calculates the horizontal projection of the light path distance of the point laser in the horizontal direction, the micro-processing unit judges whether the horizontal projection of every two laser points is equal, and when the horizontal projection of any two laser points is equal, the processing module forms the vertical information of the fixed mapping module and sends the vertical information to the display unit for display.

The beneficial effects are that: the line laser unit is used as a photogrammetric scale, the point laser unit is used for emitting a plurality of point lasers to adjust the vertical direction, the existing marker post is not needed, the length of the fixed mapping module is greatly reduced, the carrying is convenient, the distance value measured by the line laser unit is used as the scale, the length of the scale is adjustable, and the use is more convenient.

Further, the calibration unit comprises a point laser transmitter and a line laser transmitter, wherein the point laser transmitter emits point laser towards the circumferential coal wall, and the line laser transmitter emits line laser towards the top coal wall.

The beneficial effects are that: the point laser transmitter and the line laser transmitter can be used as a scale and a plumb to judge respectively, and the adjusting difficulty 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 displaying.

The beneficial effects are that: the monitored dip angle information is displayed, so that the top end surface level of the fixed mapping module can be conveniently adjusted, and errors and time delay caused by blind adjustment are avoided.

Further, the distance value between the indication laser unit and the ground is measured and sent to the microprocessing unit after the indication laser unit emits the indication light spot, the microprocessing unit sums up the distance values of two adjacent indication light spots to obtain a marginal sum value, a preset sum value of a preset distance between the indication light spots corresponding to adjacent bevel edges is prestored in the microprocessing unit, the microprocessing unit makes a difference between the preset sum value and the marginal sum value to obtain an absolute value to obtain a difference value, the microprocessing unit compares the difference value with a threshold value, and when the difference value is greater than the threshold value, the microprocessing unit sends early warning prompt information to the display unit.

The beneficial effects are that: after the plurality of indicating light spots are projected to the ground, the difference value between the adjacent edge sum value of the adjacent edge of the connecting line of the two indicating light spots and the preset sum value is automatically judged and corrected, so that whether the distance between the two points meets the requirement of photographic measurement after the actual indicating light spots are projected is determined, the automatic judgment is realized, the error of manual judgment is reduced, the accuracy of photographic places is improved, and the photographic images are uniformly photographed.

The head-on face photography geological recording method comprises the following steps:

firstly, mounting a fixed mapping module at a preset position in front of a head-on face, using the fixed mapping module to emit outgoing line laser and measure a distance value between the outgoing line laser and a coal wall as a proportion scale for photogrammetry, adjusting the top end face of the fixed mapping module to the horizontal direction, and modulating the vertical direction of the fixed mapping module;

step two, the fixed mapping module emits a plurality of indication light spots on the same straight line to indicate the photographing position of the mapping and photographing module, whether the photographing optical axis is perpendicular to the head-on surface during photographing is judged through a numerical value horizontal gauge on the mapping and photographing module, if so, the mapping and photographing module is enabled to photograph a plurality of photographic images of the fixed mapping module and the head-on surface and emit the photographic images to the processing module of the background;

and thirdly, the processing module sequentially performs image processing analysis, three-dimensional model establishment and geological record processing on the photographic images, and calculates the occurrence to obtain a head-on section map.

The beneficial effect of this scheme is:

the line laser is used as a proportion scale for photogrammetry, the existing marker post is not needed, the length of the fixed surveying and mapping module is greatly reduced, the carrying is convenient, the distance value measured by the line laser unit is used as the proportion scale, the length of the proportion scale is adjustable, and the use is more convenient; and the accuracy of selecting the shooting position is improved and the calculation amount caused by position errors is reduced by taking the indication light spot as the shooting position.

Further, in the first step, a plurality of laser points on the same straight line are transmitted through the fixed mapping module, the light path distance is measured while the laser points are transmitted, the horizontal included angle between the transmitting center of each laser point and the horizontal direction is measured, the transmitting included angle between the transmitting directions of the laser points is known, the horizontal projections of the light path distances of the laser points on the horizontal direction are calculated according to the light path distance, the transmitting 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 vertical information of the fixed mapping module is generated to be displayed.

The beneficial effects are that: whether the device is plumb or not is judged by calculation after laser emission, and a large-size marker post does not need to be carried as a scale, so that the device is more suitable for being carried and used in coal mines.

Further, in the first step, the preset coordinate point, the light path distance, the azimuth angle and the pitch angle are sent to the processing module through the light path distance, the azimuth angle and the pitch angle obtained from the laser of the emission point of the fixed mapping module to the preset coordinate point of the coal wall, and the absolute three-dimensional coordinate of the fixed mapping module is calculated by the processing module according to the preset coordinate point, the light path distance, the azimuth angle and the pitch angle.

The beneficial effects are that: and related information of a 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 more accurately acquired due to the accuracy of geological record calculation.

Explanation: the azimuth angle is the included angle between the emitted laser and the true north direction.

Further, in the second step, a distance value between the light source and the ground is measured while the indicating light points are emitted, the distance values of two adjacent indicating light points are summed to obtain an adjacent edge sum value, the preset sum value of the preset distance between the pre-stored indicating light points corresponding to the adjacent oblique edges is subtracted from the adjacent edge sum value to obtain an 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 part form a triangle, any vertex angle of the triangle is fixed, the sectional lines are drawn at different positions on two edges of the included angle, and the distance between the intersection points of the two edges and the sectional lines as the indicating light spots is changed, the scheme determines whether the distance between the indicating light spots is within the preset range by calculating the adjacent edges and the value, improves the accuracy of the shooting place and evenly shoots the shot images.

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 head-on geological three-dimensional model in the head-on photographic geological logging method in the third embodiment of the invention;

fig. 3 is a longitudinal cross-sectional view of a track constructed by a head-on photography geological recording method in the third embodiment of the present invention.

Detailed Description

The following is a more detailed description of the present invention by way of specific embodiments.

Example one

Head-on photography geological logging system, as shown in fig. 1: the system comprises a fixed mapping module, a mapping and photographing module, an information interaction module and a processing module.

The fixed mapping module is located the position department of predetermineeing in the front of the head-on face, predetermines the position and can be head-on face 2m department, and fixed mapping module is arranged in as the proportion scale in the photographic image, is equipped with the leveling unit that is used for adjusting the direction on the fixed mapping module, and the leveling unit can carry out the regulation of horizontal direction with current universal joint or cloud platform.

The fixed surveying and mapping module comprises a tripod unit, and the tripod unit can use the existing photographing tripod capable of adjusting the height to carry out photographing and mapping, adjust the tripod unit and stably stand on the ground; the device comprises a tripod unit, an upper calibration unit, an inclination angle sensing unit, a microprocessing unit and a display unit, wherein the leveling unit is positioned between the tripod unit and the calibration 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 to serve as a proportion scale for photogrammetry, the calibration unit emits a plurality of point lasers which are positioned on the same straight line and used for vertical calculation, in the embodiment I, three point lasers are emitted as an example, an emission included angle between the point lasers is preset to be known according to a preset angle, the calibration unit measures a light path distance between each laser point and the coal wall after emitting the point lasers, the light path distance can be measured according to a light speed and time to obtain a round-trip distance, 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 emitters emit the point lasers towards the circumferential coal wall, and the line laser emitter emits the line lasers towards the top coal wall; the inclination sensing unit detects a horizontal included angle between the center and the level when the calibration unit emits point laser, the inclination sensing unit uses the existing sensor, the micro-processing unit calculates the horizontal projection according to the emission included angle, the light path distance and the horizontal included angle, and judges whether the laser is vertical or not according to the three horizontal projections, and the micro-processing unit can use the existing SOC chip.

Be equipped with on the fixed mapping module and instruct the laser unit, the available current laser emitter of laser instruction unit, instruct the laser unit to launch a plurality of instruction light spots that are located collinear in order to instruct the shooting position of survey and drawing photographic module, the quantity that instructs the light spot to measure the quantity of position according to actual need sets up, instruct the laser unit to set up on fixed mapping module with presetting inclination, instruct the laser unit to set up downwards towards ground one side slope, instruct the laser unit to launch according to presetting inclination after fixed mapping module regulation level and instruct the light spot to ground.

The surveying and mapping module is used for shooting photographic images of the fixed surveying and mapping module and the head-facing side, and the surveying and mapping module can use an existing intrinsic safety type camera, such as an KBA7.4A model camera. The information interaction module is used for sending the photographic images to the processing module for editing and recording, and the information interaction module can be used for carrying out information transmission by using the existing serial communication or other data lines.

The information interaction module is used for sending the photographic images to the processing module for editing and recording, the processing module is used for sequentially carrying out image processing analysis on the photographic images, establishing a three-dimensional model and geological editing and recording, calculating the occurrence to obtain a head-on section diagram, calculating the pose of the image shooting through the existing air-to-three calculation in the image processing and analyzing process of the geological editing and recording process, establishing a head-on three-dimensional model through the existing GeoLog3D software, carrying out directional calculation in the three-dimensional model, drawing geological structure surfaces/lines/points, occurrence calculation, geological attribute recording, roadway height, coal thickness measurement and the like on the three-dimensional model, and the process of the process is the prior art and is not described in detail herein.

The indication laser unit is provided with an adjusting unit which is arranged on the fixed mapping module and moves horizontally and vertically, the adjusting unit is located on the leveling unit and is adjusted horizontally by the leveling unit, the adjusting unit comprises a transverse guide rail, a transverse seat is connected to the transverse guide rail in a sliding mode, a vertical guide rail is welded to the transverse seat, a vertical seat is connected to the vertical guide rail in a sliding mode, the transverse guide rail and the vertical guide rail are respectively arranged in two numbers, a 'well' shape can be formed, and the indication laser unit is fixedly installed on the vertical seat.

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 displaying so as to check a corresponding adjusting result in time; the micro-processing unit obtains the emission included angle, the light path distance and the horizontal included angle, calculates the horizontal projection of the light path distance of the point laser in the horizontal direction, judges whether the horizontal projections of every two laser points are equal or not, and when the horizontal projections of any two laser points are equal, the processing module forms the vertical information of the fixed mapping module and sends the vertical information to the display unit for display.

The head-on photographic geological logging method based on the head-on photographic geological logging system comprises the following steps:

step one, a plurality of laser points located on the same straight line are emitted through a fixed mapping module, for example, three-point laser is emitted, light path distances are measured while the laser points are emitted, the light path distances are respectively represented as OA, OB and OC, the emission included angle of the laser points is known, the emission included angle is represented as psi 1 and psi 2, 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 included angle is represented 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 distances, the emission included angle and the horizontal included angle, and the horizontal projection is represented as:

OA`＝OA*cosα；

OB`＝OB*cos(α+ψ1)；

OC`＝OC*cos(α-ψ2)；

comparing the horizontal projections of any two laser points by a micro-processing unit, and generating and displaying the vertical information of the fixed mapping module 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 a head-on face, using the fixed mapping module to emit outgoing laser and measure a distance value between the outgoing laser and a coal wall as a proportion scale for photogrammetry, adjusting the top end face of the fixed mapping module to the horizontal direction, and modulating the vertical direction of the fixed mapping module, namely adjusting a leveling unit until any two horizontal projections are equal.

And step two, a plurality of indication light points positioned on the same straight line are transmitted by the fixed mapping module to indicate the photographing position of the mapping and photographing module, whether the photographing optical axis is perpendicular to the head-on surface or not is judged by a numerical value level gauge on the mapping and photographing module when photographing, if so, the mapping and photographing module is used for photographing a plurality of photographic images of the fixed mapping module and the head-on surface at each indication light point, and the photographic images are transmitted to the processing module of the background by the information interaction module.

And thirdly, sequentially carrying out image processing analysis on the photographic images, establishing a head-on three-dimensional model and geological record processing by the processing module, and then calculating the occurrence to obtain a head-on section map.

In the first step, the preset coordinate point, the light path distance, the azimuth angle and the pitch angle are sent to the processing module through the light path distance, the azimuth angle and the pitch angle obtained by the fixed mapping module from the point laser to the preset coordinate point of the coal wall, the absolute three-dimensional coordinate of the fixed mapping module is calculated by the processing module according to the preset coordinate point, the light path distance, the azimuth angle and the pitch angle, the geodetic coordinate of 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 coordinate of the fixed mapping module is represented as (x + OA sin beta, y + OA cos beta, z + OA sin theta).

According to the embodiment, the first indication light spot is used as the shooting position, the selection accuracy 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 errors of manual measurement are avoided, and the accuracy of the photogrammetry activities is improved.

Example two

The difference with the first embodiment is that the system further comprises a laser indicating unit which emits indicating light spots, then the distance value between the laser indicating unit and the ground is measured and sent to a micro-processing unit, the micro-processing unit sums the distance values of two adjacent indicating light spots to obtain a sum of adjacent edges, a preset sum of adjacent oblique edges corresponding to the preset distance between the indicating light spots is prestored in the micro-processing unit, the preset sum is set according to the length between the actually set indicating light spots, the micro-processing unit makes a difference between the preset sum and the sum of adjacent edges to obtain an absolute value, the difference is compared with a threshold value by the micro-processing unit, and when the difference is larger than the threshold value, the micro-processing unit sends early warning prompt information to a display unit.

The method further comprises the step two of measuring a distance value between the light source and the ground while emitting the indicating light points, summing the distance values of two adjacent indicating light points to obtain an adjacent edge sum value, taking the difference between the preset sum value of the adjacent oblique edges corresponding to the preset distance between the prestored indicating light points and the adjacent edge sum value to obtain an absolute value to obtain a difference value, comparing the difference value with a threshold value, and displaying early warning prompt information when the difference value is larger than the threshold value.

In the embodiment, whether the distance between the indication light points is within the preset range is determined by calculating the adjacent edges and the values, so that whether the measurement point positions of the surveying and mapping photographing module are uniformly distributed is judged, the accuracy of the photographing place is improved, and the photographed image is uniformly photographed.

EXAMPLE III

The difference from the first embodiment is that, as shown in fig. 2 and fig. 3, in the geological record system for head-on photography, a term unit, a modeling unit, an interpolation unit and a profile unit are arranged in a processing module, the term unit is used for adding term information to a single head-on three-dimensional model obtained by record, and the term information is represented by a digital incoming line according to the time sequence before and after record; the modeling unit adds the head-on three-dimensional model to a three-dimensional coordinate space according to the time sequence of the period information to form a head-on geological three-dimensional model, the modeling unit can use the existing EgoInfo software, and the formation of the head-on geological three-dimensional model by a plurality of head-on three-dimensional models can be carried out by the operations of moving, deleting, copying and the like of the software and the picking of line segments, broken lines, points and the like; the difference unit utilizes the track line of the head-on structure to splice the corners of the ground surface for smoothing treatment, for example, the two-dimensional difference algorithm and the three-dimensional difference algorithm are used for smoothing treatment, so that the reality of the model is improved; the profile unit picks up geological data on the head-on face geological three-dimensional model, such as coal thickness, top and bottom plate elevation and the like, constructs a geological structure change trajectory according to the geological data, and forms a roadway profile map through a multi-period head-on face geological change line, such as a line H on the graph 2.

In the third step, adding period information to the head-on three-dimensional model through a period unit when the single-period head-on three-dimensional model is obtained through recording, and adding the head-on three-dimensional model to a three-dimensional coordinate space to form a head-on geological three-dimensional model according to the time sequence of the period information by a modeling unit; the track line of the head-on structure is spliced with the corners of the ground surface through the difference unit for smoothing; the geological data on the head-on geological three-dimensional model is picked up through the profile unit, the geological change trajectory is constructed according to the geological data, the profile data at the geological change central axis of the multi-period head-on surface is picked up on the multi-period head-on surface to form a roadway profile, and in the structural track longitudinal profile, at least two discrete roadway interface photographic pictures are used for drawing out the structural change track along the trend of the roadway.

Because the head-on construction track is only discrete roadway section fragments, and the change rule of the construction track along the longitudinal direction of the roadway is difficult to restore by mine ground survey personnel, the embodiment of the invention can be used for processing and recording the geological data of the head-on over a long period, then a head-on section view is formed, the continuous change characteristic of the construction track along with the advancing of the head can be drawn, the head-on recording is used for forming a longitudinal section view of the construction track penetrating through the whole roadway, the geological change characteristic on the head-on in the excavation process is continuously reflected, and the change rule of the construction track along the longitudinal direction of the roadway can be accurately restored subsequently.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.