基于三维视觉点云的露天矿爆堆体积智能计算方法

Intelligent calculation method for open-pit mine blasting mound volume based on 3D vision point cloud

  • 摘要: 露天矿爆堆体积及形态参数信息是评价爆堆爆破效果的重要指标,但当前露天矿爆堆体积等参数的求解存在精度低、操作成本高、速度慢等问题,为了能够及时精确地获取爆堆体积以及其他形态参数,提出了一种基于三维视觉点云的露天矿爆堆体积智能计算方法。首先使用无人机采集爆堆场景的图像数据集;其次基于Instant-NGP构建露天矿爆堆三维重建模型,采用Colmap获取相机内参及图像位姿信息,并将图像与位姿信息作为Instant-NGP模型的输入,训练该模型并输出爆堆场景的原始点云数据;然后提出基于网格模型的露天矿爆堆体积计算方法,通过点云滤波、尺度恢复等方法处理原始点云数据,基于CSF (Cloth Simulation Filter)算法和AC (Angle Criterion)算法分别获取爆堆底面和爆堆表面点云,并通过向下生长点云获取完整的爆堆点云,采取几何算法获取爆堆抛掷距离等形态参数;最后应用alpha-shape曲面重建算法重建爆堆,得到爆堆的网格模型,并通过累加网格模型中的四面体计算出爆堆的体积。实验结果分析表明:基于三维视觉点云的露天矿爆堆体积智能计算方法求取到的爆堆抛掷距离、隆起高度、爆堆宽度等形态参数,实验误差均小于5%,并通过切面法得到爆堆的剖面图;求取到的爆堆体积与真实的爆堆体积进行对比,仅存在5%以内的误差,且所提的三维重建与点云处理整套处理流程所需时间小于25 min,满足爆堆体积快速获取的需求。

     

    Abstract: The volume and morphological parameters of the opencast mine blast pile are crucial indicators for evaluating the blasting effect. However, current methods for determining these parameters suffer from issues such as low accuracy, high operational costs, and slow speed. To promptly and accurately obtain the volume and other morphological parameters of the blast pile, an intelligent calculation method is proposed for the opencast mine blast pile volume based on 3D visual point clouds. Firstly, unmanned aerial vehicles (UAVs) are used to collect image datasets of the blast pile scene. Secondly, an opencast mine blast pile 3D reconstruction model is constructed based on Instant-NGP. Colmap is employed to obtain camera intrinsic parameters and image pose information, which are then used as inputs to the Instant-NGP model. The model is trained to output the raw point cloud data of the blast pile scene. Subsequently, a grid model-based method for calculating the opencast mine blast pile volume is proposed. The raw point cloud data is processed through point cloud filtering and scale recovery methods. The point clouds of the blast pile's base and surface are obtained using the Cloth Simulation Filter (CSF) algorithm and the Angle Criterion (AC) algorithm, respectively. A complete point cloud of the blast pile is acquired by downward-growing the point cloud, and geometric algorithms are used to obtain morphological parameters such as the throw distance of the blast pile. Finally, the alpha-shape surface reconstruction algorithm is applied to reconstruct the blast pile, yielding a mesh model. The volume of the blast pile is calculated by summing the tetrahedra in the mesh model. The analysis of experimental results indicates that the intelligent calculation method based on 3D visual point clouds accurately determines morphological parameters such as the throw distance, heap height, and width of the blast pile, with experimental errors all below 5%. Additionally, cross-sectional views of the blast pile are obtained using the slicing method. When comparing the calculated blast pile volume to the actual volume, the error is within 5%. Furthermore, the entire process of 3D reconstruction and point cloud processing proposed takes less than 25 minutes, meeting the demand for rapid acquisition of blast pile volume.

     

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