Pumping unit position positioning method

Abstract

The invention discloses a pumping unit positioning method and relates to the technical field of accurate positioning. In order to solve the technical problem in the prior art that the position of an oil pumping unit cannot be positioned due to the fact that the pixel position of a monitored and displayed image cannot be accurately registered with the actual position in an existing monitoring system, the technical scheme provided by the invention is as follows: the method for positioning the position of the oil pumping unit comprises the following steps of: acquiring a panoramic image; a step of collecting an orientation and a pitch angle corresponding to a target pixel point in the panoramic image; a step of obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point; obtaining latitude and longitude information of the target pixel point according to the distance of the target pixel point and the corresponding orientation; and matching the longitude and latitude information to the pumping unit corresponding to the target pixel point. The method can be applied to precise positioning and equipment management of the oil pumping unit in an oil field.

Description

Technical Field

[0001] The invention relates to the technical field of precise positioning, and in particular to positioning an oil field pumping unit by using an image in a panoramic alarm monitoring system. Background Art

[0002] In order to meet the needs of long-distance and large-scale monitoring of oil field pumping units, the monitoring system was designed and installed on a 50-meter-high tower. This height allows the camera to overlook the vast oil field area, ensuring that the pumping units in the entire oil field can be included in the monitoring field of view. However, this also brings a significant technical challenge: the camera of the monitoring system forms an angle with the ground plane, which causes the image captured by the camera to be tilted.

[0003] In traditional monitoring systems, the pixel positions in the image cannot be accurately aligned and registered with the actual geographic location. Specifically, the image captured by the camera is only a pixel point on a two-dimensional plane, and these pixel points cannot directly correspond to the three-dimensional geographic coordinates in the real world. This error is particularly obvious in oilfield environments with complex terrain and wide range. Due to this registration error between the pixel position and the actual position, the monitoring system cannot accurately locate the position of the pumping unit, which greatly limits the practicality and reliability of the monitoring system.

[0004] In more detail, this error comes from the following aspects:

[0005] Influence of height and angle of depression: Since the camera is installed at a high place, the distance and azimuth of objects in the overhead image will be affected. In particular, the farther away from the camera, the greater the error.

[0006] Distortion of panoramic images: The images captured by panoramic cameras will be distorted to a certain extent after stitching and processing, making the relationship between the position of objects in the image and their actual position more complicated.

[0007] Complexity of geographic coordinate conversion: Converting pixels in a two-dimensional image into three-dimensional geographic coordinates requires complex mathematical models and precise parameters. Any slight error will lead to deviation in the final positioning result.

[0008] Therefore, the traditional monitoring system cannot provide accurate pumping unit location data in such a complex environment, which affects the management and maintenance efficiency of oilfield equipment. Summary of the invention

[0009] In order to solve the technical problem that in the existing monitoring system, the pixel position of the image displayed by the monitoring system cannot be accurately aligned with the actual position, and thus the position of the oil pump cannot be located, the technical solution provided by the present invention is as follows:

[0010] A method for locating a pumping unit, the method comprising:

[0011] Steps for acquiring panoramic images;

[0012] A step of acquiring the azimuth and elevation angle corresponding to the target pixel point in the panoramic image;

[0013] A step of obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point;

[0014] A step of obtaining the longitude and latitude information of the target pixel point according to the distance and corresponding orientation of the target pixel point;

[0015] The step of matching the latitude and longitude information to the oil pump corresponding to the target pixel point.

[0016] Furthermore, a preferred implementation is provided, in which the distance of the target pixel point is obtained according to the installation parameters of the camera and the pitch angle corresponding to the target pixel point.

[0017] Furthermore, a preferred embodiment is provided, which calculates the longitude and latitude of the target point according to the longitude and latitude of the camera installation location, the distance between the target pixel point and the camera, and the orientation.

[0018] Furthermore, a preferred implementation is provided, in which the longitude and latitude information is matched to the oblique image in the panoramic image to achieve matching of the oil pump corresponding to the target pixel point.

[0019] Based on the same inventive concept, the present invention also provides a pumping unit position positioning device, the device comprising:

[0020] A module for collecting panoramic images;

[0021] A module for collecting the azimuth and pitch angle corresponding to the target pixel point in the panoramic image;

[0022] A module for obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point;

[0023] A module for obtaining the latitude and longitude information of the target pixel point according to the distance and corresponding orientation of the target pixel point;

[0024] The latitude and longitude information is matched to the module of the oil pump corresponding to the target pixel point.

[0025] Based on the same inventive concept, the present invention also provides a method for monitoring an oil pump, the method comprising:

[0026] The step of selecting a target oil pumping unit and determining the pixel points corresponding to the target oil pumping unit;

[0027] According to the method described, a step of matching the latitude and longitude information for the target pumping unit;

[0028] The target pumping unit is marked according to the latitude and longitude information, and real-time operating parameters are collected.

[0029] Based on the same inventive concept, the present invention also provides a pumping unit monitoring device, the device comprising:

[0030] Select a target pumping unit and determine a module of pixel points corresponding to the target pumping unit;

[0031] According to the device, a module for matching the latitude and longitude information of the target pumping unit;

[0032] A module for marking the target pumping unit according to the latitude and longitude information and collecting real-time operating parameters.

[0033] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method described.

[0034] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method described.

[0035] Based on the same inventive concept, the present invention also provides a computer program product, which is embedded with a computer program, and when the computer program is read, the method described is implemented.

[0036] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0037] The method for locating the position of the oil pump provided by the present invention obtains a 360-degree panoramic image through a panoramic monitoring device installed on a high tower. It can cover a larger monitoring range and solve the problem of limited field of view of the traditional monitoring system. Compared with single camera monitoring, the panoramic image provides a more comprehensive perspective.

[0038] The method for locating the position of the oil pumping unit provided by the present invention calculates the corresponding horizontal angle and pitch angle according to the position of the mouse pointer in the panoramic image. By accurately calculating the orientation and pitch angle of the pixel points in the image, the image coordinates can be accurately converted into the orientation and angle in the real world. This method improves the accuracy of positioning and solves the problem that the image position and the actual position cannot be aligned in the traditional monitoring system.

[0039] The method for locating the position of the oil pumping unit provided by the present invention uses the camera installation height and pitch angle to calculate the distance between the target point and the camera. Through the distance calculation, the position of the oil pumping unit can be further determined. This calculation method based on geometric relationships ensures the accuracy and reliability of positioning.

[0040] The method for locating the position of the oil pump provided by the present invention uses the longitude and latitude of the location of the camera, the distance between the target point and the camera, and the horizontal angle to calculate the longitude and latitude of the target point. By accurately calculating the longitude and latitude of the target point, the oil pump can be accurately located. This method greatly improves the accuracy of positioning and solves the problem that the position of the oil pump cannot be accurately determined in the traditional monitoring system.

[0041] The method for locating the position of the oil pump provided by the present invention accurately matches the tilted image in the panoramic monitoring system with the calculated target longitude and latitude. The accurate positioning of the position of the oil pump is achieved, so that the monitoring system can provide accurate equipment location information. This method effectively solves the positioning error problem caused by image tilt in the traditional system.

[0042] The method for locating the position of the oil pump provided by the present invention obtains the equipment parameters of the oil pump according to the precisely located longitude and latitude for equipment management and maintenance. Through precise positioning, the operating parameters and status information of the equipment can be obtained in a timely manner, thereby improving the efficiency of equipment management and maintenance. Compared with traditional manual inspection and recording, this method is more efficient and accurate.

[0043] The method for positioning the position of the oil pump provided by the present invention can be applied to the precise positioning and equipment management of the oil pump in the oil field. DETAILED DESCRIPTION

[0044] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail, specifically:

[0045] Embodiment 1: This embodiment provides a method for locating a pumping unit, the method comprising:

[0046] Steps for acquiring panoramic images;

[0047] A step of acquiring the azimuth and elevation angle corresponding to the target pixel point in the panoramic image;

[0048] A step of obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point;

[0049] A step of obtaining the longitude and latitude information of the target pixel point according to the distance and corresponding orientation of the target pixel point;

[0050] The step of matching the latitude and longitude information to the oil pump corresponding to the target pixel point.

[0051] Embodiment 2: This embodiment further limits the method for locating the position of the oil pump provided in Embodiment 1, and obtains the distance of the target pixel point according to the installation parameters of the camera and the pitch angle corresponding to the target pixel point.

[0052] Implementation method three: This implementation method further limits the method for locating the oil pumping unit provided in implementation method one, and calculates the longitude and latitude of the target point based on the longitude and latitude of the camera's installation location, the distance between the target pixel point and the camera, and the orientation.

[0053] Embodiment 4: This embodiment further limits the method for locating the position of the oil pump provided in embodiment 1, and matches the longitude and latitude information to the inclined image in the panoramic image to achieve matching of the oil pump corresponding to the target pixel point.

[0054] Embodiment 5: This embodiment provides a pumping unit position positioning device, the device comprising:

[0055] A module for collecting panoramic images;

[0056] A module for collecting the azimuth and pitch angle corresponding to the target pixel point in the panoramic image;

[0057] A module for obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point;

[0058] A module for obtaining the latitude and longitude information of the target pixel point according to the distance and corresponding orientation of the target pixel point;

[0059] The latitude and longitude information is matched to the module of the oil pump corresponding to the target pixel point.

[0060] Embodiment 6: This embodiment provides a method for monitoring an oil pump, the method comprising:

[0061] The step of selecting a target oil pumping unit and determining the pixel points corresponding to the target oil pumping unit;

[0062] According to the method provided in the first embodiment, a step of matching the latitude and longitude information for the target pumping unit;

[0063] The target pumping unit is marked according to the latitude and longitude information, and real-time operating parameters are collected.

[0064] Specifically, the technical solution provided by this embodiment is:

[0065] The invention provides a method for positioning an oil pump based on panoramic images. The panoramic images obtained by the panoramic alarm monitoring system are used to accurately position the oil pump in the oil field, and obtain the position and equipment parameters of the oil pump.

[0066] Obtain panoramic images output by panoramic monitoring alarm equipment

[0067] The panoramic monitoring system is installed on a high tower to obtain 360-degree panoramic images.

[0068] Get the azimuth and pitch angle corresponding to the pixel point

[0069] According to the position of the mouse pointer in the panoramic image, the corresponding horizontal angle and pitch angle are calculated.

[0070] Calculation of horizontal angle: Multiply the horizontal position of the mouse pointer on the image by 360 degrees, and then divide it by the width of the image to get the horizontal angle.

[0071] Calculation of pitch angle: multiply the vertical position of the mouse pointer by the field of view angle, divide by the height of the image, and adjust the pitch angle offset value to get the final pitch angle.

[0072] Calculate the distance to the target point based on the pitch angle and camera height

[0073] The distance between the target point and the camera is calculated using the height and pitch angle of the camera.

[0074] Specific calculation method: divide the camera height by the tangent value of the pitch angle to get the target point distance.

[0075] Calculate the latitude and longitude of the target point based on distance and azimuth

[0076] The latitude and longitude of the target point are calculated using the latitude and longitude of the camera, the distance between the target point and the camera, and the horizontal angle.

[0077] Specific calculation method: multiply the distance by the sine and cosine of the horizontal angle, adjust the longitude and latitude to obtain the longitude and latitude of the target point.

[0078] Perform target latitude and longitude and image registration

[0079] The tilted image in the panoramic monitoring system is accurately matched with the calculated target longitude and latitude to accurately locate the pumping unit.

[0080] Obtain and manage pumping unit equipment parameters

[0081] According to the precise longitude and latitude, the equipment parameters of the oil pump are obtained for equipment management and maintenance.

[0082] Technical Effects

[0083] This method effectively solves the problem that traditional monitoring systems cannot accurately locate the position of the pumping unit, provides a basis for the visual management of oilfield equipment, and greatly improves the application efficiency of the panoramic alarm system.

[0084] Through these steps, the invention can accurately locate the position of the oil field pumping unit, provide comprehensive equipment management and parameter acquisition functions, and significantly improve monitoring and management efficiency.

[0085] Embodiment 7: This embodiment provides a pumping unit monitoring device, the device comprising:

[0086] Select a target pumping unit and determine a module of pixel points corresponding to the target pumping unit;

[0087] According to the device provided in the fifth embodiment, a module for matching the latitude and longitude information of the target oil pumping unit;

[0088] A module for marking the target pumping unit according to the latitude and longitude information and collecting real-time operating parameters.

[0089] Embodiment 8: This embodiment provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method provided in embodiment 1.

[0090] Embodiment 9: This embodiment provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method provided in embodiment 1.

[0091] Embodiment 10: This embodiment provides a computer program product, which is embedded with a computer program. When the computer program is read, the method provided in embodiment 1 is implemented.

[0092] Implementation eleven: This implementation further describes the above technical solution in detail through specific examples, specifically:

[0093] The method adopted in this embodiment is to obtain a 360-degree panoramic image based on the panoramic alarm monitoring system, and accurately align the longitude and latitude of the camera location and the image pixels, so as to accurately locate all oil field pumping units appearing in the panoramic image, and reversely infer the longitude and latitude of the pumping units, so as to match their equipment for parameter acquisition and management.

[0094] The circumferential scanning device calibrates the longitude and latitude through the image pixel position, and then finds the exact position of the oil pump through the longitude and latitude.

[0095] Specifically, it is achieved through the following methods:

[0096] 1. Obtain the panoramic image output by the panoramic monitoring alarm device.

[0097] 2. Get the azimuth and pitch angle corresponding to the pixel point.

[0098] Angle_targetA=(double)mousepoint.x*360 / panowidth;

[0099] offset_AngY=tiltpp*cos((Angle_mouseA*PI / 180)-delta_theta);

[0100] Angle_targetE=(double)mousepoint.y*FOV_pano / panoheight+offset_AngY;

[0101] That is: converting the mouse pointer position into a corresponding angle for viewing angle control of the panoramic image;

[0102] Calculate the target horizontal angle:

[0103] Angle_targetA represents the target horizontal angle. The target horizontal angle is calculated by mapping the position of the mouse pointer on the horizontal axis (mousepoint.x) to the width of the panorama (panowidth), and then multiplying the ratio by 360 degrees.

[0104] Calculate the vertical offset:

[0105] offset_AngY represents the vertical angle offset. It is calculated by multiplying the vertical offset (tiltpp) by the cosine of the current horizontal mouse angle (Angle_mouseA) and an angle difference (delta_theta).

[0106] Calculate the target vertical angle:

[0107] Angle_targetE represents the target vertical angle. The target vertical angle is calculated by mapping the position of the mouse pointer on the vertical axis (mousepoint.y) to the height of the panorama (panoheight), then multiplying this ratio by the field of view of the panorama (FOV_pano), and adding the vertical offset calculated previously (offset_AngY).

[0108] 3. Calculate the distance to the target point based on the pitch angle and camera height.

[0109] Ptdistance=towerheight / tan(Angle_mouseE*PI / 180);

[0110] That is, calculate the horizontal distance from the observation point to the tower, as described below:

[0111] Ptdistance represents the horizontal distance from the observation point to the tower.

[0112] towerheight indicates the height of the tower.

[0113] Angle_mouseE represents the vertical angle corresponding to the mouse pointer position.

[0114] The calculation method is to divide the tower height (towerheight) by the tangent of the angle (calculated in radians). The specific steps are to convert the vertical angle (Angle_mouseE) into radians (multiply by π / 180), then calculate the tangent of the angle, and finally divide the tower height by this tangent to get the horizontal distance (Ptdistance).

[0115] 4. Calculate the longitude and latitude of the target point based on the distance and azimuth.

[0116] / / Calculate the latitude and longitude of the target point based on distance and azimuth

[0117]

[0118]

[0119] That is, the latitude and longitude of the target point are calculated according to the given distance and azimuth. The specific description is as follows:

[0120] Function name and parameters:

[0121] GetPosition is the function name used to calculate the position of the target point.

[0122] pos_origin is the GPS coordinate of the origin, of type GPS_POSITION.

[0123] distance is the distance from the origin to the destination.

[0124] angle is the azimuth (in degrees) from the origin to the target point.

[0125] Return value:

[0126] The return value pos_result is the GPS coordinate of the target point, and its type is GPS_POSITION.

[0127] Calculation steps:

[0128] initialization:

[0129] Define pos_result as the returned target point position.

[0130] Judging distance:

[0131] If distance is greater than 0, the latitude and longitude of the target point are calculated.

[0132] If distance is less than or equal to 0, the target point position is the same as the origin point position (pos_result = pos_origin).

[0133] Calculate longitude:

[0134] Calculate the longitude of the target point using the origin longitude (pos_origin.longitude), distance (distance), azimuth (angle), earth radius (EARTH_RADIUS), and origin latitude (pos_origin.latitude):

[0135] pos_result.longitude=pos_origin.longitude+distance*sin(angle*PI / 180)*180 / (PI*EARTH_RA DIUS*cos(pos_origin.latitude*PI / 180));

[0136] Calculate latitude:

[0137] Calculate the latitude of the target point using the origin latitude (pos_origin.latitude), distance (distance), and earth radius (EARTH_RADIUS):

[0138] pos_result.latitude=pos_origin.latitude+distance*cos(angle*PI / 180) / (PI*EARTH_RADIUS / 180);

[0139] Returns:

[0140] Returns the calculated target point position pos_result.

[0141] Calculates and returns the GPS coordinates (latitude and longitude) of the target point given the origin position, distance and azimuth.

[0142] This implementation method accurately aligns the non-orthogonal oblique images acquired in the panoramic monitoring alarm system with the targets in the images, provides a basis for visual management of target devices, and greatly expands the application effectiveness of the panoramic alarm system.

[0143] In terms of panoramic image acquisition and processing:

[0144] 360-degree panoramic images are obtained through panoramic monitoring equipment installed on high towers.

[0145] It can cover a larger monitoring range, solving the problem of limited field of view of traditional monitoring systems. Compared with single camera monitoring, panoramic images provide a more comprehensive perspective.

[0146] In terms of the calculation of pixel azimuth and pitch angle:

[0147] According to the position of the mouse pointer in the panoramic image, the corresponding horizontal angle and pitch angle are calculated.

[0148] By accurately calculating the azimuth and pitch angle of the pixels in the image, the image coordinates can be accurately converted into the azimuth and angle in the real world. This method improves the accuracy of positioning and solves the problem of the inability to align the image position with the actual position in traditional monitoring systems.

[0149] In terms of target point distance calculation:

[0150] The distance between the target point and the camera is calculated using the camera installation height and pitch angle.

[0151] The distance calculation can further determine the location of the pumping unit. This calculation method based on geometric relationships ensures the accuracy and reliability of positioning.

[0152] In terms of target point latitude and longitude calculation:

[0153] The longitude and latitude of the target point are calculated using the longitude and latitude of the camera, the distance between the target point and the camera, and the horizontal angle.

[0154] By accurately calculating the latitude and longitude of the target point, the pumping unit can be accurately positioned. This method greatly improves the positioning accuracy and solves the problem that the pumping unit position cannot be accurately determined in traditional monitoring systems.

[0155] In terms of image registration:

[0156] Accurately match the oblique image in the panoramic monitoring system with the calculated target longitude and latitude.

[0157] The accurate positioning of the pumping unit is achieved, so that the monitoring system can provide accurate equipment location information. This method effectively solves the positioning error problem caused by image tilt in traditional systems.

[0158] In terms of device parameter acquisition and management:

[0159] According to the precise longitude and latitude, the equipment parameters of the oil pump are obtained for equipment management and maintenance.

[0160] Through precise positioning, the operating parameters and status information of the equipment can be obtained in a timely manner, which improves the efficiency of equipment management and maintenance. Compared with traditional manual inspection and recording, this method is more efficient and accurate.

[0161] Compared with existing traditional monitoring methods, this solution has obvious advantages:

[0162] Traditional monitoring methods: usually use fixed cameras for monitoring, which has a limited field of view and the image position cannot be accurately aligned with the actual position, resulting in inaccurate positioning.

[0163] This implementation scheme: Through panoramic images covering a larger area, using accurate angle and distance calculation methods, the pumping unit can be accurately positioned. Compared with traditional methods, this scheme has significantly improved coverage, positioning accuracy and equipment management efficiency.

[0164] In summary, this solution solves the problems of limited field of view and inaccurate positioning in traditional monitoring systems through a series of precise image processing and calculation methods, and provides an effective solution for the precise positioning and equipment management of oilfield pumping units.

[0165] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable modification and improvement of the present invention, combination of implementation modes and equivalent substitution within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for locating a pumping unit, characterized in that: The method comprises: Steps for acquiring panoramic images; A step of acquiring the azimuth and elevation angle corresponding to the target pixel point in the panoramic image; A step of obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point; A step of obtaining the longitude and latitude information of the target pixel point according to the distance and corresponding orientation of the target pixel point; The step of matching the latitude and longitude information to the oil pump corresponding to the target pixel point.

2. The method for locating the position of an oil pump according to claim 1, characterized in that: The distance of the target pixel point is obtained according to the installation parameters of the camera and the pitch angle corresponding to the target pixel point.

3. The method for locating the position of an oil pump according to claim 1, characterized in that: The longitude and latitude of the target point are calculated based on the longitude and latitude of the camera's installation location, the distance between the target pixel point and the camera, and the direction.

4. The method for locating the position of an oil pump according to claim 1, characterized in that: The latitude and longitude information is matched to the tilted image in the panoramic image to achieve matching of the oil pump corresponding to the target pixel point.

5. The oil pumping unit position positioning device is characterized in that: The device comprises: A module for collecting panoramic images; A module for collecting the azimuth and pitch angle corresponding to the target pixel point in the panoramic image; A module for obtaining the distance of the target pixel point according to the pitch angle corresponding to the target pixel point; A module for obtaining the latitude and longitude information of the target pixel point according to the distance and corresponding orientation of the target pixel point; The latitude and longitude information is matched to the module of the oil pump corresponding to the target pixel point.

6. A method for monitoring an oil pump, characterized in that: The method comprises: The step of selecting a target oil pumping unit and determining the pixel points corresponding to the target oil pumping unit; The method according to claim 1, comprising the step of matching the latitude and longitude information for the target pumping unit; The target pumping unit is marked according to the latitude and longitude information, and real-time operating parameters are collected.

7. The pumping unit monitoring device is characterized in that: The device comprises: Select a target pumping unit and determine a module of pixel points corresponding to the target pumping unit; The device according to claim 5, comprising a module for matching the latitude and longitude information of the target pumping unit; A module for marking the target pumping unit according to the latitude and longitude information and collecting real-time operating parameters.

8. A computer storage medium for storing a computer program, characterized in that: When the computer program is read by a computer, the computer executes the method of claim 1 .

9. A computer, comprising a processor and a storage medium, characterized in that: When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1 .

10. A computer program product, in which a computer program is embedded, characterized in that When the computer program is read, the method according to claim 1 is implemented.

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