Shot point layout method, system, equipment and medium

Abstract

The invention discloses a shot point arrangement method. The method comprises the following steps: acquiring a work area in which shot points are to be arranged and theoretical shot points in the work area; creating a first grid in the work area according to a preset size to obtain a plurality of grid points; screening out a first grid point which can be used as a candidate shot point according to the gradient of each grid point and the position of each grid point in the work area; constructing a second grid by taking each theoretical shot point as a center; and one first grid point is selected from each second grid to serve as a target shot point. The invention further discloses a system, computer equipment and a readable storage medium. According to the scheme provided by the invention, the difficulty of field construction of shot points is reduced while obstacles in a work area can be avoided, gridding uniform distribution of the shot points in the work area is realized, uniformity of surface element attributes of an observation system is ensured, and the quality of three-dimensional seismic acquisition data can be improved.

Description

Technical Field

[0001] The present invention relates to the field of seismic exploration, and particularly to a method, system, device, and storage medium for arranging shot points. Background Art

[0002] With the continuous deepening of oil and gas exploration, seismic exploration has gradually shifted to the "underground and above-ground" double complex areas, and the coverage density of 3D seismic exploration has also been continuously improved. When conducting high-density 3D seismic exploration in areas such as loess plateaus and western mountains, affected by high-steep terrains and surface obstacles, the theoretically designed shot points cannot be constructed. During the construction design stage, the shot points that cannot be constructed need to be offset out of the obstacle area. When the shot points are offset or some shot points are missing, it will cause the unevenness of the bin attributes (such as the number of coverage times, azimuth angle, and shot-receiver distance distribution, etc.) within the obstacle area.

[0003] Currently, the optimization and arrangement of shot points in complex surface areas are basically achieved by the idea of shot point offset. Most of these methods start from the perspective of construction, offset the shot points out of the obstacle area nearby within the set range, which often leads to the phenomenon of shot point clustering. The uniformity of shot point arrangement is not considered, which will affect the unevenness of bin attributes to a certain extent and ultimately affect the imaging effect of 3D seismic exploration. Summary of the Invention

[0004] In view of this, in order to overcome at least one aspect of the above problems, an embodiment of the present invention provides a method for arranging shot points, including the following steps:

[0005] Obtain the work area to be arranged with shot points and the theoretical shot points within the work area;

[0006] Create a first grid in the work area with a preset size to obtain a plurality of grid points;

[0007] Screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area;

[0008] Construct a second grid with each theoretical shot point as the center;

[0009] Select one of the first grid points within each second grid as the target shot point.

[0010] In some embodiments, creating a first grid in the work area with a preset size to obtain a plurality of grid points further includes:

[0011] Create a plurality of square first grids in the work area with a preset size and use the intersections of the first grids as the plurality of grid points, where the shot point distance of the theoretical shot points is an integer multiple of the preset size.

[0012] In some embodiments, screening out the first grid points that can be used as candidate shot points according to the slope and position of each of the grid points in the work area further includes:

[0013] Determining the obstacle area in the work area;

[0014] Removing the grid points located in the obstacle area to obtain the second grid points;

[0015] Calculating the slope of each of the second grid points and taking the grid points with a slope less than a preset value as candidate shot points.

[0016] In some embodiments, calculating the slope of each of the second grid points further includes:

[0017] Taking each of the second grid points as the center to construct a cross-shaped window;

[0018] Obtaining the elevation data volume and obtaining the elevation value of each point in the cross-shaped window according to the elevation data volume;

[0019] Calculating the slope of the second grid point based on the elevation values of each point in the cross-shaped window.

[0020] In some embodiments, calculating the slope of the second grid point based on the elevation values of each point in the cross-shaped window further includes:

[0021] Calculating the slope of the second grid point according to the following formula:

[0022]

[0023] where Z1, Z2, …, Z9 are the elevation values of each point in the cross-shaped window respectively, and r is half of the size of the cross-shaped window.

[0024] In some embodiments, selecting one of the first grid points in each of the second grids as the target shot point further includes:

[0025] Dividing each of the first grid points in each of the second grids into multiple sets according to a preset plurality of slope intervals;

[0026] Sequentially searching for the target shot point closest to the central theoretical shot point from each of the sets in ascending order.

[0027] In some embodiments, sequentially searching for the target shot point closest to the central theoretical shot point from each of the sets in ascending order further includes:

[0028] Determine whether the distance between the current target gunpoint and the target gunpoint selected from other second grids is greater than a threshold value;

[0029] In response to being not greater than the threshold value, remove the current target gunpoint from the set and continue to find the next target gunpoint that is closest to the theoretical gunpoint at the center.

[0030] In some embodiments, it further includes:

[0031] In response to not finding the target gunpoint in each of the sets, expand the range of the second grid and continue to find the target gunpoint that is closest to the theoretical gunpoint at the center.

[0032] In some embodiments, constructing a second grid with each of the theoretical gunpoints as the center, further includes:

[0033] Obtain the observed azimuth angle of the theoretical gunpoint;

[0034] In response to the observed azimuth angle not being equal to the preset angle, establish a coordinate system with the theoretical gunpoint at the lower left corner as the origin;

[0035] Rotate each theoretical gunpoint and the first grid point counterclockwise according to the following formula:

[0036] x i =(x - x0)*cos(θ)-(y - y0)*sin(θ)+x0

[0037] y i =(x - x0)*sin(θ)-(y - y0)*cos(θ)+y0

[0038] where, (x i , y i ) is the coordinate of each theoretical gunpoint or the first grid point after rotation, (x, y) is the coordinate of each theoretical gunpoint or the first grid point before rotation, and θ is the observed azimuth angle.

[0039] In some embodiments, selecting one of the first grid points in each of the second grids as the target gunpoint, further includes:

[0040] Rotate the first grid point counterclockwise again according to the following formula:

[0041] x i =(x - x0)*cos(2π - θ)-(y - y0)*sin(2π - θ)+x0

[0042] y i =(x - x0)*sin(2π - θ)-(y - y0)*cos(2π - θ)+y0

[0043] wherein, (x i , y i ) are the coordinates of the rotated first grid point, and (x, y) are the coordinates of the first grid point before rotation.

[0044] Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a shot point layout system, including:

[0045] An acquisition module configured to acquire the work area where the shot points are to be laid out and the theoretical shot points in the work area;

[0046] A creation module configured to create a first grid in the work area with a preset size to obtain a plurality of grid points;

[0047] A screening module configured to screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area;

[0048] A construction module configured to construct a second grid centered on each of the theoretical shot points;

[0049] A selection module configured to select one of the first grid points in each of the second grids as the target shot point.

[0050] Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a computer device, including:

[0051] At least one processor; and a memory, the memory stores a computer program that can be run on the processor, and when the processor executes the program, it executes the steps of any one of the above-mentioned shot point layout methods.

[0052] Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it executes the steps of any one of the above-mentioned shot point layout methods.

[0053] One of the beneficial technical effects of the present invention is as follows: The solution proposed by the present invention can avoid obstacles in the work area, reduce the difficulty of field construction of shot points, realize the grid-like uniform distribution of shot points in the work area, ensure the uniformity of the bin attributes of the acquisition system, and improve the quality of three-dimensional seismic acquisition data. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other embodiments can also be obtained based on these drawings.

[0055] Figure 1 Flow schematic diagram of the shot point layout method provided by the embodiment of the present invention;

[0056] Figure 2 Schematic diagram of the cross-shaped window provided by the embodiment of the present invention;

[0057] Figure 3 Schematic diagram of the positional relationship between the second grid, the theoretical shot point and the first grid point provided by the embodiment of the present invention;

[0058] Figure 4 Flow block diagram of the target point selection provided by the embodiment of the present invention;

[0059] Figure 5 Overall coverage times comparison chart provided by the embodiment of the present invention;

[0060] Figure 6 Local coverage times comparison chart provided by the embodiment of the present invention;

[0061] Figure 7 Azimuth comparison chart provided by the embodiment of the present invention;

[0062] Figure 8 Shot-receiver offset distribution comparison chart provided by the embodiment of the present invention;

[0063] Figure 9 Flow block diagram of the shot point layout method provided by the embodiment of the present invention;

[0064] Figure 10 Structural schematic diagram of the computer device provided by the embodiment of the present invention;

[0065] Figure 11 Structural schematic diagram of the computer-readable storage medium provided by the embodiment of the present invention. Detailed implementation manners

[0066] To make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the following further details the embodiments of the present invention in conjunction with specific embodiments and with reference to the accompanying drawings.

[0067] It should be noted that all the expressions using "first" and "second" in the embodiments of the present invention are used to distinguish two entities or parameters with the same name but different identities. It can be seen that "first" and "second" are only for the convenience of expression and should not be construed as a limitation on the embodiments of the present invention. This will not be elaborated one by one in the subsequent embodiments.

[0068] According to one aspect of the present invention, an embodiment of the present invention provides a method for arranging shot points, as Figure 1 shown, which may include the steps:

[0069] S1. Obtain the work area where the shot points are to be arranged and the theoretical shot points in the work area;

[0070] S2. Create a first grid in the work area with a preset size to obtain a plurality of grid points;

[0071] S3. Screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area;

[0072] S4. Construct a second grid centered on each of the theoretical shot points;

[0073] S5. Select one of the first grid points in each of the second grids as the target shot point.

[0074] The solution proposed by the present invention can avoid obstacles in the work area, reduce the difficulty of field construction of shot points, realize the grid-like uniform distribution of shot points in the work area, ensure the uniformity of the bin attributes of the observation system, and improve the quality of 3D seismic acquisition data.

[0075] In some embodiments, creating a first grid in the work area with a preset size to obtain a plurality of grid points further includes:

[0076] Create a plurality of square first grids in the work area with a preset size and use the intersection points of the first grids as the plurality of grid points, where the shot point spacing of the theoretical shot points is an integer multiple of the preset size.

[0077] Specifically, first create the grid points in the work area, that is, arrange square grid points {p i , i ∈ R} in the work area according to the set size (d*d), where R is the number of created grid points, the grid size d is less than the shot point spacing s1 of the theoretical shot points, and s1 = n*d, where n is an integer greater than 0.

[0078] In some embodiments, screening out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area further includes:

[0079] Determine the obstacle area in the work area;

[0080] Eliminate the grid points located in the obstacle area to obtain second grid points;

[0081] Calculate the slope of each of the second grid points and use the grid points with a slope less than a preset value as candidate shot points.

[0082] Specifically, in the work area, divide obstacle areas where shot points cannot be arranged, such as oil wells, houses, roads, etc., and eliminate the grid points in the obstacle area from the point set {p i , i ∈ R}, and retain the candidate point set {p i , i ∈ R1} of the finally deployable shot points, where R1 is the total number of initial candidate points.

[0083] Then, according to the terrain distribution characteristics, screen out the grid points with a slope less than the set threshold value f from the point set {p i , i ∈ R}, and regard them as the initial deployable shot points {p i , i ∈ R2}, where R2 is the total number of final candidate points.

[0084] In some embodiments, calculating the slope of each of the second grid points further includes:

[0085] Construct a cross-shaped window centered on each of the second grid points;

[0086] Obtain the elevation data volume and obtain the elevation value of each point in the cross-shaped window according to the elevation data volume;

[0087] Calculate the slope of the second grid point based on the elevation values of each point in the cross-shaped window.

[0088] In some embodiments, calculating the slope of the second grid point based on the elevation values of each point in the cross-shaped window further includes calculating the slope of the second grid point according to the following formula:

[0089]

[0090] where Z1, Z2,..., Z9 are the elevation values of each point in the cross-shaped window respectively, and r is half of the size of the cross-shaped window.

[0091] Specifically, as Figure 2 shown, a cross-shaped window with a size of 2r * 2r can be constructed centered on each second grid point, then obtain the elevation value of each point in the cross-shaped window from the digital elevation data volume (DEM), and calculate the slope value according to the following formula:

[0092]

[0093] S is the slope value of Z5 (i.e., the second grid point), and Z1, Z2, …, Z9 are the elevation values of 9 points within the value range.

[0094] In some embodiments, in step S4, a second grid is constructed centered on each of the theoretical shot points. Specifically, as Figure 3 shown, according to the shot point distance S1 and the shot line distance S2 of the observation system, a second grid is arranged within the work area centered on each theoretical shot point, and the second grid should cover the work area boundary. Figure 3 Each rectangular frame in is the second grid, the central black dot of the rectangular frame is the theoretical shot point, and the other points with a large number and irregular distribution are the first grid points.

[0095] In this way, after the first grid points are repositioned to the second grid, the candidate point set {p i , i ∈ R2} can be defined as the two-dimensional data set {Grid (i,j) (k), k ∈ R i,j}, where Grid (i,j) represents the second grid in the i-th row and the j-th column, R i,j is the total number of the first grid points of the second grid Grid (i,j) , and k is the k-th first grid point in Grid (i,j) .

[0096] Then, the first grid points within each second grid are divided into M levels from small to large according to the slope interval. In this way, the two-dimensional data set {Grid (i,j) (k), k ∈ R i,j} can be defined as the three-dimensional data set {Grid (i,j) (m, n), m ∈ M, n ∈ N i,j,m}, where Grid (i,j) (m, n) is the n-th first grid point at the m-th level in the second grid of the i-th row and the j-th column, M is the number of levels of the candidate points divided, and N i,j,m is the total number of candidate points at the m-th level in the grid (i, j).

[0097] In some embodiments, selecting one of the first grid points within each of the second grids as the target shot point further includes:

[0098] Dividing each of the first grid points within each of the second grids into multiple sets according to a preset number of slope intervals;

[0099] Sequentially searching for the target shot point closest to the central theoretical shot point from each of the sets in ascending order.

[0100] In some embodiments, searching for the target shot point closest to the central theoretical shot point from each of the sets in ascending order further includes:

[0101] Determining whether the distance between the current target shot point and the target shot points selected from other second grids is greater than a threshold;

[0102] In response to being not greater than the threshold, removing the current target shot point from the set and continuing to search for the next target shot point closest to the central theoretical shot point.

[0103] In some embodiments, it further includes:

[0104] In response to not finding the target shot point in each of the sets, expanding the range of the second grid and continuing to search for the target shot point closest to the central theoretical shot point.

[0105] Specifically, as Figure 4 shown, searching for target points in each three-dimensional data set according to the hierarchical order from low to high, where the target points are closest to the center point, so as to ensure that only one point is arranged in each grid. Moreover, it is necessary to ensure that the selected target points are greater than the set minimum distance from the surrounding target points. If the target points are not found in each level, the range of the second grid is expanded and the search continues until the number of arranged shot points is the same as the number of theoretically designed shot points.

[0106] In some embodiments, constructing a second grid with each of the theoretical shot points as the center further includes:

[0107] Obtaining the observed azimuth angle of the theoretical shot point;

[0108] In response to the observed azimuth angle not being equal to the preset angle, establishing a coordinate system with the theoretical shot point at the lower left corner as the origin;

[0109] Rotating each theoretical shot point and the first grid point counterclockwise according to the following formula:

[0110] x i =(x - x0)*cos(θ)-(y - y0)*sin(θ)+x0

[0111] y i =(x - x0)*sin(θ)-(y - y0)*cos(θ)+y0

[0112] where (x i , y i ) is the rotated coordinate of each theoretical shot point or the first grid point, (x, y) is the coordinate of each theoretical shot point or the first grid point before rotation, and θ is the observed azimuth angle.

[0113] In some embodiments, selecting one of the first grid points in each of the second grids as the target shot point further includes:

[0114] Rotating the first grid point counterclockwise again according to the following formula:

[0115] x i = (x - x0) * cos(2π - θ) - (y - y0) * sin(2π - θ) + x0

[0116] y i = (x - x0) * sin(2π - θ) - (y - y0) * cos(2π - θ) + y0

[0117] where (x i , y i ) are the coordinates of the first grid point after rotation, and (x, y) are the coordinates of the first grid point before rotation.

[0118] Specifically, if the observation azimuth angle is not an integer multiple of 90 degrees, the theoretical design shot point (x0, y0) at the lower left corner of the work area can be selected as the origin to create a coordinate system, and then the theoretical design shot point and the candidate point set {p i , i ∈ R2} are uniformly rotated counterclockwise by θ according to the observation azimuth angle θ and the point position rotation formula. After the target shot point is determined, rotate it counterclockwise by 2π - θ, thus completing the grid-based uniform layout of the shot points.

[0119] Taking the shot point layout of a 3D project in a complex mountainous area in the western region as an example: In this project, there are 11,760 theoretical design shot points within the shot point boundary, the shot point spacing is 40m, the shot line spacing is 200m, the receiver spacing is 20m, and the receiver line spacing is 160m, and the observation azimuth is 44°.

[0120] The specific implementation method is as follows:

[0121] (1) Create grid points in the work area. Square grid points {p i , i ∈ R} are arranged within the design shot point border according to the set size (20m * 20m), where R is the number of created grid points (22,945,084), the grid size is smaller than the shot point spacing, and the shot point spacing is 20 times the grid size.

[0122] (2) Generate a layout candidate point set based on the created grid points.

[0123] 1) Screen initial candidate points according to the slope.

[0124] In the digital elevation data (DEM), extract the elevation values of the grid points according to the set minimum grid unit r (2m). According to the four-grid window where a certain grid point is located (see Figure 2) The elevation values of each point inside are used to calculate the slope of the square grid points by using formula (1):

[0125]

[0126] Where: S is the slope value of Z5, Z1, Z2, …, Z9 are the elevation values of 9 sampling points within the value range, and r is the minimum grid unit.

[0127] According to the topographic distribution characteristics, the grid points with slopes less than the set threshold value f are screened out from {p i , i ∈ R}, and they are regarded as the candidate point set {p i , i ∈ R1} where the initial gun positions can be arranged, and R1 is the total number of initial candidates.

[0128] 2) Generate the candidate point set where the final gun positions can be arranged according to the surface obstacle area.

[0129] In the gun position border, work area oil wells, houses, roads and other obstacle areas where gun positions cannot be arranged are demarcated, and the grid points of the candidate point set {p i , i ∈ R1} within the obstacle area are excluded, and the final candidate point set {p i , i ∈ R2} is retained, where R2 is the total number of final candidates.

[0130] (3) Select the optimal points from the candidate point set for grid layout.

[0131] 1) Regularize the theoretical designed gun positions and the candidate point set.

[0132] ① Select the theoretical designed gun position (x0, y0) at the lower left corner of the gun position border as the origin, and rotate the theoretical designed gun positions and the candidate point set {p i , i ∈ R2} counterclockwise by θ according to the observation azimuth angle θ and the point position rotation formula (2).

[0133] x i =(x - x0)*cos(θ) - (y - y0)*sin(θ) + x0

[0134] y i =(x - x0)*sin(θ) - (y - y0)*cos(θ) + y0 (2)

[0135] Where: (x i , y i ) are the rotated coordinates, and (x, y) are the coordinates before rotation.

[0136] ② With (x0, y0) as the center point, a rectangular grid within the gun position border is arranged according to the gun position distance of 40 m and the gun line distance of 200 m in the observation system, and the rectangular grid should cover the gun position boundary. At the same time, the theoretical designed gun positions are placed at the center positions of the rectangular grids. For exampleFigure 3 As shown in the figure, the black dots in the figure are the theoretically designed shot points, and the gray dots are the candidate points {p i , i ∈ R2}.

[0137] ③ Return the candidate points to the laid rectangular grid, and define the candidate point set {p i , i ∈ R2} as the two-dimensional data set {Grid (i,j) (k), k ∈ R i,j}, where Grid (i,j) represents the rectangular grid in the i-th row and the j-th column, and R i,j is the total number of candidate points in the rectangular grid Grid (i,j) .

[0138] 2) Divide the candidate points in each rectangular grid into two levels from the smallest to the largest slope, and define the two-dimensional data set {Grid (i,j) (k), k ∈ R i,j} as the three-dimensional data set {Grid (i,j) (m, n), m ∈ 2, n ∈ N i,j,m}, where Grid (i,j) (m, n) is the n-th candidate point in the m-th level of the grid (i, j), M is the number of levels of the divided candidate points, and N i,j,m is the total number of candidate points in the m-th level of the grid (i, j).

[0139] 3) Select the target points from the candidate point set in each grid according to the following rules. The specific process is shown in Figure 4 .

[0140] ① Rule 1: Search for the target points in the order of increasing level.

[0141] ② Rule 2: Select the point closest to the center of the grid among the candidate points in each level, ensuring that only one point is laid in each grid.

[0142] ③ Rule 3: Ensure that the selected target points are more than 40m away from the surrounding target points (usually the distance between two shot points).

[0143] ④ Rule 4: If no target points are found in each level, expand the grid range and continue searching until the number of laid shot points is the same as the number of theoretically designed shot points.

[0144] 4) Rotate the laid shot points counterclockwise by 316 degrees according to formula (2), and the uniform grid layout of the shot points is completed. According to Figure 5 the comparison of the overall coverage times shown (the left side is the theoretical design, and the right side is the design of the present invention), and Figure 6The comparison of the local coverage times shown (the left side is the theoretical design, and the right side is the design of the present invention). After the layout, the overall fluctuation of the coverage times of the observation system is within ±5% compared with the theoretical design, and the maximum number of missing coverage times is 47. According to Figure 7 The comparison of the azimuth angles shown (the left side is the theoretical design, and the right side is the design of the present invention), and Figure 8 The comparison of the shot-receiver offset distributions shown (the left side is the theoretical design, and the right side is the design of the present invention), the shot points laid out by the solution proposed by the present invention have little difference in azimuth angle and shot-receiver offset distribution from the theoretical design, meeting the requirements of the technical design.

[0145] The shot point layout method proposed by the present invention meets the pre-design requirements of shot points on complex surfaces such as complex mountains and loess plateaus, effectively reduces the difficulty of shot point construction, improves the compliance rate of shot point pre-design in complex work areas, realizes the uniform layout of shot points in the work area, and the bin attributes meet the design requirements.

[0146] Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a shot point layout system 400, as Figure 9 shown, including:

[0147] An acquisition module 401, configured to acquire the work area where the shot points are to be laid out and the theoretical shot points in the work area;

[0148] A creation module 402, configured to create a first grid in the work area with a preset size to obtain a plurality of grid points;

[0149] A screening module 403, configured to screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area;

[0150] A construction module 404, configured to construct a second grid centered on each theoretical shot point;

[0151] A selection module 405, configured to select one of the first grid points in each second grid as the target shot point.

[0152] Based on the same inventive concept, according to another aspect of the present invention, as Figure 10 shown, an embodiment of the present invention further provides a computer device 501, including:

[0153] At least one processor 520; and

[0154] A memory 510, the memory 510 stores a computer program 511 that can run on the processor, and when the processor 520 executes the program, it executes the steps of any one of the above shot point layout methods.

[0155] Based on the same inventive concept, according to another aspect of the present invention, asFigure 11 As shown in the figure, an embodiment of the present invention further provides a computer-readable storage medium 601. The computer-readable storage medium 601 stores a computer program 610. When the computer program 610 is executed by a processor, it performs the steps of any of the above-mentioned gunpoint layout methods.

[0156] Finally, it should be noted that those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned various methods.

[0157] In addition, it should be understood that the computer-readable storage medium (for example, a memory) herein can be a volatile memory or a non-volatile memory, or can include both a volatile memory and a non-volatile memory.

[0158] Those skilled in the art will also understand that the various exemplary logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, a general description of the functions of various illustrative components, blocks, modules, circuits, and steps has been given. Whether this function is implemented as software or as hardware depends on the specific application and the design constraints imposed on the entire system. The functions that those skilled in the art can implement in various ways for each specific application, but such implementation decisions should not be construed as causing a departure from the scope of the disclosure of the embodiments of the present invention.

[0159] The above are exemplary embodiments disclosed by the present invention. However, it should be noted that various changes and modifications can be made without departing from the scope of the disclosure of the embodiments of the present invention defined by the claims. The functions, steps, and / or actions of the method claims according to the disclosed embodiments herein do not need to be performed in any specific order. In addition, although the elements disclosed in the embodiments of the present invention can be described or claimed in an individual form, unless clearly limited to the singular, they can also be understood as plural.

[0160] It should be understood that, as used herein, unless the context clearly supports an exception, the singular form "a" is also intended to include the plural form. It should also be understood that the "and / or" used herein refers to any and all possible combinations of one or more of the associated listed items.

[0161] The above-mentioned serial numbers of the disclosed embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0162] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc.

[0163] Those of ordinary skill in the art should understand that the discussion of any above embodiment is only exemplary, and is not intended to imply that the scope (including the claims) disclosed by the embodiments of the present invention is limited to these examples; under the idea of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other variations in different aspects of the above embodiments of the present invention, which are not provided in detail for the sake of brevity. Therefore, any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present invention shall be included in the protection scope of the embodiments of the present invention.

Claims

1. A method for arranging gun points, characterized in that, It includes the following steps: Obtain the work area where the shot points are to be arranged and the theoretical shot points in the work area; Create a first grid in the work area with a preset size to obtain a plurality of grid points; Screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area; Construct a second grid centered on each of the theoretical shot points; Select one of the first grid points in each of the second grids as the target shot point.

2. The method according to claim 1, characterized in that Create a first grid in the work area with a preset size to obtain a plurality of grid points, which further includes: Create a plurality of square first grids in the work area with a preset size and use the intersection points of the first grids as the plurality of grid points, where the shot point distance of the theoretical shot point is an integer multiple of the preset size.

3. The method according to claim 1, characterized in that, Screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area, which further includes: Determine the obstacle area in the work area; Eliminate the grid points located in the obstacle area to obtain the second grid points; Calculate the slope of each of the second grid points and use the grid points with a slope less than the preset value as candidate shot points.

4. The method according to claim 3, characterized in that, Calculate the slope of each of the second grid points, which further includes: Construct a cross-shaped window centered on each of the second grid points; Obtain the elevation data volume and obtain the elevation value of each point in the cross-shaped window according to the elevation data volume; Calculate the slope of the second grid point based on the elevation values of each point in the cross-shaped window.

5. The method according to claim 4, wherein Calculate the slope of the second grid point based on the elevation values of each point in the cross-shaped window, which further includes: Calculate the slope of the second grid point according to the following formula: where Z1, Z2, …, Z9 are the elevation values of each point in the cross-shaped window respectively, and r is half of the size of the cross-shaped window.

6. The method according to claim 1, characterized in that Select one of the first grid points in each of the second grids as the target shot point, which further includes: Divide each of the first grid points in each of the second grids into multiple sets according to a preset plurality of slope intervals; Search for the target shot point closest to the central theoretical shot point from each of the sets in ascending order.

7. The method according to claim 6, wherein Search for the target shot point closest to the central theoretical shot point from each of the sets in ascending order, which further includes: Judge whether the distance between the current target shot point and the target shot points selected from other second grids is greater than the threshold; In response to not being greater than the threshold, eliminate the current target shot point from the set and continue to search for the next target shot point closest to the central theoretical shot point.

8. The method according to claim 7, wherein It also includes: In response to not finding the target shot point in each of the sets, expand the range of the second grid and continue to search for the target shot point closest to the central theoretical shot point.

9. The method according to claim 1, wherein Construct a second grid centered on each of the theoretical shot points, which further includes: Obtain the observation azimuth angle of the theoretical shot point; In response to the observation azimuth angle not being equal to the preset angle, establish a coordinate system with the left-bottom theoretical shot point as the origin; Rotate each theoretical shot point and the first grid point counterclockwise according to the following formula: x i = (x - x0) * cos(θ) - (y - y0) * sin(θ) + x0 y i = (x - x0) * sin(θ) - (y - y0) * cos(θ) + y0 Among them, (x i , y i ) are the rotated coordinates of each theoretical shot point or the first grid point, (x, y) are the coordinates of each theoretical shot point or the first grid point before rotation, and θ is the observation azimuth angle.

10. The method according to claim 9, wherein Select one of the first grid points in each of the second grids as the target shot point, further comprising: Rotate the first grid point counterclockwise again according to the following formula: x i =(x - x0)*cos(2π - θ)-(y - y0)*sin(2π - θ)+x0 y i = (x - x0) * sin(2π - θ) - (y - y0) * cos(2π - θ) + y0 Among them, (x i , y i ) are the coordinates of the rotated first grid point, and (x, y) are the coordinates of the first grid point before rotation.

11. A gunpoint layout system, characterized in that, Comprising: An acquisition module, configured to acquire the work area where the shot points are to be arranged and the theoretical shot points in the work area; A creation module, configured to create a first grid in the work area with a preset size to obtain a plurality of grid points; A screening module, configured to screen out the first grid points that can be used as candidate shot points according to the slope of each grid point and its position in the work area; A construction module, configured to construct a second grid centered on each of the theoretical shot points; A selection module, configured to select one of the first grid points in each of the second grids as the target shot point.

12. A computer device, comprising: At least one processor; And a memory, the memory stores a computer program that can run on the processor, characterized in that when the processor executes the program, it executes the steps of the method according to any one of claims 1-10.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it executes the steps of the method according to any one of claims 1-10.

Images