Working well space positioning method and device

Abstract

The invention discloses a working well space positioning method and device, and the method comprises the steps: judging whether a difference value between a coordinate distance and a base station distance is greater than a preset distance threshold value or not, and correcting a first measurement point coordinate and a second measurement point coordinate according to a preset distance correction strategy if the difference value is greater than the preset distance threshold value, converting the first target measuring point coordinate and the second target measuring point coordinate according to a preset coordinate conversion relation to obtain a first spatial geographic coordinate corresponding to the first target measuring point coordinate, and obtaining a second spatial geographic coordinate corresponding to the second target measuring point coordinate; and according to the first spatial geographic coordinates corresponding to the first target measuring point coordinates and the second spatial geographic coordinates corresponding to the second target measuring point coordinates, determining the final spatial geographic coordinates of the target point in the target working well according to the first spatial geographic coordinates and the second spatial geographic coordinates, thereby solving the problem of high-precision positioning in complex scenes such as underground working wells and the like. The method has the advantages of high precision, high environmental adaptability, high automation degree and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of three-dimensional laser scanning, and in particular relates to a method and device for spatial positioning of a working well. Background Art

[0002] 3D laser scanning technology, leveraging the principle of laser ranging, can rapidly reconstruct a 3D model of the measured target, along with various graphical data such as lines, surfaces, and volumes. This provides a new technical approach for rapidly building 3D models of objects. Since urban distribution networks are often laid using underground cables, panoramic information collection and 3D modeling of underground wells have become a new and irreplaceable method for data collection and updating, making 3D laser scanning technology an irreplaceable tool.

[0003] Currently, the method for determining the geospatial information of well sites is usually to set up a scanning overlap area between two adjacent sites and place targets in this area to achieve point cloud registration. However, after traditional registration methods, the target sites are often not accurately located in the geospatial space. Summary of the Invention

[0004] To overcome the problems existing in the related art, the embodiments of the present application provide a method and device for spatial positioning of a working well.

[0005] In a first aspect, the present invention provides a method for spatial positioning of a work well, comprising:

[0006] Acquire first positioning data of a target point in a target work well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station;

[0007] Obtaining a coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and a base station distance between the first positioning base station and the second positioning base station, and determining whether a difference between the coordinate distance and the base station distance is greater than a preset distance threshold;

[0008] If the distance is greater than a preset threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates;

[0009] Converting the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates;

[0010] The final spatial geographic coordinates of the target point in the target working well are determined according to the first spatial geographic coordinates and the second spatial geographic coordinates.

[0011] In a second aspect, the present invention provides a working well spatial positioning device, comprising:

[0012] an acquisition module configured to acquire first positioning data of a target point in a target work well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station;

[0013] a judgment module configured to obtain a coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and a base station distance between the first positioning base station and the second positioning base station, and determine whether a difference between the coordinate distance and the base station distance is greater than a preset distance threshold;

[0014] a correction module configured to correct the first measuring point coordinates and the second measuring point coordinates according to a preset distance correction strategy if the distance is greater than a preset distance threshold, to obtain corresponding first target measuring point coordinates and second target measuring point coordinates;

[0015] a conversion module configured to convert the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates;

[0016] The determination module is configured to determine the final spatial geographic coordinates of the target point in the target working well according to the first spatial geographic coordinates and the second spatial geographic coordinates.

[0017] In a third aspect, an electronic device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the well spatial positioning method of any embodiment of the present invention.

[0018] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor is caused to execute the steps of the well spatial positioning method of any embodiment of the present invention.

[0019] The spatial positioning method and device of the working well of the present application obtain the coordinate distance between the coordinates of the first measuring point and the coordinates of the second measuring point, as well as the base station distance between the first positioning base station and the second positioning base station, and determine whether the difference between the coordinate distance and the base station distance is greater than a preset distance threshold. If it is greater than the preset distance threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain the corresponding first target measuring point coordinates and the second target measuring point coordinates. The first target measuring point coordinates and the second target measuring point coordinates are converted according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates. The final spatial geographic coordinates of the target point in the target working well are determined based on the first spatial geographic coordinates and the second spatial geographic coordinates, realizing the technical chain of multi-base station collaborative positioning-dynamic error correction-unified coordinate conversion-data fusion output, solving the problem of high-precision positioning in complex scenarios such as underground working wells, and having the advantages of high precision, strong environmental adaptability, and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 A flowchart of a method for spatial positioning of a work well provided by one embodiment of the present invention;

[0022] Figure 2 A structural block diagram of a working well spatial positioning device provided by one embodiment of the present invention;

[0023] Figure 3 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] See also Figure 1 , which shows a flow chart of a working well spatial positioning method of the present application.

[0026] like Figure 1 As shown, the working well spatial positioning method specifically includes the following steps:

[0027] Step S101: Acquire first positioning data of a target point in a target working well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station.

[0028] In this step, by deploying two positioning base stations, the binocular measurement point coordinates of the target point in the local coordinate system are obtained, and the known geographic coordinate distance between the base stations is used as a benchmark to establish a dynamic verification mechanism between the measurement point coordinate distance and the base station distance, thereby improving the stability of the positioning results.

[0029] Step S102: Obtain the coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and the base station distance between the first positioning base station and the second positioning base station, and determine whether the difference between the coordinate distance and the base station distance is greater than a preset distance threshold.

[0030] In this step, the coordinate distance is calculated based on the first measuring point coordinates and the second measuring point coordinates; the first positioning base station coordinates of the first positioning base station in the second positioning base station and the second positioning base station coordinates of the second positioning base station in the first positioning base station are obtained; and the base station distance is calculated based on the first positioning base station coordinates and the second positioning base station coordinates.

[0031] In a specific embodiment, after determining whether the difference between the coordinate distance and the base station distance is greater than a preset distance threshold, if it is not greater than the preset distance threshold, the first measuring point coordinates and the second measuring point coordinates are converted according to a preset coordinate conversion relationship to obtain a first spatial geographic coordinate corresponding to the first measuring point coordinate and a second spatial geographic coordinate corresponding to the second measuring point coordinate; the final spatial geographic coordinates of the target point in the target working well are determined based on the first spatial geographic coordinates and the second spatial geographic coordinates.

[0032] Step S103 : If the distance is greater than a preset distance threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates.

[0033] In this step, a target difference between the difference and the preset distance threshold is calculated; and the first measuring point coordinates and the second measuring point coordinates are corrected according to the target difference to obtain corresponding first target measuring point coordinates and second target measuring point coordinates.

[0034] Step S104 : converting the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates.

[0035] In this step, the spatial geographic coordinates of the first target point and the second target point are determined based on the spatial geographic coordinates of the first reference point and the second reference point and the preset position relationship; the point cloud data of the target well is obtained, and the station coordinates of the first target point and the second target point are extracted from the point cloud data; based on the spatial geographic coordinates and station coordinates of the first target point and the second target point, the coordinate conversion relationship is determined.

[0036] Step S105 : determining the final spatial geographic coordinates of the target point in the target working well according to the first spatial geographic coordinates and the second spatial geographic coordinates.

[0037] In this step, the first spatial geographic coordinates and the second spatial geographic coordinates are averaged to obtain the final spatial geographic coordinates of the target point in the target working well.

[0038] In summary, the method of the present application solves the problem of high-precision positioning in complex scenarios such as underground working wells through the technical chain of multi-base station collaborative positioning-dynamic error correction-unified coordinate transformation-data fusion output, and has the advantages of high precision, strong environmental adaptability, and high degree of automation.

[0039] See also Figure 2 , which shows a structural block diagram of a working well spatial positioning device of the present application.

[0040] like Figure 2 As shown, the working well spatial positioning device 200 includes an acquisition module 210 , a judgment module 220 , a correction module 230 , a conversion module 240 and a determination module 250 .

[0041] Among them, the acquisition module 210 is configured to obtain the first positioning data of the target point in the target well, and the second positioning data of the target point, wherein the first positioning data includes the first measuring point coordinates of the target point corresponding to the first positioning base station, and the second positioning data includes the second measuring point coordinates of the target point relative to the second positioning base station; the judgment module 220 is configured to obtain the coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and the base station distance between the first positioning base station and the second positioning base station, and judge whether the difference between the coordinate distance and the base station distance is greater than a preset distance threshold; the correction module 230 is configured to if If the distance between the first and second measuring points is greater than a preset distance threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates; a conversion module 240 is configured to convert the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates; a determination module 250 is configured to determine the final spatial geographic coordinates of the target point in the target working well according to the first spatial geographic coordinates and the second spatial geographic coordinates.

[0042] It should be understood that Figure 2 Modules and references documented in Figure 1 Therefore, the operations and features described above for the method and the corresponding technical effects also apply to Figure 2 The modules in it will not be described in detail here.

[0043] In other embodiments, embodiments of the present invention further provide a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor is caused to execute the working well spatial positioning method in any of the above method embodiments;

[0044] As an embodiment, the computer-readable storage medium of the present invention stores computer-executable instructions, and the computer-executable instructions are configured as follows:

[0045] Acquire first positioning data of a target point in a target work well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station;

[0046] Obtaining a coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and a base station distance between the first positioning base station and the second positioning base station, and determining whether a difference between the coordinate distance and the base station distance is greater than a preset distance threshold;

[0047] If the distance is greater than a preset threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates;

[0048] Converting the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates;

[0049] The final spatial geographic coordinates of the target point in the target working well are determined according to the first spatial geographic coordinates and the second spatial geographic coordinates.

[0050] The computer-readable storage medium may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the work well spatial positioning system. Furthermore, the computer-readable storage medium may include high-speed random access memory and may also include memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the computer-readable storage medium may optionally include memory remotely located relative to the processor, and such remote memory may be connected to the work well spatial positioning system via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0051] Figure 3 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, the device includes: a processor 310 and a memory 320. The electronic device may also include: an input device 330 and an output device 340. The processor 310, the memory 320, the input device 330 and the output device 340 may be connected via a bus or other means. Figure 3The example of a bus connection is shown. Memory 320 is the aforementioned computer-readable storage medium. Processor 310 executes the various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in memory 320, thereby implementing the above-described method embodiment for spatial positioning of a work well. Input device 330 can receive input digital or character information and generate key signal input related to user settings and function control of the spatial positioning system for the work well. Output device 340 may include a display device such as a display screen.

[0052] The electronic device can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0053] As an embodiment, the electronic device is applied to a work well spatial positioning system and is used for a client, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0054] Acquire first positioning data of a target point in a target work well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station;

[0055] Obtaining a coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and a base station distance between the first positioning base station and the second positioning base station, and determining whether a difference between the coordinate distance and the base station distance is greater than a preset distance threshold;

[0056] If the distance is greater than a preset threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates;

[0057] Converting the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates;

[0058] The final spatial geographic coordinates of the target point in the target working well are determined according to the first spatial geographic coordinates and the second spatial geographic coordinates.

[0059] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for spatial positioning of a working well, characterized in that: include: Acquire first positioning data of a target point in a target work well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station; Obtaining a coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and a base station distance between the first positioning base station and the second positioning base station, and determining whether a difference between the coordinate distance and the base station distance is greater than a preset distance threshold; If the distance is greater than a preset threshold, the first measuring point coordinates and the second measuring point coordinates are corrected according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates; Converting the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates; The final spatial geographic coordinates of the target point in the target working well are determined according to the first spatial geographic coordinates and the second spatial geographic coordinates.

2. A method for spatial positioning of a working well according to claim 1, characterized in that: The acquiring the coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and the base station distance between the first positioning base station and the second positioning base station includes: Calculating the coordinate distance according to the coordinates of the first measuring point and the coordinates of the second measuring point; Obtaining first positioning base station coordinates of the first positioning base station in the second positioning base station, and second positioning base station coordinates of the second positioning base station in the first positioning base station; The base station distance is calculated according to the first positioning base station coordinates and the second positioning base station coordinates.

3. A method for spatial positioning of a working well according to claim 1, characterized in that: The step of correcting the first measuring point coordinates and the second measuring point coordinates according to a preset distance correction strategy to obtain corresponding first target measuring point coordinates and second target measuring point coordinates includes: Calculating a target difference between the difference and the preset distance threshold; The first measuring point coordinates and the second measuring point coordinates are respectively corrected according to the target difference to obtain corresponding first target measuring point coordinates and second target measuring point coordinates.

4. A method for spatial positioning of a working well according to claim 1, characterized in that: After determining whether the difference between the coordinate distance and the base station distance is greater than a preset distance threshold, the method further includes: If the distance is not greater than a preset distance threshold, converting the first measuring point coordinates and the second measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first measuring point coordinates and second spatial geographic coordinates corresponding to the second measuring point coordinates; The final spatial geographic coordinates of the target point in the target well are determined according to the first spatial geographic coordinates and the second spatial geographic coordinates.

5. A method for spatial positioning of a working well according to claim 1, characterized in that: Before converting the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates, the method further includes: Determining the spatial geographic coordinates of the first target point and the second target point based on the spatial geographic coordinates of the first reference point and the second reference point and a preset positional relationship; Acquire point cloud data of the target work well, and extract the station coordinates of the first target point and the second target point from the point cloud data; The coordinate conversion relationship is determined based on the spatial geographic coordinates and the station coordinates of the first target point and the second target point.

6. A method for spatial positioning of a working well according to claim 1, characterized in that: Determining the final spatial geographic coordinates of the target point in the target well according to the first spatial geographic coordinates and the second spatial geographic coordinates includes: The first spatial geographic coordinates and the second spatial geographic coordinates are averaged to obtain the final spatial geographic coordinates of the target point in the target well.

7. A working well spatial positioning device, characterized in that: include: an acquisition module configured to acquire first positioning data of a target point in a target work well, and second positioning data of the target point, wherein the first positioning data includes first measurement point coordinates of the target point corresponding to a first positioning base station, and the second positioning data includes second measurement point coordinates of the target point relative to a second positioning base station; a judgment module configured to obtain a coordinate distance between the first measuring point coordinates and the second measuring point coordinates, and a base station distance between the first positioning base station and the second positioning base station, and determine whether a difference between the coordinate distance and the base station distance is greater than a preset distance threshold; a correction module configured to correct the first measuring point coordinates and the second measuring point coordinates according to a preset distance correction strategy if the distance is greater than a preset distance threshold, to obtain corresponding first target measuring point coordinates and second target measuring point coordinates; a conversion module configured to convert the first target measuring point coordinates and the second target measuring point coordinates according to a preset coordinate conversion relationship to obtain first spatial geographic coordinates corresponding to the first target measuring point coordinates and second spatial geographic coordinates corresponding to the second target measuring point coordinates; The determination module is configured to determine the final spatial geographic coordinates of the target point in the target working well according to the first spatial geographic coordinates and the second spatial geographic coordinates.

Images