CN114018154A - Working well space positioning and orientation method and device and electronic equipment - Google Patents
Working well space positioning and orientation method and device and electronic equipment Download PDFInfo
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Abstract
The application is suitable for the technical field of three-dimensional laser scanning, and provides a method and a device for positioning and orienting a working well space and electronic equipment. The working well space positioning and orienting method comprises the following steps: acquiring point cloud data of a target working well, wherein the point cloud data comprises a station measurement coordinate of the target working well; and determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station measurement coordinate of the target working well. The method and the device realize accurate positioning and orientation of the geographic space of the work well sites in the scanning process, do not need to consider the setting problem of common targets and characteristic points among the work wells, and do not need to additionally arrange a plurality of measuring stations for providing an overlapping area, thereby shortening the working time, reducing the working pressure and improving the working efficiency; meanwhile, the accurate geographic space position and direction of the acquired point cloud set provide great convenience for later modeling and importing of a digital twin power grid system.
Description
Technical Field
The application belongs to the technical field of three-dimensional laser scanning, and particularly relates to a method and a device for positioning and orienting a working well space and electronic equipment.
Background
The three-dimensional laser scanning technology utilizes the principle of laser ranging, can quickly reconstruct a three-dimensional model of a measured target and various drawing data such as lines, surfaces, bodies and the like, and provides a brand-new technical means for quickly establishing the three-dimensional model of an object. Because the urban power distribution network is usually laid in an underground cable form, panoramic information acquisition and three-dimensional modeling of an underground working well become a brand-new data acquisition and updating means, and a three-dimensional laser scanning technology becomes an irreplaceable technical means.
At present, the geospatial information method for determining a work well station is generally to set a scanning overlap area between two adjacent stations and set a target in the area to realize point cloud registration. However, conventional methods typically do not have the correct geospatial location and orientation of the target site after registration. Even if a magnetic compass is integrated in the scanner, the precision of the magnetic compass cannot meet the precision requirement of space orientation, so that the positioning and orientation problems of a work well station in a geographic space can only be solved by other modes.
Disclosure of Invention
In order to overcome the problems in the related art, the embodiment of the application provides a method and a device for positioning and orienting a working well space and electronic equipment.
The application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for positioning and orienting a working well space, including: acquiring point cloud data of a target working well, wherein the point cloud data comprises a station measurement coordinate of the target working well; determining a space geographic coordinate corresponding to the target object based on a coordinate conversion relation and the station measurement coordinate of the target working well; the coordinate conversion relationship is determined based on space geographic coordinates and station coordinates of a first target point and a second target point, the space geographic coordinates of the first target point and the second target point are determined based on space geographic coordinates and a preset position relationship of a first reference point and a second reference point, the first reference point and the second reference point are located outside the target space, the first target point and the second target point are located in the target space, and the preset position relationship represents a position relationship between the first reference point and the second reference point and the first target point and the second target point.
According to the working well space positioning and orientation method, the station measurement coordinates of the target working well are converted into the space geographic coordinates based on the coordinate conversion relation, and the space geographic coordinates are coordinates under the earth coordinate system, so that the working well space positioning and orientation method can accurately position and orient the geographic space of the working well station in the scanning process without considering the setting problem of common targets and characteristic points among the working wells and without additionally arranging a plurality of stations for providing an overlapping area, thereby shortening the working time, reducing the working pressure and improving the working efficiency; meanwhile, the accurate geographic space position and direction of the acquired point cloud set provide great convenience for later modeling and importing of a digital twin power grid system.
With reference to the first aspect, in some possible implementations, the method further includes a step of determining the coordinate transformation relationship; the determining the coordinate transformation relationship includes: determining the space geographic coordinates of the first target point and the second target point based on the space geographic coordinates of the first reference point and the second reference point and a preset position relation; extracting the station coordinates of the first target point and the second target point from the point cloud data; and determining the coordinate conversion relation based on the space geographic coordinates and the station coordinates of the first targeting point and the second targeting point.
In some embodiments, the determining the first targeting point and the second targeting point based on the spatial geographic coordinates of the first reference point and the second reference point and a preset position relationshipThe spatial geographic coordinates of the second targeting point, comprising: according to the pre-determined distance and the space azimuth angle between the first target point and the second target point, calculating an initial value Bg1 of the geographic space coordinates of the dual targets0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) (ii) a The attitude angle is an attitude angle corresponding to the first reference point and the second reference point; taking the distance as a true value to be matched with the initial value Bg1 of the geographic space coordinate0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) Performing adjustment to obtain coordinate adjustment value of the first target point and the second target point, and marking as Bg1 (X)Bg1,YBg1,ZBg1) And Bg2 (X)Bg2,YBg2,ZBg2)。
In some embodiments, determining the coordinate transformation relationship based on the spatial geographic coordinates and the station coordinates of the first targeting point and the second targeting point comprises: a first vector
Translating to make the coordinate of the measuring station of one target point coincide with the spatial geographic coordinate to obtain a second vector
And determining a first amount of translation from the first vector to the second vector; wherein the first vector is obtained from the station coordinates of the first target point and the second target point; determining the second vector
And a third vector
The third vector is formed by the first targeting point and the third targeting pointObtaining the space geographic coordinate of the second target point; and determining the coordinate conversion relation according to the first translation amount and the rotation angle.
In some embodiments, the second vector is determined
And a third vector
Including: applying the second vector
Translating to the origin of the geographic space coordinate system to obtain a fourth vector
Combining the third vector
Translating to the origin of the geographic space coordinate system to obtain a fifth vector
Performing cross product calculation on the fourth vector and the fifth vector to obtain a rotation axis vector; determining a rotation matrix between the second vector and the third vector from the rotation axis vector.
In some embodiments, the amount of translation from the second vector to the fourth vector is a second amount of translation; determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station coordinate of the target object, wherein the determining comprises the following steps: translating the point cloud of the target working well according to the first translation amount and the second translation amount; rotating the point cloud of the translated target working well based on the rotation matrix; translating the point cloud of the rotated target working well according to the third translation amount to obtain a spatial geographic coordinate of the target working well; wherein the third translation amount is an inverse translation amount of the second translation amount.
With reference to the first aspect, in some possible implementations, the method further includes: converting station coordinates of the point cloud set of all the work wells in the target area into space geographic coordinates, and restoring connection topological relations among all the work wells in the target area.
In a second aspect, an embodiment of the present application provides a tool well space positioning and orienting device, including: the system comprises a point cloud data acquisition module, a point cloud data acquisition module and a data processing module, wherein the point cloud data acquisition module is used for acquiring point cloud data of a target working well in a target space, and the point cloud data comprises a station measurement coordinate of the target working well; the determining module is used for determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station measuring coordinate of the target working well; the coordinate conversion relationship is determined based on space geographic coordinates and station coordinates of a first target point and a second target point, the space geographic coordinates of the first target point and the second target point are determined based on space geographic coordinates and a preset position relationship of a first reference point and a second reference point, the first reference point and the second reference point are located outside the target space, the first target point and the second target point are located in the target space, and the preset position relationship represents a position relationship between the first reference point and the second reference point and the first target point and the second target point.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the method for positioning and orienting a work well space according to any one of the first aspect.
In a fourth aspect, the present application provides a computer program product, which when run on an electronic device, causes the electronic device to perform the method for locating and orienting a work well in space as described in any one of the above first aspects.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for locating and orienting a working well space according to any one of the first aspect is implemented.
In a sixth aspect, an embodiment of the present application provides a work well positioning and orienting system, including: the scanning device comprises a first cross rod, a first vertical rod, scanning equipment and the electronic equipment; the first cross rod is connected with the scanning equipment through the first vertical rod; a first device is arranged on a first reference point on the first cross rod, and a second device is arranged on a second reference point; the first equipment is used for acquiring the spatial position coordinates of the first reference point and sending the spatial position coordinates of the first reference point to the electronic equipment; the second device is used for acquiring the spatial position coordinates of the second reference point and sending the spatial position coordinates of the second reference point to the electronic device; the scanning equipment is arranged on the first vertical rod and used for generating point cloud data of a target working well in a target space and sending the point cloud data to the electronic equipment.
It is understood that the beneficial effects of the second to sixth aspects can be seen from the description of the first aspect, and are not described herein again.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic view of an application scenario of a method for positioning and orienting a working well space according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for positioning and orienting a working well space according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a working well spatial positioning and directional scanning device according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a translation operation of a method for spatially positioning and orienting a working well according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating a rotational operation of a method for spatially positioning and orienting a working well according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a spatial positioning and orienting device for a working well according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a spatial positioning and orienting device for a working well according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
At present, the geospatial information method for determining a work well station is generally to set a scanning overlap area between two adjacent stations and set a target in the area to realize point cloud registration. However, conventional methods typically do not have the correct geospatial location and orientation of the target site after registration. Even if a magnetic compass is integrated in the scanner, the precision of the magnetic compass cannot meet the precision requirement of space orientation, so that the positioning and orientation problems of a work well station in a geographic space can only be solved by other modes.
Based on the problems, the working well space positioning and orientation method in the embodiment of the application obtains point cloud data of a target working well, wherein the point cloud data comprises a station measurement coordinate of the target working well; and determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station measuring coordinate of the target working well.
For example, the embodiment of the present application can be applied to the exemplary scenario shown in fig. 1. The scene comprises a geographic information acquisition device 10 and an electronic device 20. The geographic information collection device 10 is configured to collect the spatial geographic information of the target work well, which may include the coordinates of the logging station of the target work well, and transmit the information to the electronic device 20. The electronic device 20 is used to translate the station coordinates into position and orientation information for the geographic space.
For example, the electronic device 20 processes the station-logging information of the target work well in combination with the specific parameters of the acquisition device 10 to obtain a coordinate conversion mode, obtains a spatial vector of the point cloud of the target work well according to the coordinate conversion mode, and further determines the geospatial positioning and orientation information of the target work well.
In this embodiment, the electronic device 20 may be a computer, a mobile phone, a tablet computer, a notebook computer, a netbook, a Personal Digital Assistant (PDA), or other terminals, and the specific type of the electronic device 20 is not limited in this embodiment.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to fig. 1, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 2 is a schematic flow chart of a method for positioning and orienting a working well space according to an embodiment of the present disclosure, and with reference to fig. 2, the method for positioning and orienting a working well space is described in detail as follows:
in step 101, point cloud data of a target work well is obtained, wherein the point cloud data comprises a station coordinate of the target work well.
The point cloud data of the target working well is obtained by scanning through a scanning device. Illustratively, the scanning device consists of two GPS antennas in the uphole space, two targets and a scanner in the downhole space. The scanning device further comprises auxiliary devices such as a horizontal cross rod, a vertical rod and a leveling bubble and a fixed frame, the two GPS antennas in the aboveground space are connected through the horizontal cross rod, and the scanner is connected with the horizontal cross rod through the vertical rod.
The determining the space geographic coordinates of the first targeting point and the second targeting point based on the space geographic coordinates of the first reference point and the second reference point and a preset position relationship includes:
according to the pre-determined distance and the space azimuth angle between the first target point and the second target point, calculating an initial value Bg1 of the geographic space coordinates of the dual targets0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) (ii) a The attitude angle is an attitude angle corresponding to the first reference point and the second reference point;
taking the distance as a true value to be matched with the initial value Bg1 of the geographic space coordinate0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) Performing adjustment to obtain coordinate adjustment value of the first target point and the second target point, and marking as Bg1 (X)Bg1,YBg1,ZBg1) And Bg2 (X)Bg2,YBg2,ZBg2)。
Referring to fig. 3, the structure of the scanning device is taken as an example. The scanning device is characterized in that two GPS antennas (the central points are A1 and A2 respectively) in the uphole space, two targets (the central points are B1 and B2 respectively) in the downhole space, a central connecting line A1A2 of the overground space GPS antenna is parallel to a connecting line B1B2 of the underground space target, a connecting line CD between a central point (C point) of a connecting line of the double antennas and a central point (D point) of a connecting line of the double targets is perpendicular to the parallel lines, namely A1, A2, B1 and B2 are symmetrical about the axis of the CD.
The scanning equipment can realize high-precision positioning through two GPS antennae in the space above the well to obtain space coordinates (X) of A1 and A2Ag1,YAg1,ZAg1) And (X)Ag2,YAg2,ZAg2) And the space azimuth angle of the A1A2 connecting line, and further obtaining the space coordinate (X) of the point CCg,YCg,ZCg). Because the D point is positioned right below the C point in the vertical direction, the plane coordinates of the D point and the C point are completely consistent, the elevation difference is the length of a vertical rod, the elevation of the D point is obtained by subtracting the preset length of the vertical rod from the elevation of the C point, and the space coordinate (X) of the D point is further obtainedDg,YDg,ZDg) As the station center coordinates of the scanning device.
Since the dual-target connection line B1B2 and the dual-antenna connection line A1a2 are parallel to each other, the geographic azimuth angles α of the two are the same. Obtaining an initial geospatial coordinate Bg1 of the dual targets according to the preset length and the spatial azimuth of the connection line of the dual targets0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0). The coordinate difference value Bg1 (X) is obtained by performing the adjustment operation using the previously measured target distances B1 and B2 as the true valuesBg1,YBg1,ZBg1) And Bg2 (X)Bg2,YBg2,ZBg2)。
The scanning device obtains station coordinates (point cloud coordinate system) Bs1 (X) of B1 and B2 according to the point cloud set of facilities such as a working well, a cable and a pipe holeBs1,YBs1,ZBs1) And Bs2 (X)Bs2,YBs2,ZBs2) Bs1Bs2 are denoted as space vectors
In a scene, the scanning device returns the acquired geospatial coordinates and the acquired station coordinates of the double-standard target point and the acquired station coordinates of the point cloud to the electronic equipment, so that the electronic equipment executes subsequent steps to solve the conversion relation between the geospatial coordinates and the station coordinates, and further converts the station coordinates of the point cloud into the geospatial coordinates.
In step 102, the spatial geographic coordinates corresponding to the target work well are determined based on the coordinate transformation relationship and the station coordinates of the target work well.
The coordinate conversion relation is determined based on space geographic coordinates and station coordinates of the first target point and the second target point, the space geographic coordinates of the first target point and the second target point are determined based on space geographic coordinates and a preset position relation of the first reference point and the second reference point, the first reference point and the second reference point are located outside a target space, the first target point and the second target point are located in the target space, and the preset position relation represents the position relation between the first reference point and the second reference point and the first target point and the second target point.
The determining the coordinate transformation relationship includes:
determining the space geographic coordinates of the first target point and the second target point based on the space geographic coordinates of the first reference point and the second reference point and a preset position relation;
extracting the station coordinates of the first target point and the second target point from the point cloud data;
and determining the coordinate conversion relation based on the space geographic coordinates and the station coordinates of the first targeting point and the second targeting point.
Specifically, the step of determining the coordinate transformation relationship includes: referring to FIG. 4, vectors are shown
Translating to make the coordinate Bs1 of the target point coincide with the spatial geographic coordinate Bg1 to obtain a second vector
And determining a vector of origin
To vector
The amount of translation of; determining a vector
Rotate to vector
Between are rotatedRotating the angle theta; and calculating a Rodrigues rotation matrix among the vectors, and determining a coordinate conversion relation according to the translation amount and the rotation angle.
Wherein the determining the coordinate transformation relationship based on the space geographic coordinates and the survey station coordinates of the first targeting point and the second targeting point comprises:
a first vector
Translating to make the coordinate of the measuring station of one target point coincide with the spatial geographic coordinate to obtain a second vector
And determining a first amount of translation from the first vector to the second vector; wherein the first vector is obtained from the station coordinates of the first target point and the second target point;
determining the second vector
And a third vector
The third vector is obtained from the space geographic coordinates of the first target point and the second target point;
and determining the coordinate conversion relation according to the first translation amount and the rotation angle.
Referring to FIG. 4, the vector is translated from the station coordinates to the space coordinates such that Bs1 and Bg1 coincide, resulting in a new vector after the first translation
Further calculating the vector
Rotate to and vector
The coincident rotational angles theta.
Wherein, the translation amount is:
(Vector)
respectively has an end point coordinate of Bs1' (X)Bs1',YBs1',ZBs1')、Bs2'(XBs2',YBs2',ZBs2') wherein:
XBs2'＝XBs2+ΔX1
YBs2'＝YBs2+ΔY1
ZBs2'＝ZBs2+ΔZ1
solving for vectors
Rotate to and vector
The superimposed rotation angle θ yields:
wherein the determining the second vector
And a third vector
Including:
will be the firstTwo vectors
Translating to the origin of the geographic space coordinate system to obtain a fourth vector
Combining the third vector
Translating to the origin of the geographic space coordinate system to obtain a fifth vector
Performing cross product calculation on the fourth vector and the fifth vector to obtain a rotation axis vector;
determining a rotation matrix between the second vector and the third vector from the rotation axis vector.
Referring to FIG. 5, to simplify the calculation, through the Rodrigues rotation matrix, will
And
further translating to the origin O point of the geographic space coordinate system to obtain a new vector
And
the translation amount is:
let vector quantity
u＝(XBs2'+ΔX2,YBs2'+ΔY2,ZBs2'+ΔZ2)
v＝(XBg2+ΔX2,YBg2+ΔY2,ZBg2+ΔZ2)
The vector cross-product yields a rotation axis vector, i.e., w ═ u × v is the rotation axis:
obtaining a rotation matrix R
R＝Ecosθ+(1-cosθ)w2+(sinθ)w ⑤
Wherein E is a third order identity matrix.
Rotate to obtain v ═ Ru
Wherein the translation from the second vector to the fourth vector is a second translation;
determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station coordinate of the target object, wherein the determining comprises the following steps:
translating the point cloud of the target working well according to the first translation amount and the second translation amount;
rotating the point cloud of the translated target working well based on the rotation matrix;
translating the point cloud of the rotated target working well according to the third translation amount to obtain a spatial geographic coordinate of the target working well; wherein the third translation amount is an inverse translation amount of the second translation amount.
In some embodiments, based on the embodiment shown in fig. 2, the method for positioning and orienting a working well space may further include:
recording the coordinate of the measuring station of the central point D of the measuring station as the geographic coordinate reference point of the working well, and recording the coordinate (X) of the measuring station of the point DDg,YDg,ZDg) The first translation is performed to point D', followed by the second translation to point D ":
XD"＝XDg+ΔX1+ΔX2
YD"＝YDg+ΔY1+ΔY2
ZD"＝ZDg+ΔZ1+ΔZ2
then the Rodrigue rotation is carried out according to the formulas II, III, IV, V and IV to obtain the vector
Then will be
The inverse operation is carried out according to the translation of the second step to obtain the absolute coordinate D of the point D in the geographic spaceg(XD'"-ΔX2,YD'"-ΔY2,ZD'"-ΔZ2)。
Taking the point D as an example, converting the survey station coordinates to the geographic space coordinates of the single point cloud set to obtain the geographic space coordinates of the single point cloud; and determining the absolute positioning and orientation of the geographic space of each work well point cloud in the point cloud set, and simultaneously restoring the connection topological relation of the work well in the real world.
According to the method for positioning and orienting the space of the working well, the geographic space of the station of the working well is accurately positioned and oriented in the scanning process, the problem of setting public targets and characteristic points among the working wells is not required to be considered, and more measuring stations are not required to be arranged for providing an overlapping area, so that the working time is shortened, the working pressure is reduced, and the working efficiency is improved; meanwhile, the accurate geographic space position and direction of the acquired point cloud set provide great convenience for later modeling and importing of a digital twin power grid system.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Corresponding to the method for positioning and orienting the working well space described in the above embodiments, fig. 6 shows a structural block diagram of the working well space positioning and orienting device provided in the embodiments of the present application, and for convenience of explanation, only the parts related to the embodiments of the present application are shown.
Referring to fig. 6, the tool well space positioning and orienting device in the embodiment of the present application may include a point cloud data acquisition module 201 and a determination module 202.
The point cloud data acquiring module 201 is configured to acquire point cloud data of a target working well in a target space. And the determining module 202 is configured to determine a spatial geographic coordinate corresponding to the target work well based on the coordinate conversion relationship and the station measurement coordinate of the target work well.
In some embodiments, referring to fig. 7, based on the embodiment shown in fig. 6, the above-mentioned determining module 202 may include a translation unit 2021, a rotation unit 2022, and a matrix transformation unit 2023.
A translation unit 2021 for translating the first vector
Translating to make the coordinate of the measuring station of one target point coincide with the spatial geographic coordinate to obtain a second vector
And determining a first amount of translation from the first vector to the second vector; and the first vector is obtained by the station coordinates of the first target point and the second target point.
A rotation unit 2022 for determining the second vector
And a third vector
And obtaining a rotation axis vector by the rotation angle between the two.
A matrix transformation unit 2023, configured to determine a rotation matrix between the second vector and the third vector according to the rotation axis vector.
Optionally, the determining module 202 may further include: a coordinate conversion unit 2024, configured to rotate the point cloud of the translated target work well based on the rotation matrix; translating the point cloud of the rotated target working well according to the third translation amount to obtain a spatial geographic coordinate of the target working well; wherein the third translation amount is an inverse translation amount of the second translation amount.
For example, the determining unit may specifically be configured to:
determining the space geographic coordinates of the first target point and the second target point based on the space geographic coordinates of the first reference point and the second reference point and a preset position relation;
determining the coordinate transformation relationship based on the space geographic coordinates and the survey station coordinates of the first targeting point and the second targeting point, including:
a first vector
Translating to make the coordinate of the measuring station of one target point coincide with the spatial geographic coordinate to obtain a second vector
And determining a first amount of translation from the first vector to the second vector; wherein the first vector is obtained from the station coordinates of the first target point and the second target point;
determining the second vector
And a third vector
Wherein the third vector is obtained from the spatial geographic coordinates of the first targeting point and the second targeting point; determining the coordinate conversion relation according to the first translation amount and the rotation angle;
determining the second vector
And a third vector
Including: applying the second vector
Translating to the origin of the geographic space coordinate system to obtain a fourth vector
Combining the third vector
Translating to the origin of the geographic space coordinate system to obtain a fifth vector
Performing cross product calculation on the fourth vector and the fifth vector to obtain a rotation axis vector; determining a rotation matrix between the second vector and the third vector from the rotation axis vector.
The translation amount from the second vector to the fourth vector is a second translation amount; determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station coordinate of the target object, wherein the determining comprises the following steps: translating the point cloud of the target working well according to the first translation amount and the second translation amount; rotating the point cloud of the translated target working well based on the rotation matrix; translating the point cloud of the rotated target working well according to the third translation amount to obtain a spatial geographic coordinate of the target working well; wherein the third translation amount is an inverse translation amount of the second translation amount.
Optionally, the point cloud obtaining module 201 is specifically configured to: and carrying out three-dimensional laser scanning on the target working well to obtain point cloud data of the target working well.
Illustratively, the performing the three-dimensional laser scanning on the target working well to obtain the point cloud data of the target working well includes:
acquiring point cloud data of a target working well through a scanning device;
according to the pre-determined distance and the space azimuth angle between the first target point and the second target point, calculating an initial value Bg1 of the geographic space coordinates of the dual targets0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) Wherein the attitude is an attitude corresponding to the first reference point and the second reference point;
taking the distance as a true value to be matched with the initial value Bg1 of the geographic space coordinate0(XBg1 0,YBg1 0,ZBg10) And Bg20(XBg2 0,YBg2 0,ZBg2 0) Performing adjustment to obtain coordinate adjustment value of the first target point and the second target point, and marking as Bg1 (X)Bg1,YBg1,ZBg1) And Bg2 (X)Bg2,YBg2,ZBg2)。
Optionally, the above positioning and orienting device for a work well may further include: and the integration module is used for determining the cloud geographic space absolute positioning and orientation of each work well point in the point cloud set and simultaneously restoring the connection topological relation of the work wells in the real world.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides an electronic device, and referring to fig. 8, the electronic device 300 may include: at least one processor 310, a memory 320, and a computer program stored in the memory 320 and operable on the at least one processor 310, the processor 310, when executing the computer program, implementing the steps of any of the various method embodiments described above, such as the steps 101 to 102 in the embodiment shown in fig. 2. Alternatively, the processor 310, when executing the computer program, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 201 to 202 shown in fig. 6.
Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory 320 and executed by the processor 310 to accomplish the present application. The one or more modules/units may be a series of computer program segments capable of performing certain functions, which are used to describe the execution of the computer program in the electronic device 300.
Those skilled in the art will appreciate that fig. 8 is merely an example of an electronic device and is not limiting and may include more or fewer components than shown, or combine certain components, or different components, such as input output devices, network access devices, buses, etc.
The Processor 310 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 320 may be an internal storage unit of the electronic device, or may be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The memory 320 is used for storing the computer program and other programs and data required by the electronic device. The memory 320 may also be used to temporarily store data that has been output or is to be output.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The working well space positioning and orienting method provided by the embodiment of the application can be applied to electronic devices such as XX, a computer, a wearable device, a vehicle-mounted device, a tablet computer, a notebook computer, a netbook, a Personal Digital Assistant (PDA), an Augmented Reality (AR)/Virtual Reality (VR) device, a mobile phone and the like, and the embodiment of the application does not limit the specific types of the electronic devices at all.
The embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps in the embodiments of the method for positioning and orienting a working well space.
The embodiment of the application provides a computer program product, and when the computer program product runs on a mobile terminal, the steps in the embodiments of the method for positioning and orienting a working well space can be realized when the mobile terminal is executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/electronic device, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for positioning and orienting a working well is characterized by comprising the following steps:
acquiring point cloud data of a target working well, wherein the point cloud data comprises a station measurement coordinate of the target working well;
determining a space geographic coordinate corresponding to the target working well based on a coordinate conversion relation and the station measurement coordinate of the target working well; the coordinate conversion relationship is determined based on space geographic coordinates and station coordinates of a first target point and a second target point, the space geographic coordinates of the first target point and the second target point are determined based on space geographic coordinates and a preset position relationship of a first reference point and a second reference point, the first reference point and the second reference point are located outside the target space, the first target point and the second target point are located in the target space, and the preset position relationship represents a position relationship between the first reference point and the second reference point and the first target point and the second target point.
2. The method of claim 1, further comprising the step of determining the coordinate transformation relationship;
the determining the coordinate transformation relationship includes:
determining the space geographic coordinates of the first target point and the second target point based on the space geographic coordinates of the first reference point and the second reference point and a preset position relation;
extracting the station coordinates of the first target point and the second target point from the point cloud data;
and determining the coordinate conversion relation based on the space geographic coordinates and the station coordinates of the first targeting point and the second targeting point.
3. The method of claim 2, wherein 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 predetermined positional relationship comprises:
according to the pre-determined distance and the space azimuth angle between the first target point and the second target point, calculating an initial value Bg1 of the geographic space coordinates of the dual targets0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) (ii) a The attitude angle is the firstA reference point and an attitude corresponding to the second reference point;
taking the distance as a true value to be matched with the initial value Bg1 of the geographic space coordinate0(XBg1 0,YBg1 0,ZBg1 0) And Bg20(XBg2 0,YBg2 0,ZBg2 0) Performing adjustment to obtain coordinate adjustment value of the first target point and the second target point, and marking as Bg1 (X)Bg1,YBg1,ZBg1) And Bg2 (X)Bg2,YBg2,ZBg2)。
4. The method of claim 2, wherein determining the coordinate transformation relationship based on the spatial geographic coordinates and the survey station coordinates of the first target point and the second target point comprises:
a first vector
Translating to make the coordinate of the measuring station of one target point coincide with the spatial geographic coordinate to obtain a second vector
And determining a first amount of translation from the first vector to the second vector; wherein the first vector is obtained from the station coordinates of the first target point and the second target point;
determining the second vector
And a third vector
The third vector is obtained from the space geographic coordinates of the first target point and the second target point;
and determining the coordinate conversion relation according to the first translation amount and the rotation angle.
5. The method of claim 4, wherein said determining said second vector is performed by a computer system
And a third vector
Including:
applying the second vector
Translating to the origin of the geographic space coordinate system to obtain a fourth vector
Combining the third vector
Translating to the origin of the geographic space coordinate system to obtain a fifth vector
Performing cross product calculation on the fourth vector and the fifth vector to obtain a rotation axis vector;
determining a rotation matrix between the second vector and the third vector from the rotation axis vector.
6. The method of claim 5, wherein the translation from the second vector to the fourth vector is a second translation;
determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station coordinate of the target object, wherein the determining comprises the following steps:
translating the point cloud of the target working well according to the first translation amount and the second translation amount;
rotating the point cloud of the translated target working well based on the rotation matrix;
translating the point cloud of the rotated target working well according to the third translation amount to obtain a spatial geographic coordinate of the target working well; wherein the third translation amount is an inverse translation amount of the second translation amount.
7. The method of claim 5, further comprising:
converting station coordinates of the point cloud set of all the work wells in the target area into space geographic coordinates, and restoring connection topological relations among all the work wells in the target area.
8. A well positioning and orienting device, comprising:
the system comprises a point cloud data acquisition module, a point cloud data acquisition module and a data processing module, wherein the point cloud data acquisition module is used for acquiring point cloud data of a target working well in a target space, and the point cloud data comprises a station measurement coordinate of the target working well;
the determining module is used for determining the space geographic coordinate corresponding to the target working well based on the coordinate conversion relation and the station measuring coordinate of the target working well; the coordinate conversion relationship is determined based on space geographic coordinates and station coordinates of a first target point and a second target point, the space geographic coordinates of the first target point and the second target point are determined based on space geographic coordinates and a preset position relationship of a first reference point and a second reference point, the first reference point and the second reference point are located outside the target space, the first target point and the second target point are located in the target space, and the preset position relationship represents a position relationship between the first reference point and the second reference point and the first target point and the second target point.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.
10. A well positioning and orienting system, comprising: a first cross bar, a first vertical bar, a scanning device and an electronic device as claimed in claim 9;
the first cross rod is connected with the scanning equipment through the first vertical rod;
a first device is arranged on a first reference point on the first cross rod, and a second device is arranged on a second reference point; the first equipment is used for acquiring the spatial position coordinates of the first reference point and sending the spatial position coordinates of the first reference point to the electronic equipment; the second device is used for acquiring the spatial position coordinates of the second reference point and sending the spatial position coordinates of the second reference point to the electronic device;
the scanning equipment is arranged on the first vertical rod and used for generating point cloud data of a target working well in a target space and sending the point cloud data to the electronic equipment.
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