CN113219470A - Automatic positioning and joint aligning system for drill rod - Google Patents
Automatic positioning and joint aligning system for drill rod Download PDFInfo
- Publication number
- CN113219470A CN113219470A CN202110476716.9A CN202110476716A CN113219470A CN 113219470 A CN113219470 A CN 113219470A CN 202110476716 A CN202110476716 A CN 202110476716A CN 113219470 A CN113219470 A CN 113219470A
- Authority
- CN
- China
- Prior art keywords
- image
- drill rod
- drill
- joint
- vision sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims abstract description 3
- 238000001914 filtration Methods 0.000 claims description 7
- 238000003709 image segmentation Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 5
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 12
- 239000012636 effector Substances 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 6
- 239000000523 sample Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/40—Image enhancement or restoration by the use of histogram techniques
-
- G06T5/70—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
Abstract
The invention provides an automatic drill rod positioning and joint aligning system; the method comprises the following steps: the system comprises a vision sensor, an ultrasonic sensor and a signal processing unit; the vision sensor is used for acquiring an image of the wellhead drill rod; after the vision sensor is subjected to A/D conversion, the digital image is transmitted to an upper computer in real time for image processing; the ultrasonic sensor is used for acquiring distance information of the drill rod, guiding the ultrasonic detector to measure the distance of the drill rod after characteristic quantities of the edge and the center of the drill rod and a drill rod joint are obtained through image processing, and fusing the visual signal and the ultrasonic signal to obtain complete drill rod position information and drill rod joint position information. The invention adopts a visual mode to align the position of the drill rod and the upper shackle, and compared with the traditional method, the alignment method has higher efficiency, can realize automatic positioning of the drill rod and makes preparation for realizing automatic operation of a wellhead.
Description
Technical Field
The invention relates to the technical field of drill rod joint detection; and more particularly to an automatic drill pipe positioning and joint alignment system.
Background
The iron roughneck is the corollary equipment of the rig in the automatic petroleum drilling production, and the trip-out is gone up when the wide application is bored well, workover with ocean, land, is the upgrading product of hydraulic tong. At present, foreign major petroleum equipment manufacturers have developed several generations of iron driller products, and realize electro-hydraulic automatic control; the development of iron roughneck in China is still in the starting stage, and the control aspect basically adopts liquid-gas control. When an iron roughneck carries out the makeup and breakout operation, whether the clamp body is aligned with the joint of the drill rod or not needs to be judged manually. The intelligent degree is low, and the labor intensity of workers is high. If can carry out more intelligent control through introducing vision system to the location of drilling rod and the alignment of going up the shackle, then can improve workman's work efficiency to a certain extent, reduce the potential safety hazard, reduce the human cost, further realize well head automation mechanized operation.
Disclosure of Invention
The invention aims to provide an automatic drill rod positioning and joint aligning system. Aiming at the problems of drill rod positioning and shackle alignment of an iron roughneck in the prior art, the invention provides a drill rod positioning and joint alignment method based on vision, and prepares for realizing wellhead automation operation.
The invention is realized by the following technical scheme:
the invention relates to a system for automatically positioning a drill rod and aligning a joint, which comprises: the system comprises a vision sensor, an ultrasonic sensor and a signal processing unit;
the vision sensor is used for acquiring an image of the wellhead drill rod; after the vision sensor is subjected to A/D conversion, the digital image is transmitted to an upper computer in real time for image processing;
the ultrasonic sensor is used for acquiring distance information of the drill rod, guiding the ultrasonic detector to measure the distance of the drill rod after characteristic quantities of the edge and the center of the drill rod and a drill rod joint are obtained through image processing, and fusing the visual signal and the ultrasonic signal to obtain complete drill rod position information and drill rod joint position information.
The ultrasonic sensor is used for guiding the ultrasonic detector to measure the distance after the image is processed to obtain the required characteristic quantity, and comprises a transmitting probe and a receiving probe.
Preferably, the upper computer performs image processing to determine the drill rod position and the joint position by image segmentation and edge detection on image information acquired by the vision sensor.
Preferably, the image processing of the upper computer comprises the following specific steps:
step 1, preprocessing an image;
step 2, image segmentation, namely, after graying the image, regarding the image as a region combination with different gray levels according to the difference of gray characteristics of a target to be extracted and a background region in the image, and separating the drill rod from the background by selecting a threshold value;
step 3, edge detection is carried out by adopting a Canny operator;
and 4, performing linear extraction by adopting Hough transformation.
Preferably, in step 1, the image preprocessing specifically includes:
step 1.1, increasing the dynamic range of pixel gray values by histogram equalization and enhancing the image;
and step 1.2, reducing the fuzzy degree of the image boundary part by adopting a median filtering method, and filtering image noise.
Preferably, in step 2, the selecting the threshold value adopts an iterative method, and the specific steps are as follows:
step 2.1, find the maximum and minimum grey scale value S in the image1And ShLet the initial threshold be:
T0＝(S1+S2)/2；
step 2.2, according to the threshold value TkDividing the image into two parts of background and target, and then calculating the average gray value S of the two parts of target and background1And S2；
Step 2.3, solving a new threshold value: t isk+1；
Step 2.4, if Tk＝Tk+1If yes, the algorithm is ended; otherwise k equals k +1, go to step 2.2 and continue execution.
The invention has the following advantages:
(1) the vision sensor is arranged on the end effector to form the hand-eye vision, the receiving and sending probes of the ultrasonic sensor are also fixed on the end effector, the vision sensor acquires a two-dimensional image of an object to be identified and positioned, and guides the ultrasonic sensor to acquire distance information, so that the three-dimensional positioning of a target object is realized.
(2) According to the invention, image information and distance information acquired by ultrasonic waves are transmitted to the upper computer, and the upper computer sends a control signal to the tail end actuating mechanism after data processing, so that the tail end actuating mechanism moves to an ideal target position. Compared with the prior art, the alignment method of the invention adopts a visual mode to align the position of the drill rod and the upper shackle, has higher efficiency than the traditional method, can realize automatic positioning of the drill rod, and prepares for further realizing wellhead automatic operation.
Drawings
FIG. 1 is a block diagram of an automatic drill pipe positioning and joint alignment system;
FIG. 2 is a flow diagram of image processing modules according to the system of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. It should be noted that the following examples are only illustrative of the present invention, but the scope of the present invention is not limited to the following examples.
Examples
The present embodiment relates to an automatic drill pipe positioning and joint aligning system, as shown in fig. 1, including: the system comprises a vision sensor, an ultrasonic sensor and a signal processing unit;
the vision sensor is arranged on the end effector to form hand-eye vision, a receiving and sending probe of the ultrasonic sensor is also fixed on the end effector, the vision sensor acquires a two-dimensional image of an object to be identified and positioned, and the ultrasonic sensor is guided to acquire distance information; thereby realizing the three-dimensional positioning of the target object. And then transmitting the image information and the distance information acquired by the ultrasonic waves to an upper computer, and sending a control signal to the tail end actuating mechanism after data processing by the upper computer so as to finally enable the tail end actuating mechanism to move to an ideal target position.
The vision sensor is used for acquiring a scene awakening image; and transmitting the images to a main control computer for image processing by acquiring the drill rod images.
The ultrasonic sensor is used for guiding the ultrasonic detector to measure the distance after the required characteristic quantity is obtained after the image is processed, detecting the sound wave signal reflected by the target according to the sound wave reflection principle, and obtaining the distance information of the drill rod after processing.
As shown in fig. 2, the determination of the drill pipe position information and the joint position information through image processing includes the following specific steps:
step 1, collecting image information of a drill rod through a vision sensor and carrying out image preprocessing.
The drill pipe image preprocessing mainly comprises the following steps: image enhancement and noise filtering.
Step 1.1, increasing the dynamic range of pixel gray values by histogram equalization and enhancing the image;
and step 1.2, reducing the fuzzy degree of the image boundary part by adopting a median filtering method, and filtering image noise.
And 2, carrying out image segmentation, regarding the image as a region combination with different gray levels according to the difference of gray characteristics of the drill pipe to be extracted and a background region in the image after the drill pipe image is grayed, and separating the drill pipe from the background by selecting a threshold value. And (3) adopting an iterative method to obtain a segmentation algorithm of the optimal threshold value.
The image segmentation in the step 2 comprises the following specific steps:
step 2.1, solving the maximum and minimum gray values S in the image1And ShLet the initial threshold be:
T0＝(S1+S2)/2。
step 2.2, according to the threshold value TkDividing the image into two parts of background and target, and then calculating the average gray value S of the two parts of target and background1And S2；
Wherein S is a gray scale value and N is a weight coefficient.
Step 2.3, solving a new threshold value: t isk+1＝(S1+Sh)/2；
Step 2.4, if Tk＝Tk+1If yes, the algorithm is ended; otherwise k equals k +1, go to step 2.2 and continue execution.
Step 3, adopting a Canny operator to carry out edge detection; smoothing the image with a gaussian filter and calculating the magnitude and direction of the filtered image gradient. Applying non-maximum suppression to the gradient amplitude, and setting other non-local maximum points to zero to obtain a refined edge. Edges are detected and connected using a dual threshold algorithm.
And 4, performing linear extraction by adopting Hough transformation.
Aiming at the problems of drill rod positioning and shackle alignment of the existing iron roughneck, the invention provides a drill rod positioning and joint alignment method based on vision, and prepares for realizing wellhead automation operation. The system mainly comprises a visual sensor, an ultrasonic sensor and a corresponding signal processing unit. The vision sensor is arranged on the end effector to form hand-eye vision, the receiving and sending probe of the ultrasonic sensor is also fixed on the end effector, and the vision sensor acquires a two-dimensional image of an object to be identified and positioned and guides the ultrasonic sensor to acquire distance information. Thereby realizing the three-dimensional positioning of the target object. And then transmitting the image information and the distance information acquired by the ultrasonic waves to an upper computer, and sending a control signal to the tail end actuating mechanism after data processing by the upper computer so as to finally enable the tail end actuating mechanism to move to an ideal target position. Compared with the prior art, the alignment method has the advantages that the drill rod position and the upper shackle are aligned in a visual mode, the efficiency is higher than that of the traditional method, the automatic positioning of the drill rod can be realized, and preparation is made for realizing wellhead automatic operation.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (5)
1. An automatic drill pipe positioning and joint alignment system, comprising: the system comprises a vision sensor, an ultrasonic sensor and a signal processing unit;
the vision sensor is used for acquiring an image of the wellhead drill rod; after the vision sensor is subjected to A/D conversion, the digital image is transmitted to an upper computer in real time for image processing;
the ultrasonic sensor is used for acquiring distance information of the drill rod, guiding the ultrasonic detector to measure the distance of the drill rod after characteristic quantities of the edge and the center of the drill rod and a drill rod joint are obtained through image processing, and fusing the visual signal and the ultrasonic signal to obtain complete drill rod position information and drill rod joint position information.
2. The system of claim 1, wherein the upper computer image is processed to determine drill pipe and joint positions by image segmentation and edge detection from image information acquired by the vision sensor.
3. The system for automatic positioning of drill rods and aligning joints as recited in claim 2, wherein the image processing of the upper computer comprises the following specific steps:
step 1, preprocessing an image;
step 2, image segmentation, namely, after graying the image, regarding the image as a region combination with different gray levels according to the difference of gray characteristics of a target to be extracted and a background region in the image, and separating the drill rod from the background by selecting a threshold value;
step 3, edge detection is carried out by adopting a Canny operator;
and 4, performing linear extraction by adopting Hough transformation.
4. The system for automatic positioning of drill pipes and alignment of joints as claimed in claim 3, wherein in step 1, the image preprocessing is specifically:
step 1.1, increasing the dynamic range of pixel gray values by histogram equalization and enhancing the image;
and step 1.2, reducing the fuzzy degree of the image boundary part by adopting a median filtering method, and filtering image noise.
5. The system for automatic positioning of drill pipes and alignment of joints as claimed in claim 3, wherein in step 2, the selection threshold is an iterative method comprising the specific steps of:
step 2.1, find the maximum and minimum grey scale value S in the image1And ShLet the initial threshold be:
T0＝(S1+S2)/2；
step 2.2, according to the threshold value TkDividing the image into two parts of background and target, and then calculating the average gray value S of the two parts of target and background1And S2；
Step 2.3, solving a new threshold value: t isk+1；
Step 2.4, if Tk＝Tk+1If yes, the algorithm is ended; otherwise k equals k +1, go to step 2.2 and continue execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110476716.9A CN113219470A (en) | 2021-04-29 | 2021-04-29 | Automatic positioning and joint aligning system for drill rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110476716.9A CN113219470A (en) | 2021-04-29 | 2021-04-29 | Automatic positioning and joint aligning system for drill rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113219470A true CN113219470A (en) | 2021-08-06 |
Family
ID=77090062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110476716.9A Pending CN113219470A (en) | 2021-04-29 | 2021-04-29 | Automatic positioning and joint aligning system for drill rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113219470A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130220601A1 (en) * | 2010-09-06 | 2013-08-29 | Drillmec S.P.A. | Method for automatic handling of drilling rods and tubular wellbore elements, excavation equipment and associated computer program |
| CN108582075A (en) * | 2018-05-10 | 2018-09-28 | 江门市思远信息科技有限公司 | A kind of intelligent robot vision automation grasping system |
| CN109598710A (en) * | 2018-11-29 | 2019-04-09 | 中国科学院重庆绿色智能技术研究院 | A kind of coal mine drill pipe automatic counting method and system |
-
2021
- 2021-04-29 CN CN202110476716.9A patent/CN113219470A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130220601A1 (en) * | 2010-09-06 | 2013-08-29 | Drillmec S.P.A. | Method for automatic handling of drilling rods and tubular wellbore elements, excavation equipment and associated computer program |
| CN108582075A (en) * | 2018-05-10 | 2018-09-28 | 江门市思远信息科技有限公司 | A kind of intelligent robot vision automation grasping system |
| CN109598710A (en) * | 2018-11-29 | 2019-04-09 | 中国科学院重庆绿色智能技术研究院 | A kind of coal mine drill pipe automatic counting method and system |
Non-Patent Citations (1)
| Title |
|---|
| 张洪生等: "基于视觉的铁钻工控制系统的设计" * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3237722B1 (en) | System and method for positioning of tubular members | |
| CN110930357B (en) | In-service steel wire rope surface defect detection method and system based on deep learning | |
| AU2018250380B2 (en) | Tool joint finding apparatus and method | |
| CN104181233A (en) | B ultrasound scanning detection method of strain clamp crimping defect based on feature enhancement | |
| CN108460419B (en) | Fracture parameter extraction method for fusion of drilling optical image and radar imaging information | |
| CN114677601A (en) | Dam crack detection method based on unmanned aerial vehicle inspection and combined with deep learning | |
| CN114972384A (en) | Tunnel rock intelligent rapid regional grading method based on deep learning | |
| CN115877400A (en) | Tunnel roof support steel belt drilling positioning method based on radar and vision fusion | |
| CN102706291A (en) | Method for automatically measuring road curvature radius | |
| CN113219470A (en) | Automatic positioning and joint aligning system for drill rod | |
| CN110533650B (en) | AUV underwater pipeline detection tracking method based on vision | |
| Liu et al. | Detecting cracks in concrete structures with the baseline model of the visual characteristics of images | |
| Jiang et al. | Application of canny operator threshold adaptive segmentation algorithm combined with digital image processing in tunnel face crevice extraction | |
| Yuan et al. | Digital image processing-based automatic detection algorithm of cross joint trace and its application in mining roadway excavation practice | |
| CN109544531A (en) | A method of GPR image Damage Types are identified based on shape feature | |
| CN204677188U (en) | Not by the down-hole top of fish image-forming detecting system of pit shaft medium influence | |
| CN111437033B (en) | Virtual sensor for vascular intervention surgical robot system | |
| CN112183268A (en) | MWD mud pressure wave processing method | |
| CN113589294A (en) | Method, system, equipment and medium for processing underwater shallow stratum profile data | |
| Zhang et al. | Research on fracture recognition in well logging images: Adversarial learning with attention | |
| CN112377175B (en) | Method and system for optimizing drilling mud and rapidly identifying low-resistance oil-gas layer | |
| Aliff et al. | Development of Underwater Pipe Crack Detection System for Low-Cost Underwater Vehicle using Raspberry Pi and Canny Edge Detection Method | |
| CN108765381B (en) | Hydraulic engineering crack extraction method and system and information processing terminal | |
| CN114596262A (en) | Dam monitoring and analyzing method and system based on image recognition technology | |
| CN113848209A (en) | Dam crack detection method based on unmanned aerial vehicle and laser ranging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210806 |