Attitude measurement method of drilling rig based on monocular vision

Abstract

The invention relates to a drill carriage posture measurement method based on monocular vision. A camera is used for collecting a light spot image and a mineral industrial computer is used for processing the light spot image; an image coordinate of a light spot is taken as a characteristic point; parameters in the camera and a public-known orthogonal iteration method are used for solving a P4P (Proactive network Provider Participation for P2P) problem so as to calculate a posture, which is relative to the camera, of a light spot rectangle; a posture, which is relative to a drill carriage, of the light spot rectangle, a posture, which is relative to an auxiliary platform, of the camera, and a posture, which is relative to a geographic coordinate system, of the auxiliary platform are combined to calculate a posture, which is relative to the geographic coordinate system, of the drill carriage through conversion of coordinates. According to the drill carriage posture measurement method disclosed by the invention, the posture of the drill carriage can be subjected to non-contact type measurement so as to prevent an electromagnetic signal of the drill carriage from disturbing a posture sensor. The measurement method is developed in algorithm, high in reliability and high in measurement precision.

Description

technical field [0001] The invention relates to an attitude measurement method in the field of drilling rig control, in particular to a monocular vision-based attitude measurement method for a drilling rig. Background technique [0002] When working with hydraulic drilling rigs in coal mines, it is necessary to clarify the posture of the drill pipe in order to achieve directional drilling. In the actual operation process, the attitude of the drill pipe is usually measured with an expensive measurement-while-drilling system. In most non-precision drilling applications, only the attitude of the drilling rig needs to be known, and then directional drilling can be realized through manual correction. Compared with the measurement-while-drilling system, this solution has the characteristics of low cost and high reliability. At present, no patents and products similar to this solution have been found. [0003] Measuring attitude typically uses an attitude sensor with a three-axi...

AI Technical Summary

Problems solved by technology

However, because this type of sensor is easily affected by electromagnetic interference, and the drilling rig itself has strong electromagnetic interference, the traditional attitude sensor cannot be directly installed on the drilling rig.

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