A machine vision-based automatic docking pose detection method for deepwater drilling risers
A technology of machine vision and detection methods, applied in instruments, measuring devices, optical devices, etc., can solve problems such as inapplicability, and achieve the effect of saving costs, reducing measurement time, and improving detection accuracy
Active Publication Date: 2019-04-30
SOUTHWEAT UNIV OF SCI & TECH
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Problems solved by technology
The above research results have strong guiding significance, but due to the constraints of the scene and objects, the above method is not suitable for the detection of the pose of the drilling riser, the water injection end device, and the plugging end device in the automatic riser docking installation. And the calculation of the docking installation deviation required to guide the degree of freedom adjustment system to complete the pose adjustment
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[0023] The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings, but the content protected by the present invention is not limited to the following description.
[0024] Numbers in the picture: 1—water injection end, 2—base, 3, 8—gantry support, 4, 9—disk device, 5—water riser, 6—blocking end, 7—guide rail, 10—camera, 11—laser sensor, 12 20—The characteristic circle of the flange end face of the water injection end and the plugging end, 21-28, the characteristic circle of the flange end face of the riser.
[0025]The present invention is aimed at figure 1 The shown riser inspection and detection device uses a gantry bracket with a disc device for installation of equipment, wherein the radius of the disc device is consistent with the radius of the flange end face of the drilling riser. Such as figure 2 As shown in the schematic diagram of equipment installation, four pairs of laser range finde...
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The invention relates to a deepwater drilling riser pipe automatic connection position detection method based on machine vision. For the identification of the poses of a drilling well riser pipe, a water injection end device and a plugging end device in riser pipe automatic connection installation and the guidance of a freedom degree regulation system to complete the calculation of a connection installation deviation needed by pose regulation, with the connection installation of the riser pipe and the water injection end device as an example, the riser pipe automatic connection position detection method based on machine vision is provided. According to the method, the realization of the automation of the connection installation of the riser pipe in a riser pipe detection and inspection process can be helped, the detection and inspection efficiency of the riser pipe is improved, the labor intensity of an operator is reduced, and the safety of the riser pipe inspection and detection is improved.
Description
technical field [0001] The invention relates to a machine vision-based automatic docking pose detection method for risers, in particular to the detection of the pose of the drilling riser, the water injection end device and the plugging end device during the inspection and detection process of the drilling riser, and the degree of freedom of guidance The adjustment system completes the calculation of the butt joint installation deviation required for the adjustment of the position and posture of the plugging flange on the water injection end device and the plugging end device, which belongs to the field of machine vision. Background technique [0002] Due to the increasing demand for oil in countries all over the world, people began to explore and develop deepwater and ultra-deepwater oilfields. Drilling risers are an important tool for offshore oil exploration and development, and their safety performance is very important. Therefore, before the drilling riser is put into t...
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IPC IPC(8): G01B11/00G01B11/26
CPCG01B11/002G01B11/26
Inventor 刘桂华王玉玫张华楚红雨康含玉吴倩牛乾王静强
Owner SOUTHWEAT UNIV OF SCI & TECH