Real-time automatic counting method for drill rods
A technology of automatic counting and drill pipe, which is applied in calculation, image data processing, computer parts and other directions, can solve the problem of inability to count accurately in real time, and achieve the advantages of avoiding drilling counting errors, high recognition accuracy, and consistent drilling operation process. Effect
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Embodiment 1
[0054]A drill rod real-time automatic counting method, including the following steps:
[0055]Based on the depth image at operation of the drill pipe, the depth image during operation is derived from historical monitoring or real-time monitoring.
[0056]Analysis of the motion mode of the drill pipe can be analyzed by any technical means that can achieve this purpose, such as the drill pipe point cloud and set state drill pole, and the drill pipe is fixed in the timing. Judgment, etc.
[0057]If the drill rod enters the linear motion by the nonlinear motion, the length of the drill rod acquired in the depth image is smaller than the set ratio of the drill rod itself (the drill pipe length 1 / 4 is selected), the count is performed once.
[0058]The drill rod enters the linear motion by nonlinear motion, and can be achieved by analyzing the positional change of the drill pipe fix point in the prior art. If the line structure is present in a period of time (set time, if within 30s), it can be deter...
Embodiment 2
[0062]A drill rod real-time automatic counting method, including the following steps:
[0063]Collect the depth image of the scene when drilling work, based on the depth image during the operation of the drill pipe, convert the depth image to a three-dimensional point cloud, filter out the background point cloud, and analyze the drill rod movement. Filtering background can eliminate interference of the background to the drill rod movement.
[0064]If the drill rod enters a linear motion by a nonlinear motion, the length of the drill rod acquired in the depth image is smaller than the set ratio of the drill rod itself, the count is performed.
Embodiment 2
[0065]Example 2 Scenario One:
[0066]Such asfigure 1 As shown, if the hand skeleton point of the drill rod is present in the depth image (i.e., the initial working stage of the drill pipe), the degree of discretity of the hand bone point within the number of hand skeleton points in the number of frames is analyzed. ;
[0067]If the degree of discrete is smaller than the set threshold, it is determined that the drill rod is linearly moved, and vice versa is a nonlinear motion.
[0068]Specifically:
[0069]The analysis sets the discrete degree of the hand bone point in the frame number of frames, including:
[0070]Get the miner hand skeleton point coordinate P;
[0071]In point P, the maximum value D of the drill rod is the spatial range of the search radius, and the depth image, fitting the drill pipe point cloud line L, calculate the drill rod length W and the drill pipe in the depth image Center point coordinate Pc;
[0072]Calculate the hand bone point P to the vertical foot p of the drill pole L.L...
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