A real-time automatic counting method for drill pipes
An automatic counting and drilling rod technology, which is applied in calculation, image data processing, computer parts and other directions, can solve the problems of not being able to count accurately in real time, and achieve the goals of avoiding drilling counting errors, high recognition accuracy, and consistent drilling operation process Effect
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Embodiment 1
[0054] A method for automatically counting drill pipes in real time, comprising the steps of:
[0055]Based on the depth image when the drill pipe is working, the depth image when the drill pipe is working is derived from historical monitoring or real-time monitoring.
[0056] Analyze the movement mode of the drill pipe. The analysis method can use any technical means in the existing technology that can achieve this purpose, such as matching the drill pipe point cloud with the set state drill pipe point cloud, and the drill pipe moves in a fixed attitude in time series Judgment etc.
[0057] If the drill pipe changes from nonlinear motion to linear motion, and the length of the drill pipe obtained in the depth image is less than the set ratio of the length of the drill pipe itself (1 / 4 of the length of the drill pipe is selected in this embodiment), a count is performed.
[0058] The drill pipe changes from nonlinear motion to linear motion, which can be realized by analyzing...
Embodiment 2
[0062] A method for automatically counting drill pipes in real time, comprising the steps of:
[0063] Collect the depth image of the scene during drilling work, convert the depth image into a 3D point cloud based on the depth image of the drill pipe when it is working, and filter out the background point cloud to analyze the movement mode of the drill pipe. Filtering out the background removes the background from interfering with the way the drillpipe moves.
[0064] If the drill pipe changes from nonlinear motion to linear motion, and the length of the drill pipe acquired in the depth image is less than the set ratio of the length of the drill pipe itself, a count is performed.
Embodiment 2
[0065] Example 2 Scenario 1:
[0066] Such as figure 1 As shown, if the hand skeleton points of the drill pipe workers exist in the depth image (that is, the initial working stage of the drill pipe), then the degree of dispersion of the hand skeleton points within the set number of frames relative to the straight line where the drill pipe is located is analyzed ;
[0067] If the degree of dispersion is less than the set threshold, it is determined that the drill pipe is moving linearly, otherwise it is non-linear movement.
[0068] Specifically:
[0069] The analysis sets the degree of dispersion of the hand skeleton points within the number of frames relative to the straight line where the drill pipe is located, including:
[0070] Obtain the coordinates P of the miner's hand bone point;
[0071] Search the drill pipe within the space range centered on point P and the maximum drill pipe length D as the search radius; analyze the depth image, fit the straight line L of the...
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