A drilling rig angle detection method and device based on computer vision

Abstract

The present invention relates to a method and device for detecting drilling rig angle based on computer vision, the method comprising: collecting images of the drilling rig area; using a target detection algorithm to identify the position of the drilling rig components in the image; if the position of the drilling rig components matches the preset position, then judging that the drilling rig angle meets the requirements. The solution provided by the present invention can efficiently, in real time and accurately judge whether the drilling rig angle is normal, and has low deployment difficulty, ensuring the recognition and statistical accuracy of drilling rig operations, improving underground construction standards and safety, and reducing labor costs.

Description

Technical Field

[0001] The present invention relates to the fields of computer vision and downhole drilling, and in particular to a drilling rig angle detection method and device based on computer vision. Background Art

[0002] The safety of energy extraction is an issue that the industry attaches great importance to, and water exploration and release operations are an important means to ensure the safety of energy extraction. In order to ensure the quality of drilling, it is necessary to install cameras at the drilling site to monitor the drilling operation throughout the process. In the existing technology, AI image recognition technology can be used to automatically identify the drilling process. The current problem is that the camera installation angle will change significantly each time due to factors such as people, environment, and change of work surface. This change will directly affect the recognition accuracy of AI recognition. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present invention provides a drilling rig angle detection method and device based on computer vision, which can judge the installation status of the underground camera. If the angle deviates from the preset angle, an alarm will be issued to remind the underground to adjust the camera.

[0004] According to a first aspect of an embodiment of the present invention, a method for detecting a drilling rig angle based on computer vision is provided, comprising:

[0005] Acquire images of the rig area;

[0006] identifying locations of drilling rig components in the image using an object detection algorithm;

[0007] If the position of the drilling rig component matches the preset position, it is determined that the drilling rig angle meets the requirements.

[0008] Further, the drilling rig components include a drill head, a drill rod, a rod tail and a drilling rig;

[0009] If the position of the drilling rig component matches the preset position, then judging that the drilling rig angle meets the requirements specifically includes:

[0010] If the overlap between the position frame of the machine head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the proportion of the motion trajectory of the drill rod and the rod tail within the preset path exceeds a preset threshold, it is judged that the drilling rig angle meets the requirements.

[0011] Furthermore, the method further comprises:

[0012] If the degree of overlap between the position frame of the machine head and the drilling rig and the pre-defined position frame is less than a preset threshold, the focal length of the image acquisition device is adjusted until the degree of overlap reaches the preset threshold.

[0013] Furthermore, the method further comprises:

[0014] If it is determined that the drilling rig angle does not meet the requirements, an alarm will be issued.

[0015] According to a second aspect of an embodiment of the present invention, there is provided a drilling rig angle detection device based on computer vision, comprising:

[0016] An image acquisition module, used for acquiring images of the drilling rig area;

[0017] A position recognition module, used to recognize the position of the drilling rig components in the image using a target detection algorithm;

[0018] The angle judgment module is used to judge whether the drilling rig angle meets the requirements if the position of the drilling rig component matches the preset position.

[0019] Further, the drilling rig components include a drill head, a drill rod, a rod tail and a drilling rig;

[0020] The angle determination module is specifically used for:

[0021] If the overlap between the position frame of the machine head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the proportion of the motion trajectory of the drill rod and the rod tail within the preset path exceeds a preset threshold, it is judged that the drilling rig angle meets the requirements.

[0022] Furthermore, the device also includes:

[0023] The focal length adjustment module is used to adjust the focal length of the image acquisition device until the overlap degree reaches the preset threshold value if the overlap degree between the position frame of the machine head and the drilling rig and the pre-defined position frame is less than a preset threshold value.

[0024] Furthermore, the device also includes:

[0025] The alarm module is used to issue an alarm if it is determined that the drilling rig angle does not meet the requirements.

[0026] According to a third aspect of an embodiment of the present invention, a terminal device is provided, including:

[0027] Processor; and

[0028] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0029] According to a fourth aspect of an embodiment of the present invention, there is provided a non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method as described above.

[0030] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0031] It can efficiently, real-time and accurately determine whether the drilling rig angle is normal, and the deployment difficulty is low, ensuring the identification and statistical accuracy of drilling rig operations, improving underground construction standards and safety, and reducing labor costs.

[0032] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0034] Figure 1 is a flow chart of a method for detecting a drilling rig angle based on computer vision according to an exemplary embodiment of the present invention;

[0035] Figure 2 is an example of rig component identification;

[0036] Figure 3a ) is an example of the preset positions of the drilling rig components of a front-end drilling rig;

[0037] Figure 3b ) is an example of the preset positions of the drilling rig components of a rear-pull-over drilling rig;

[0038] Figure 4 is a structural block diagram of a drilling rig angle detection device based on computer vision according to an exemplary embodiment of the present invention;

[0039] Figure 5 FIG. 1 is a schematic diagram showing the structure of a computing device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0041] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0042] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0043] The hardware devices involved in the present invention include cameras, GPU servers, etc., wherein the camera can select the existing network camera in the mine to be responsible for image acquisition. The GPU server completes the algorithm reasoning and is placed in the well machine room.

[0044] The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0045] Figure 1 The figure is a flow chart of a method for detecting a drilling rig angle based on computer vision according to an exemplary embodiment of the present invention.

[0046] See also Figure 1 , the method comprising:

[0047] 110. Collect images of the drilling rig area;

[0048] Specifically, the image of the drilling rig area may be collected by a camera installed at the drilling operation site.

[0049] 120. Using a target detection algorithm to identify the location of the drilling rig component in the image;

[0050] Specifically, the target detection algorithm can be implemented using existing algorithms, such as yolov3, etc., by training the features of drilling rig components (such as the head, rod tail, drill rod, drilling rig, etc.) through yolov3. Among them, when training the features of the drill rod, it is necessary to train the images of the drilling rig with and without rods.

[0051] like Figure 2As shown in the figure, through the trained yolov3 model, the position and size of head, tail, something (drill rod with rod), nothing (drill rod without rod), and machine in the video image can be obtained, and the center coordinates, width, height, and confidence of the features can be output. Combining this information, the size and position of the target feature can be determined.

[0052] 130. If the position of the drilling rig component matches the preset position, it is determined that the drilling rig angle meets the requirements.

[0053] Specifically, when drilling is performed for the first time, it is necessary to set the preset positions of the drilling rig components, such as Figure 3a )and Figure 3b ), the on-site personnel can manually draw a box as the head area from the image captured by the camera according to the environment, draw another box as the machine area, draw two line segments line_1 and line_2 as the characteristic motion paths of tail, something, and nothing, and save these position information in the database. The on-site drilling rig is not detected during the first drilling.

[0054] When drilling is performed later, the currently identified position of the drilling rig component can be matched with the preset position saved during the first drilling operation to determine whether the drilling rig angle meets the requirements.

[0055] Optionally, in this embodiment, step 130 specifically includes:

[0056] If the overlap between the position frame of the machine head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the proportion of the motion trajectory of the drill rod and the rod tail within the preset path exceeds a preset threshold, it is judged that the drilling rig angle meets the requirements.

[0057] Specifically, if the IOU (coincidence) of the actually detected machine head position frame and the preset machine head position frame, as well as the IOU of the actually detected drill rig position frame and the preset drill rig position frame both exceed the preset threshold, it means that the focal length of the camera is appropriate. Furthermore, if the motion trajectory (center point coordinates) of the drill rod (including something with a rod and nothing without a rod) and the tail of the rod accounts for more than a preset threshold (such as 90%) within the preset path formed by the two set line segments, it means that the drilling rig angle meets the requirements.

[0058] The computer vision-based drilling rig angle detection method provided by the embodiment of the present invention can efficiently, real-timely and accurately determine whether the drilling rig angle is normal, and has low deployment difficulty, thereby ensuring the recognition and statistical accuracy of drilling rig operations, improving underground construction standards and safety, and reducing labor costs. The accuracy is not less than 95% when the environment meets the requirements.

[0059] Optionally, in this embodiment, the method further includes:

[0060] 140. If it is determined that the drilling rig angle does not meet the requirements, an alarm will be issued.

[0061] Optionally, as an embodiment of the present invention, the method includes:

[0062] 210. Collect images of the drilling rig area;

[0063] Specifically, the image of the drilling rig area may be collected by a camera installed at the drilling operation site.

[0064] 220. Using a target detection algorithm to identify the location of the drilling rig component in the image;

[0065] 230. If the overlap between the position frame of the drill head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the motion trajectory of the drill rod and the rod tail is within the preset path throughout, it is determined that the drilling rig angle meets the requirements;

[0066] 240. If the degree of overlap between the position frame of the machine head and the drilling rig and the pre-defined position frame is less than a preset threshold, adjust the focal length of the image acquisition device until the degree of overlap reaches the preset threshold.

[0067] In this embodiment, when the overlap degree is less than a preset threshold, an instruction to adjust the focal length of the camera may be issued until the overlap degree reaches the preset threshold.

[0068] Figure 4 The figure is a structural block diagram of a drilling rig angle detection device based on computer vision according to an exemplary embodiment of the present invention.

[0069] See also Figure 4 , the device comprises:

[0070] An image acquisition module, used for acquiring images of the drilling rig area;

[0071] A position recognition module, used to recognize the position of the drilling rig components in the image using a target detection algorithm;

[0072] The angle judgment module is used to judge whether the drilling rig angle meets the requirements if the position of the drilling rig component matches the preset position.

[0073] Optionally, in this embodiment, the drilling rig components include a drill head, a drill rod, a rod tail and a drilling rig;

[0074] The angle determination module is specifically used for:

[0075] If the overlap between the position frame of the machine head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the proportion of the motion trajectory of the drill rod and the rod tail within the preset path exceeds a preset threshold, it is judged that the drilling rig angle meets the requirements.

[0076] Optionally, in this embodiment, the device further includes:

[0077] The focal length adjustment module is used to adjust the focal length of the image acquisition device until the overlap degree reaches the preset threshold value if the overlap degree between the position frame of the machine head and the drilling rig and the pre-defined position frame is less than a preset threshold value.

[0078] Optionally, in this embodiment, the device further includes:

[0079] The alarm module is used to issue an alarm if it is determined that the drilling rig angle does not meet the requirements.

[0080] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0081] Figure 5 It is a schematic diagram showing the structure of a computing device according to an exemplary embodiment of the present invention.

[0082] See also Figure 5 , the computing device 500 includes a memory 510 and a processor 520 .

[0083] The processor 520 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0084] The memory 510 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 520 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at runtime. In addition, the memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 510 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0085] The memory 510 stores executable codes, and when the executable codes are processed by the processor 520 , the processor 520 can execute part or all of the methods described above.

[0086] The scheme of the present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required by the present invention. In addition, it can be understood that the steps in the method of the embodiment of the present invention can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present invention can be merged, divided and deleted according to actual needs.

[0087] In addition, the method according to the present invention may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing part or all of the steps in the above method of the present invention.

[0088] Alternatively, the present invention may also be implemented as a non-temporary machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or computing device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present invention.

[0089] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or a combination of both.

[0090] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0091] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A drilling rig angle detection method based on computer vision, characterized in that: include: Acquire images of the rig area; identifying locations of drilling rig components in the image using an object detection algorithm; If the position of the drilling rig component matches the preset position, it is determined that the drilling rig angle meets the requirements; Wherein, the drilling rig components include a drill head, a drill rod, a rod tail and a drilling rig; If the position of the drilling rig component matches the preset position, then judging that the drilling rig angle meets the requirements specifically includes: If the overlap between the position frame of the machine head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the proportion of the motion trajectory of the drill rod and the rod tail within the preset path exceeds a preset threshold, it is judged that the drilling rig angle meets the requirements.

2. The method according to claim 1, characterized in that: Also includes: If the degree of overlap between the position frame of the machine head and the drilling rig and the pre-defined position frame is less than a preset threshold, the focal length of the image acquisition device is adjusted until the degree of overlap reaches the preset threshold.

3. The method according to claim 1 or 2, characterized in that: Also includes: If it is determined that the drilling rig angle does not meet the requirements, an alarm will be issued.

4. A drilling rig angle detection device based on computer vision, characterized in that: include: An image acquisition module, used for acquiring images of the drilling rig area; A position recognition module, used to recognize the position of the drilling rig components in the image using a target detection algorithm; An angle judgment module, used to judge whether the drilling rig angle meets the requirements if the position of the drilling rig component matches the preset position; Wherein, the drilling rig components include a drill head, a drill rod, a rod tail and a drilling rig; The angle determination module is specifically used for: If the overlap between the position frame of the machine head and the drill rig and the pre-defined position frame exceeds a preset threshold, and the proportion of the motion trajectory of the drill rod and the rod tail within the preset path exceeds a preset threshold, it is judged that the drilling rig angle meets the requirements.

5. The device according to claim 4, characterized in that Also includes: The focal length adjustment module is used to adjust the focal length of the image acquisition device until the overlap degree reaches the preset threshold value if the overlap degree between the position frame of the machine head and the drilling rig and the pre-defined position frame is less than a preset threshold value.

6. The device according to claim 4 or 5, characterized in that Also includes: The alarm module is used to issue an alarm if it is determined that the drilling rig angle does not meet the requirements.

7. A terminal device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 3.

8. A non-transitory machine-readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 3.

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