Method and control unit for condition detection of a drilling rig

Abstract

A state detection scheme for a drilling rig is disclosed, comprising: acquiring images containing at least a hole (9) drilled by the drilling rig and a drill bit (8) using an image acquisition device (10) installed on the upper carriage (2) of the drilling rig; identifying at least the hole (9) and the drill bit (8) from the images, and determining the position information of key points on the hole (9) and the drill bit (8); determining the position of the hole (9) using the position information of the key points on the hole (9), and determining the pose of the drill bit (8) using the position information of the key points on the drill bit (8); and expressing the position information of the hole (9) and the pose information of the drill bit (8) in a coordinate system.

Description

Technical Field

[0001] This application relates to a condition detection (monitoring) scheme for drilling rigs, which can provide at least information about the position and orientation of the drill bit. Background Technology

[0002] A drilling rig is a construction machine used for drilling operations. The drilling environment is generally harsh, with operators frequently enduring high noise levels, strong vibrations, and intense sunlight. To drill a hole, the drilling rig typically operates in a fixed position for extended periods, and the operator usually performs repetitive cyclical actions such as lowering the drill bit, drilling further, retracting the drill bit, and throwing soil. To ensure drilling accuracy, the drill bit's position and orientation must be precisely detected and controlled during each action. Furthermore, to automate these repetitive cyclical actions, the positions of the mast, the power head, and the unlocking lever need to be automatically detected and determined.

[0003] In existing technologies, the drill bit height is mainly determined using information from the speed sensor related to the main winch motor of the drilling rig. This indirect method of determining drill bit height has several drawbacks. First, it requires frequent zero-point calibration. Second, it introduces cumulative errors.

[0004] On the other hand, regarding the position of the drill bit's central axis relative to the hole's central axis, one existing solution is to use information from a rotary encoder related to the upper carriage's rotation. However, this method only measures the upper carriage's rotational position, while the drill bit moves in other directions within a plane perpendicular to its central axis. Using this method, the rotary encoder position (i.e., zero position) when the drill bit's central axis coincides with the hole's central axis must first be determined. If the drilling rig undergoes non-operational movements during operation, the position of the drill bit's central axis relative to the hole's central axis becomes unknown. If information from a speed sensor related to the upper carriage's rotary motor is used to determine the position of the drill bit's central axis relative to the hole's central axis, in addition to the aforementioned problems, cumulative errors will also occur. Summary of the Invention

[0005] The purpose of this application is to provide a condition monitoring scheme for drilling rigs that can solve at least some of the aforementioned problems in the prior art.

[0006] Therefore, this application provides a method for condition detection (or monitoring) of a drilling rig in one aspect, comprising:

[0007] Images containing at least the hole drilled by the drilling rig and the drill bit of the drilling rig are acquired using an image acquisition device installed on the upper part of the drilling rig.

[0008] Identify at least the hole and the drill bit from the image, and determine the location information of key points on the hole and the drill bit;

[0009] The location of the hole is determined using the positional information of key points on the hole, and the position of the drill bit is determined using the positional information of key points on the drill bit; and

[0010] The coordinate system is used to represent the position information of the hole and the pose information of the drill bit.

[0011] In one implementation, the expression coordinate system is:

[0012] For the hole coordinate system, its origin is set on the drilling rig, preferably on the rotation center axis of the upper carriage, for example, in the plane at the junction between the upper carriage and the lower carriage of the drilling rig and perpendicular to the rotation center axis of the upper carriage. One axis of the hole coordinate system intersects perpendicularly with the hole center axis of the hole.

[0013] In one implementation, the expression coordinate system is:

[0014] The origin of the vehicle coordinate system is set on the drilling rig, preferably on the rotation center axis of the upper carriage, for example, in the plane at the junction between the upper carriage and the lower carriage of the drilling rig and perpendicular to the rotation center axis of the upper carriage. The origin of the vehicle coordinate system can coincide with the origin of the hole coordinate system. One axis of the vehicle coordinate system is along the rotation center axis of the upper carriage.

[0015] In one implementation, the position information of the hole is determined using the coordinates of key points on the hole in the upper carriage coordinate system, and the pose information of the drill bit is determined using the coordinates of key points on the drill bit in the upper carriage coordinate system; and

[0016] By transforming the coordinate system between the upper vehicle coordinate system and the representation coordinate system, the position information of the hole and the pose information of the drill bit in the upper vehicle coordinate system are transformed into the position information of the hole and the pose information of the drill bit in the representation coordinate system.

[0017] The origin of the upper carriage coordinate system is set on the drilling rig, preferably on the rotation center axis of the upper carriage, for example, in a plane perpendicular to the rotation center axis of the upper carriage at the junction between the upper carriage and the lower carriage of the drilling rig. The origin of the upper carriage coordinate system may coincide with the origin of the hole coordinate system and / or the origin of the whole vehicle coordinate system. One axis of the upper carriage coordinate system is along the rotation center axis of the upper carriage.

[0018] In one embodiment, the transformation relationship between the upper vehicle coordinate system and the hole-aligning coordinate system is determined based on the following information:

[0019] Based on the coordinates of the center point of the opening at the upper end of the hole or its inner casing in the upper vehicle coordinate system; and / or

[0020] Based on the detection information from the speed sensor of the upper slewing motor; and / or

[0021] Based on the detection information from the angle encoder on the vehicle.

[0022] In one embodiment, the transformation relationship between the upper vehicle coordinate system and the hole-aligning coordinate system is determined in the following manner:

[0023] The reference point on the center line of the hole through which the drill rod passes in the power head is mapped in a reference plane, the reference plane being perpendicular to the center axis of the drill bit, and the center point of the orifice at the upper end of the hole or its inner casing being located in the reference plane;

[0024] The transformation relationship between the upper vehicle coordinate system and the lower hole coordinate system is determined based on the positional difference between the mapping point and the center point of the orifice.

[0025] In one embodiment, the key points on the hole are at least three points on the upper edge of the hole or its inner casing, and the hole location information is the position of the center point of the opening at the upper end of the hole or its inner casing.

[0026] In one embodiment, the drill bit's pose information includes at least the position of one, preferably at least two, center points on the drill bit, and the direction of the drill bit's central axis.

[0027] In one embodiment, the image acquired by the image acquisition device further includes a drill bit-related component, and the state detection method further includes:

[0028] Identify drill bit-related components from the image and determine the location information of key points on the drill bit-related components;

[0029] The pose information of the drill bit associated components is determined using the positional information of key points on the drill bit associated components; and

[0030] The pose information of the drill bit's associated components is expressed in the coordinate system.

[0031] The drill bit associated components include one or more of the following:

[0032] Power head;

[0033] The mast, especially the lower part of the mast;

[0034] Drill pipe.

[0035] In one embodiment, the state detection method further includes verifying or correcting the drill bit position information based on the detection information from the speed sensor of the main winch motor of the drilling rig.

[0036] In one embodiment, the state detection method further includes processing the image to obtain a dense environment map;

[0037] The dense map of the environment is expressed in the expressed coordinate system.

[0038] In one embodiment, the state detection method further includes determining the pose of the image acquisition device based on the image;

[0039] The pose of the image acquisition device is expressed in the expression coordinate system.

[0040] In one embodiment, the image acquisition device includes one or more of the following:

[0041] Monocular camera;

[0042] Binocular camera;

[0043] RGB-D camera;

[0044] LiDAR;

[0045] Millisecond wave radar.

[0046] This application also provides a control unit for a drilling rig, configured to execute the status detection method of this application.

[0047] This application also provides a drilling rig (especially a rotary drilling rig), comprising:

[0048] An image acquisition device installed on the upper part of the drilling rig is configured to acquire images including at least the hole drilled by the drilling rig and the drill bit of the drilling rig; and

[0049] The control unit of this application is configured to execute the state detection method of this application based on the information collected by the image acquisition device.

[0050] This application also provides a machine-readable storage medium storing executable instructions that, when executed by a processor, implement the state detection method of this application.

[0051] According to the state detection scheme of this application, the position and orientation information of the drill bit can be determined based on the information collected by the image acquisition device. The drill bit position and orientation determined in this way has high accuracy, can eliminate accumulated errors, and improve drilling accuracy. The drill bit position and orientation information determined by this application based on information directly sensed by the image acquisition device can also be used in other auxiliary control schemes of the drilling rig, which helps to improve drilling accuracy and efficiency, and also helps to reduce the workload of the operator. Attached Figure Description

[0052] The foregoing and other aspects of this application will be more fully understood and appreciated through the following detailed description with reference to the accompanying drawings, in which:

[0053] Figure 1 This is a schematic diagram of the drilling rig involved in this application;

[0054] Figures 2-4This application demonstrates three coordinate systems used in one detection scheme;

[0055] Figures 5-7 This is a schematic diagram of key points on the working parts of a drilling rig being inspected in one of the inspection schemes of this application;

[0056] Figure 8 This is a schematic diagram of key points on a hole being detected in one of the detection schemes of this application;

[0057] Figure 9 This is a schematic diagram of drilling rig environmental information detected in one of the detection schemes of this application;

[0058] Figure 10 This is a schematic diagram of the drill bit path detected in one detection scheme of this application. Detailed Implementation

[0059] This application generally relates to a condition detection (or monitoring) scheme for drilling rigs (especially rotary drilling rigs). In a basic implementation, at least the position and orientation of the drill bit are detected (monitored). In some further implementations, in addition to the position and orientation of the drill bit, environmental information of the drilling rig is also detected.

[0060] The condition monitoring scheme disclosed in this application is applicable to various types of drilling rigs. For ease of description, this application will use the following... Figure 1 This paper provides a highly generalized illustration of a drilling rig to which this application applies. The drilling rig mainly comprises: a lower carriage 1, which includes a traveling device (such as tracks) to enable the entire drilling rig to move; an upper carriage 2, which is rotatably mounted on the lower carriage 1 about a central axis of rotation; a mast 3, which is pivotally supported on the upper carriage 2 by a load-bearing mechanism (usually a hydraulic load-bearing mechanism) 4, and is typically in a vertical position during drilling operations; a drill rod 5, which is vertically raised and lowered by a wire rope 6 of a main winch system; a power head 7, one end of which is supported by the mast 3 and can move vertically along the mast 3, and the other end of which can drive the drill rod 5 to rotate; and a drill bit (drill bucket) 8, which is mounted on the lower end of the drill rod 5 and moves with the drill rod 5. The drill bit 8 is used to drill a hole downwards from a surface (e.g., the ground, hereinafter referred to as the drilling surface), for example... Figure 1 The diagram schematically illustrates a section of hole 9. Hole 9 has a central axis (hereinafter referred to as the hole central axis) 90. The position and orientation of the hole central axis 90 are predetermined, typically perpendicular to the borehole surface, or inclined at a predetermined angle relative to the borehole surface. The position of the upper end of hole 9 is characterized by its center point (hereinafter referred to as the borehole center point) 95. It should be noted that if a casing is provided in hole 9, and the upper edge of the casing is higher than or equal to the borehole surface, then the borehole center point 95 here refers to the center point of the upper edge of the casing. If no casing is provided, or the upper edge of the casing is lower than the borehole surface, then the borehole center point 95 here refers to the center point of hole 9.

[0061] The drill bit 8 has a central axis (hereinafter referred to as the drill bit central axis) 80, which coincides with the central axis of the drill rod 5. The drill bit 8 can rotate with the drill rod 5 when the power head 7 drives the drill rod 5 to rotate, and can rise and fall with the drill rod 5 when the wire rope 6 is released or rewound to raise or lower the drill rod 5.

[0062] When drilling holes of a certain depth, the drilling rig cannot complete the task in a single operation, but usually through repeated cyclical actions. Each cycle typically includes lowering the drill bit, drilling forward, retracting the drill bit, and unloading soil. Furthermore, casing (not shown, such as a follow-up casing) may be placed in the drilled hole to support the soil around the hole.

[0063] After a set of cyclic actions is completed (i.e., after the drill bit has thrown off the soil), the drill bit 8 needs to be precisely reinserted into the hole 9 (drilling down), that is, the drill bit's central axis 80 should be aligned with the hole's central axis 90 as much as possible. For this, the orientation of the drill bit 8 needs to be precisely determined. The position of the drill bit 8 is usually represented by its height, and the orientation of the drill bit 8 can be represented by a vector r (direction pointing towards or away from the drill bit 8) that coincides with the drill bit's central axis 80.

[0064] At least for the purpose of accurately determining the position of the drill bit 8, this application provides a state detection scheme for a drilling rig, which includes an image acquisition device 10 mounted on the upper carriage 2, particularly positioned above the upper carriage 2. The image acquisition device 10 can be fixed relative to the upper carriage 2, and thus rotates with the upper carriage 2 relative to the lower carriage 1. Furthermore, the image acquisition device 10 is capable of acquiring image information of the objects it faces. In this application, the field of view of the image acquisition device 10 needs to be set to at least cover the working components of the drilling rig closely related to the position of the hole 9, especially the drill bit 8 and the power head 7, and should also at least cover the lower part of the mast 3. In addition, the field of view of the image acquisition device 10 must also cover the hole 9.

[0065] To ensure the image acquisition device 10 has a sufficient field of view, or to minimize image distortion, two or more image acquisition devices (such as cameras) can be used, or a single image acquisition device (such as a camera) with a wide field of view can be used. Alternatively, the image acquisition device 10 can be mounted on the upper vehicle 2 in a manner capable of performing controlled actions. These controlled actions could include movement along the lateral and / or longitudinal and / or vertical directions of the drilling rig, and / or rotation around the lateral and / or vertical directions, etc.

[0066] In the state detection scheme of this application, the image acquisition device 10 can be of the following types (not limited to): monocular camera, binocular camera, RGB-D camera, millisecond wave radar, lidar (LiDAR), etc.

[0067] In the state detection scheme of this application, the information collected by the newly added image acquisition device 10 is used to determine the position and orientation information of the drill bit of the drilling rig, and may also determine the drilling environment information (especially the environment information around the hole).

[0068] In the state detection scheme of this application, in addition to using the information acquired by the newly added image acquisition device 10 on the drilling rig, information from the existing sensors of the drilling rig can also be used in combination. The information sources that can be used in the state detection scheme of this application may include (but are not limited to):

[0069] (1) Monocular camera;

[0070] (2) Monocular camera + (speed sensor of main hoist motor and / or speed sensor of upper slewing motor).

[0071] (3) Binocular camera;

[0072] (4) Binocular camera + (the speed sensor of the main hoist motor and / or the speed sensor of the upper slewing motor).

[0073] (5) RGB-D camera;

[0074] (6) RGB-D camera + (speed sensor of main hoist motor and / or speed sensor of upper slewing motor).

[0075] (7) Millisecond wave radar;

[0076] (8) Millisecond wave radar + monocular camera;

[0077] (9) Millisecond wave radar + (speed sensor of main hoist motor and / or speed sensor of upper slewing motor).

[0078] (10) LiDAR;

[0079] (11) LiDAR + (the speed sensor of the main winch motor and / or the speed sensor of the upper slewing motor).

[0080] (12) Monocular camera + millisecond wave radar + (speed sensor of main hoist motor and / or speed sensor of upper slewing motor).

[0081] (13) Combinations of different types of image acquisition devices, etc.

[0082] Furthermore, based on the principles of this application, those skilled in the art can also design a combination of other newly added image acquisition devices 10 and the original sensors of the drilling rig as the information source in the status detection scheme of this application.

[0083] The pose of drill bit 8 will be expressed in a relatively fixed coordinate system relative to the drilling rig. Several coordinate systems set up for implementing the scheme of this application are discussed below.

[0084] First, select a vehicle coordinate system O-XYZ on vehicle 1. The vehicle coordinate system is a Cartesian coordinate system. For example... Figure 1 As shown, the origin O of the coordinate system is selected on the rotation center axis of the upper vehicle 2, for example, in the plane (hereinafter referred to as the boundary plane) at the boundary between the upper vehicle 2 and the lower vehicle 1 and perpendicular to the rotation center axis of the upper vehicle 2. That is, the intersection of the rotation center axis of the upper vehicle 2 and this boundary plane is the origin O of the vehicle coordinate system. Of course, the origin of the vehicle coordinate system can also be selected at other positions on the rotation center axis of the upper vehicle 2.

[0085] The X-axis of the vehicle coordinate system coincides with the rotation center axis of the upper vehicle 2, which can be used as follows: Figure 1 The direction shown points upwards, but it can also point downwards. The Z-axis of the vehicle coordinate system is along the longitudinal direction of the drilling rig, and can be as follows: Figure 1 The direction shown points directly in front of vehicle 1, but it can also point directly behind vehicle 1. The Y-axis of the vehicle coordinate system is at... Figure 1 Although not shown in the diagram, it can be understood that the Y-axis is along the transverse direction of the drilling rig, and its direction can follow the right-hand rule of the Cartesian coordinate system. Of course, the axes of the overall vehicle coordinate system can be chosen to be in other directions, and the origin can be chosen to be in other positions.

[0086] Next, see Figure 2 Establish a coordinate system for vehicle 2, hereinafter referred to as the vehicle coordinate system. The vehicle coordinate system is a Cartesian coordinate system, with its origin at the same point O as the origin of the overall vehicle coordinate system. The vehicle coordinate system is defined by the x-axis. u Y u Z u Indicates. X u The Z axis coincides with the X-axis of the vehicle coordinate system. u The shaft, along the longitudinal direction of the upper carriage 2, can be as follows: Figure 2 The direction indicated is directly in front of vehicle 2, but it can also point directly behind vehicle 2. The Y-axis of the vehicle coordinate system... u Axis in Figure 2 Y is not shown, but can be understood. u The axis is transverse to the upper vehicle 2, and its direction can follow the right-hand rule of the Cartesian coordinate system. The upper vehicle coordinate system only undergoes rotational motion about the rotation center axis relative to the overall vehicle coordinate system. Let the rotation angle of the upper vehicle coordinate system relative to the overall vehicle coordinate system about the upper vehicle rotation center axis be α. u Of course, the axes of the onboard coordinate system can be chosen to be in other directions, and the origin can be chosen to be in other positions.

[0087] Next, see Figure 3Establish a hole-aligned coordinate system, which is a Cartesian coordinate system. The origin of the hole-aligned coordinate system is the same as the origin O of the vehicle coordinate system. The hole-aligned coordinate system is based on the OX coordinate system. h Y h Z h Indicates. X h The Z axis coincides with the X-axis of the vehicle coordinate system. h The perpendicular line drawn from the origin O to the central axis 90 of the hole can point from the origin O to the central axis 90 of the hole, or vice versa. This relates to the Y-axis of the hole coordinate system. h Axis in Figure 3 Not shown in the figure, but can be obtained from X h Axis and Z h Once the axes are determined, their directions can follow the right-hand rule of the Cartesian coordinate system. Of course, the axes of the hole coordinate system can be chosen to be other directions, and the origin can be chosen to be other positions.

[0088] The upper car coordinate system, relative to the hole-aligning coordinate system, only undergoes rotational motion around the rotation center axis. Let the rotation angle of the upper car coordinate system relative to the hole-aligning coordinate system around the upper car rotation center axis be α. h .

[0089] The only rotational motion between the hole coordinate system and the vehicle coordinate system exists around the upper vehicle rotation center axis. The rotation angle of the hole coordinate system relative to the vehicle coordinate system around the upper vehicle rotation center axis can be expressed by the aforementioned rotation angle α. u and α h Calculated.

[0090] Next, assuming that the image acquisition device 10 is a monocular camera, such as Figure 4 As shown, establish the camera coordinate system. The camera coordinate system is based on O. c -X c Y c Z c Indicates the origin O of the camera coordinate system. c Z is the optical center of the camera. c Along the optical axis of the camera, X c axis and Y c The axes are parallel to the u-axis and v-axis of the camera's image pixel coordinate system (not shown), respectively.

[0091] It should be noted that if other forms of image acquisition devices 10 are used, the camera coordinate system mentioned in this application can be replaced by the corresponding image acquisition device coordinate system.

[0092] According to conventional algorithms in the field of computer image processing, the transformation relationship between the camera's image pixel coordinate system and the vehicle coordinate system (usually represented by a combination of intrinsic and extrinsic parameter matrices) is determined. The intrinsic parameter matrix represents the transformation relationship between the camera's image pixel coordinate system and the camera coordinate system, while the extrinsic parameter matrix represents the transformation relationship between the camera coordinate system and the vehicle coordinate system. Furthermore, distortion correction of the camera image can also be achieved using conventional algorithms in computer image processing (such as those utilizing distortion matrices).

[0093] Furthermore, according to conventional algorithms in the fields of spatial kinematics or spatial mechanism science, the transformation relationships between various coordinate systems, such as the transformation relationship between the camera coordinate system and the vehicle coordinate system, the vehicle coordinate system and the overall vehicle coordinate system, the hole-mounted coordinate system and the overall vehicle coordinate system, and the hole-mounted coordinate system and the vehicle coordinate system, all have clear expressions, usually in the form of transformation matrices. It should be noted that regardless of whether the camera is fixedly mounted or movable on vehicle 2, since the camera's pose relative to vehicle 2 during imaging is determined, the transformation relationship between the camera coordinate system and the vehicle coordinate system is also determined. For other types of image acquisition devices, the transformation relationship between the image acquisition device coordinate system and the vehicle coordinate system is also determined.

[0094] To process the images captured by the camera, key points are defined on the working part that the camera needs to capture and on the hole 9 (or protective casing). These key points will be used in image processing. The key points on the working part can be determined through deep learning and should be selected as points that are easy to identify and can characterize the geometric features of the part, usually points on the surface of the part.

[0095] For mast 3, considering the field of view of the camera or other image acquisition devices, it may be necessary to capture only the image of its lower part. Therefore, as Figure 5 The diagram illustrates key mast points 31, 32, 33, and 34, exemplified by selected protruding sections at the lower part of mast 3. Of course, other prominent points on the lower part of mast 3 can also be selected as key mast points.

[0096] For the power head 7, such as Figure 6 The diagram illustrates that key points selected on the power head 7 may include key points 71 and 73 near the drill pipe 5, key points 72 and 74 near the mast 3, and two radially opposite key points 75 and 76 on the outer periphery of the drive unit used to drive the drill pipe 5. The center point 77 of the drive unit (falling on the central axis of the drill pipe 5) is located between key points 75 and 76. Of course, other prominent points on the power head 7 can also be selected as key points. Furthermore, a point on the centerline of the hole pierced by the drill pipe 5 in the power head 7 can be selected as a reference point, for example... Figure 6Reference point 78 is shown. Reference point 78 is located on the central axis of drill pipe 5, selected at any suitable location, and the geometric positional relationship between reference point 78 and other key points on the power head 7 is known. The foot of reference point 78 in a reference plane that includes the borehole center point 95 and is perpendicular to the drill bit central axis 80 is the mapping point 88 (shown in...). Figure 1 This refers to the mapping point of the drill bit center axis 80 in the reference plane. The reference plane may or may not coincide with the drilling plane.

[0097] For drill bit 8, such as Figure 7 The diagram illustrates that the key points selected on drill bit 8 may include two radially opposite key points 81 and 82 on the outer periphery of the upper edge of drill bit 8 body, and two radially opposite key points 83 and 84 on the outer periphery of the lower edge of drill bit 8 body. The upper center point 85 of drill bit 8 body is located between key points 81 and 82, and the lower center point 86 of drill bit 8 body is located between key points 83 and 84. Both center points 85 and 86 fall on the central axis 80 of drill bit 8 (coinciding with the central axis of drill rod 5). Feature point 87 on the actuating element (pressure rod) of the base plate used to open and close drill bit 8 can also be selected to determine the opening and closing of the base plate of drill bit 8. Of course, other obvious points on drill bit 8 can also be selected as key points.

[0098] For hole 9, such as Figure 8 The diagram illustrates four evenly distributed key points 91, 92, 93, and 94 on the upper edge of the borehole. The center point 95 of the borehole is located between key points 91 and 92, and also between key points 93 and 94. It can be understood that if a casing is installed in the borehole 9, and the upper edge of the casing is equal to or higher than the borehole surface, then key points 91 and 92, and 93 and 94 refer to key points on the upper edge of the casing. If no casing is installed, or the upper edge of the casing is lower than the borehole surface, then key points 91 and 92, and 93 and 94 refer to key points in the borehole 9 itself.

[0099] The following describes an exemplary state detection method based on a monocular camera according to this application.

[0100] First, the camera captures images within its field of view, which include at least the power head 7, drill bit 8, hole 9, and the lower part of mast 3.

[0101] Next, distortion correction is performed on the image. This can be achieved using existing methods, such as the Zhang Zhengyou calibration method, etc.

[0102] Next, using existing image recognition (e.g., image segmentation, especially instance segmentation) and key point detection techniques, the images of mast 3, power head 7, drill bit 8, and hole 9 (or casing) are obtained from the corrected image (e.g., using masking techniques), and the key points in the images and their pixel coordinates in the image pixel coordinate system are determined.

[0103] Next, the pixel coordinates of the center point 77 are calculated using the pixel coordinates of key points 75 and 76, the pixel coordinates of the center point 85 are calculated using the pixel coordinates of key points 81 and 82, and the pixel coordinates of the center point 86 are calculated using the pixel coordinates of key points 83 and 84.

[0104] Next, using the transformation relationship between the image pixel coordinate system and the camera coordinate system (intrinsic parameter matrix), the transformation relationship between the camera coordinate system and the vehicle coordinate system (extrinsic parameter matrix), and the geometric constraints of key points 31, 32, 33, 34 on mast 3, key points 71, 72, 73, 74 on power head 7, key points 81, 82, 83, 84 on drill bit 8, and key points 91, 92, 93, 94 on hole 9 (or casing) in the vehicle coordinate system, the vehicle coordinates of these key points and center points in the vehicle coordinate system are obtained, especially the vehicle coordinates of points 77, 85, 86, 87, and 95. Furthermore, since the reference point 78 on power head 7 has a known geometric relationship with key points 71, 72, 73, and 74, the vehicle coordinates of reference point 78 can be accurately calculated from the vehicle coordinates of key points 71, 72, 73, and 74.

[0105] As those skilled in the art will understand, for any one of the following graphics: mast 3, power head 7, drill bit 8, and hole 9 (or casing), using the pixel coordinates of four key points and the geometric constraints between them (distance, angle between lines, etc.), 12 equations can be derived, containing 12 variables. Solving these 12 equations yields the values ​​of the 12 variables, namely the onboard coordinates of the four key points in the onboard coordinate system (the value of each point on the three coordinate axes of the onboard coordinate system). If more than four key points are used, the number of equations will exceed the number of variables to be solved. In this case, optimization algorithms such as the least squares method can be used to determine the onboard coordinates of each key point, making the determined onboard coordinate values ​​more accurate.

[0106] If there are specific true geometric relationships between key points in a graphic, such as certain points in a certain direction (e.g., in the X coordinate system) u Y u or Z uIf the coordinates (in the same direction) are the same, then the number of variables that need to be solved may be reduced. For example, when the number of variables that need to be solved is reduced to 9, only the pixel coordinates of three key points with specific geometric relationships and the geometric constraints between them (distance, angle between lines, etc.) are needed to list 9 equations, which contain 9 variables. Solving these 9 equations will give the values ​​of 9 variables, that is, the on-vehicle coordinates of the three key points in the on-vehicle coordinate system (the value of each point on the three coordinate axes of the on-vehicle coordinate system). In this case, four or even more key points can still be used, and the number of equations will be more than the number of variables to be solved. In this case, optimization algorithms such as least squares can also be used to determine the on-vehicle coordinates of each key point, so that the determined on-vehicle coordinate values ​​are more accurate. In addition, regarding the selection of key points, it is desirable for the key points to form geometric constraints, such as the connecting lines forming specific angles (e.g., right angles), etc.

[0107] If the upper edge of the hole 9 (or the casing) is flat, the position of the hole center point 95 can be calculated by selecting three key points on its upper edge. However, using four or more key points on the upper edge of the hole 9 (or the casing) can improve the accuracy of the calculated hole center point 95.

[0108] By using the coordinates of key points on mast 3, power head 7, and drill bit 8, and combining these coordinates with the geometric constraints formed by the mechanical structure between these key points and drill rod 5, the position of drill rod 5 in the upper coordinate system (which can be represented by a part of drill rod 5, such as the position where the bottom of drill rod 5 connects to drill bit 8) and the direction of drill bit central axis 80 (represented by vector r) can be easily determined. For example, the position of drill rod 5 (especially its height) can be determined by the difference between the coordinates of key points on drill bit 8 and key points on mast 3. The direction of drill bit central axis 80 can be determined by the values ​​of the coordinates of each center point 77, 85, 86, or any two of these center points.

[0109] Similarly, the coordinates of the center point 77 of the drive section of the power head 7, the center points 85 and 86 on the body of the drill bit 8, the feature point 87, and the center point 95 of the borehole in the upper carriage coordinate system can also be easily calculated, wherein the center points 77, 85, and 86 are located on the central axis 80 of the drill bit.

[0110] The coordinates of the vehicle on the reference point 78 on the power head 7 can be calculated using the center point 95 of the orifice and the reference point 78 on the power head 7. Furthermore, the geometric relationship between the reference point 78, its mapping point 88 in the reference plane, and the center point 95 of the orifice (e.g., the line connecting the mapping point 88 and the reference point 78 points in the same direction as the vector r, and the line connecting the mapping point 88 and the reference point 78 is perpendicular to the line connecting the mapping point 88 and the center point 95 of the orifice) can be used to calculate the coordinates of the mapping point 88.

[0111] Based on the coordinates of the orifice center point 95 in the upper carriage coordinate system and the coordinates of the orifice center point 95 in the lower carriage coordinate system, the rotation angle α of the upper carriage coordinate system relative to the lower carriage coordinate system about the rotation center axis of the upper carriage can be determined. h This determines the transformation relationship between the upper vehicle coordinate system and the hole coordinate system, which is usually a transformation matrix.

[0112] By utilizing the transformation relationship between the upper coordinate system and the hole-aligning coordinate system, the coordinate values ​​of the aforementioned key points, center points, mapping point 88, vector r, etc., in the hole-aligning coordinate system can be calculated, especially the hole-aligning coordinates of points 77, 85, 86, 87, 95, and 88. This determines the pose information of each relevant working component, especially the drill bit 8, in the hole-aligning coordinate system. The pose information of the drill bit 8 can be characterized by the direction of the drill bit's central axis 80 and the coordinate values ​​of certain important points on the drill bit 8 (such as one or both of the center points 85 and 86, point 87, etc.). The position of the hole 9 is characterized by the coordinate values ​​of the hole's center point 95.

[0113] The positional information of each working component, especially the drill bit 8, in the hole-setting coordinate system helps to achieve precise positioning of the drill bit 8 relative to the hole 9, and also helps to realize certain auxiliary functions of the drilling rig, especially automatic functions. In addition, the positional information of the feature point 87 on the drill bit 8 (representing the actuating element for the base plate) (whether in the hole-setting coordinate system or the upper frame coordinate system) can be used in the control logic for automatically controlling the opening of the base plate of the drill bit 8 and to assist in determining whether the base plate of the drill bit 8 is open.

[0114] Since the transformation relationship between the camera coordinate system and the vehicle coordinate system is known, the transformation relationship between the camera coordinate system and the hole-aligning coordinate system can be determined by combining the transformation relationship between the vehicle coordinate system and the hole-aligning coordinate system as described above, thereby determining the pose of the camera in the hole-aligning coordinate system.

[0115] It is understandable that, based on the fundamental principles of spatial kinematics and spatial mechanism, given the coordinates of some points on an object, determining the coordinates of other points or the direction of a certain line is merely a computational problem. Furthermore, the transformation between different coordinate systems for a given point or the direction of a certain line is also simply a computational issue. Therefore, this will not be discussed in detail here.

[0116] Since the transformation calculations between different coordinate systems are easy to implement, although the previous description showed that each working part and hole 9 (or casing) was expressed in the hole coordinate system, it is also easy to express this information in the vehicle coordinate system or even the upper vehicle coordinate system through coordinate system transformations. Alternatively, other suitable coordinate systems can be selected as the expression coordinate systems to express the position information of the parts of interest.

[0117] In general, the state detection scheme of this application can determine the pose information of the working parts of interest in the representation coordinate system based on the signals collected by the image acquisition device. In particular, as mentioned above, the pose of the drill bit 8 (including the position of feature point 87 on the actuator of the base plate) and the position of the hole 9 (or casing) are determined based on the information of each key point. Furthermore, the pose information of the mast 3 can be determined based on the key points 31, 32, 33, 34 or other key points, and the pose information of the power head 7 can be determined based on the key points 71, 72, 73, 74 or other key points on the power head 7. This information can be used for various drilling rig functions, including drilling accuracy control, automatic control functions, etc.

[0118] In the monocular camera-based state detection scheme, further, based on the distortion-corrected image, existing computer vision algorithms, such as the SLAM algorithm, can be used to obtain the camera's pose in the upper-vehicle coordinate system and construct a dense map of the drilling rig environment, especially the dense map of the environment around hole 9. By utilizing the transformation relationship between the camera coordinate system and the upper-vehicle coordinate system, and the upper-vehicle coordinate values ​​of each key point and center point of hole 9, the camera's pose in the hole-pairing coordinate system can be obtained (which can be used to verify or correct the previously determined camera pose in the hole-pairing coordinate system), and a dense map of the environment around hole 9 in the hole-pairing coordinate system can be constructed, such as... Figure 9 The diagram is schematic. Figure 9 In the diagram, the soil mound 11 formed by the drill bit 8 ejecting soil outside the borehole 9 is schematically represented in the coordinate system of the upper vehicle. Points 12, 13, 14... marked on the upper outline of the soil mound 11 correspond to the locations of each soil ejection by the drill bit 8. Figure 10 In the reference plane, the path (represented by an arc) through which the drill bit 8 ejects soil from the hole 9 is drawn, with each soil ejection point 12, 13, 14... located on this path. (The text then abruptly shifts to a different topic:) Figure 9 and / or Figure 10 This allows us to plan the location for the next soil dumping operation.

[0119] It should be noted that the rotation angle α of the upper car coordinate system relative to the hole-aligning coordinate system about the upper car rotation center axis... h Besides the method described above using the coordinates of the upper car at the orifice center point 95, it can also be obtained using the speed sensor of the upper car's rotary motor. The speed sensor of the upper car's rotary motor is marked with its zero position at the orifice center point 95. The upper car 2 rotates one angle α... h Then, the turning angle α h It can be obtained by integrating the speed measured by the speed sensor of the upper slewing motor, or by calculating the cumulative number of teeth in the upper slewing motor. Alternatively, the rotation angle α... h It can also be measured directly using the angle encoder equipped on vehicle 2. Angle αh The value can be calculated using the coordinates of the upper vehicle based on the center point 95° of the orifice, or obtained using the speed sensor of the upper vehicle's rotary motor, or directly measured by an angle encoder. Angle α h The values ​​can be cross-validated to improve accuracy and reliability.

[0120] It should also be noted that in the state detection scheme based on a monocular camera, if the signal from the speed sensor of the main winch motor is used, it can be used to verify or correct the calculated positions of drill rod 5 and drill bit 8.

[0121] It should also be noted that, if necessary, the rotation angle α of the upper vehicle coordinate system relative to the overall vehicle coordinate system around the upper vehicle rotation center axis. u It can also be determined. For example, by using the coordinates of key points on certain parts of the alighting vehicle 1 acquired by the image acquisition device 10 in the coordinate system of the alighting vehicle, the rotation angle α can be calculated. u Alternatively, the rotation angle α can be obtained by using the speed sensor of the upper slewing motor or the angle encoder equipped for upper 2. u If we want to use a speed sensor to obtain α u Because the zero point of the speed sensor is manually set to be the zero point of the hole coordinate system, and the zero point of the hole coordinate system is not necessarily the zero point of the vehicle coordinate system, there may be an angle α between the two zero points that needs to be measured in advance. offset , then α u =α offset +α h .

[0122] At the turning angle α u Once determined, the transformation relationship (usually a transformation matrix) between the upper vehicle coordinate system and the overall vehicle coordinate system can be established. Next, the coordinates of mast 3, power head 7, drill bit 8, borehole 9 (or casing), and related points in the upper vehicle coordinate system can be converted to their coordinates in the overall vehicle coordinate system. In other words, the poses of drill bit 8 and borehole 9 (or casing) can be constructed in the overall vehicle coordinate system. Similarly, a dense map of the drilling rig environment can also be constructed in the overall vehicle coordinate system.

[0123] It should also be noted that the coordinates of the points described above are determined in their respective coordinate systems. However, for different drilling rig functions, some of these points may be omitted, and other points may need to be added.

[0124] The following describes an exemplary state detection (monitoring) method based on a binocular camera or an RGB-D camera.

[0125] First, the camera (a binocular camera or an RGB-D camera) captures images within its field of view.

[0126] Next, distortion correction will be performed on the image.

[0127] Next, using existing image recognition (e.g., image segmentation, especially instance segmentation) and key point detection techniques, the images of mast 3, drill rod 5, power head 7, drill bit 8, hole 9 or casing, and ground are obtained from the corrected image (e.g. using masking techniques), and the key points in the images and their pixel coordinates in the image pixel coordinate system are determined.

[0128] Next, using the pixel coordinates of some key points and the camera depth of field, and through existing 3D reconstruction technology, the vehicle coordinates of mast 3, drill rod 5, power head 7, drill bit 8, hole 9 or casing, ground, and each key point on them are obtained.

[0129] Next, by using the coordinates of the key points on the hole 9 or the casing, the coordinates of the center point 95 of the hole are estimated.

[0130] Next, the direction and positioning point of the drill pipe center axis in the upper coordinate system are estimated using one of the following two methods:

[0131] (a) Using the upper coordinates of the edge profile of drill pipe 5;

[0132] (b) Utilize the on-board coordinates of key points on the power head 8 and the mechanical (geometric) constraint relationship between the key points and the drill pipe center axis.

[0133] Next, the coordinates of the vehicle's entry points 77, 85, and 86 are obtained using one of the following two methods:

[0134] (a) Using the boarding coordinates of key points 75, 76, 81, 82, 83, and 84;

[0135] (b) Using the coordinates of a third point on the circle where each of the three sets of points (75 and 76), (81 and 82), and (83 and 84) is located, and the mechanical (geometric) constraint relationship between the third point and the drill pipe central axis.

[0136] Next, the coordinates of the upper vehicle at the mapping point 88 of the drill bit center axis 80 in the reference plane are calculated.

[0137] Based on the coordinates of the orifice center point 95 in the upper carriage coordinate system and the coordinates of the orifice center point 95 in the lower carriage coordinate system, the rotation angle α of the upper carriage coordinate system relative to the lower carriage coordinate system about the rotation center axis of the upper carriage can be determined. h This determines the transformation relationship between the upper vehicle coordinate system and the hole coordinate system, which is usually a transformation matrix.

[0138] By utilizing the transformation relationship between the upper coordinate system and the hole coordinate system, the coordinate values ​​of each key point, center point, mapping point 88, vector r, etc. in the hole coordinate system can be calculated, especially the hole coordinates of points 77, 85, 86, 87, 95, and 88, which determines the position and pose information of each relevant working component, especially the drill bit 8, in the hole coordinate system.

[0139] Furthermore, based on the distortion-corrected image, existing computer vision algorithms, such as the Slam algorithm, can be used to obtain the camera's pose in the upper coordinate system and construct a dense map of the drilling rig environment. Moreover, by using the transformation relationship between the upper coordinate system and the hole coordinate system, the camera's pose in the hole coordinate system can be obtained and a dense map of the environment around hole 9 in the hole coordinate system can be constructed.

[0140] Descriptions of aspects in the state detection scheme based on binocular or RGB-D cameras that are identical or similar to those in the exemplary process for the state detection scheme based on a monocular camera are omitted.

[0141] The state detection scheme based on millisecond-wave radar is similar to the state detection scheme based on monocular camera, and will not be described again here.

[0142] The following describes an exemplary state detection (monitoring) method based on a monocular camera combined with millisecond-wave radar.

[0143] First, the camera captures images of its field of view, and the millisecond-wave radar collects data.

[0144] Next, distortion correction will be performed on the image.

[0145] Next, using existing image recognition (e.g., image segmentation, especially instance segmentation) and key point detection techniques, the images of mast 3, drill rod 5, power head 7, drill bit 8, hole 9 or casing, and ground are obtained from the corrected image (e.g. using masking techniques), and the key points in the images and their pixel coordinates in the image pixel coordinate system are determined.

[0146] Next, using the pixel coordinates of some key points and the depth of field obtained by millisecond-wave radar, the vehicle coordinates of mast 3, drill rod 5, power head 7, drill bit 8, hole 9 or casing, ground and each key point on them are obtained through existing 3D reconstruction technology.

[0147] Next, by using the coordinates of the key points on the hole 9 or the casing, the coordinates of the center point 95 of the hole are estimated.

[0148] Next, the direction and positioning point of the drill pipe center axis in the upper coordinate system are estimated using one of the following two methods:

[0149] (a) Using the upper coordinates of the edge profile of drill pipe 5;

[0150] (b) Utilize the on-board coordinates of key points on the power head 8 and the mechanical (geometric) constraint relationship between the key points and the drill pipe center axis.

[0151] Next, the coordinates of the vehicle's entry points 77, 85, and 86 are obtained using one of the following two methods:

[0152] (a) Using the boarding coordinates of key points 75, 76, 81, 82, 83, and 84;

[0153] (b) Using the coordinates of a third point on the circle where each of the three sets of points (75 and 76), (81 and 82), and (83 and 84) is located, and the mechanical (geometric) constraint relationship between the third point and the drill pipe central axis.

[0154] Next, the coordinates of the upper vehicle at the mapping point 88 of the drill bit center axis 80 in the reference plane are calculated.

[0155] Based on the coordinates of the orifice center point 95 in the upper carriage coordinate system and the coordinates of the orifice center point 95 in the lower carriage coordinate system, the rotation angle α of the upper carriage coordinate system relative to the lower carriage coordinate system about the rotation center axis of the upper carriage can be determined. h This determines the transformation relationship between the upper vehicle coordinate system and the hole coordinate system, which is usually a transformation matrix.

[0156] By utilizing the transformation relationship between the upper coordinate system and the hole coordinate system, the coordinate values ​​of each key point, center point, mapping point 88, vector r, etc. in the hole coordinate system can be calculated, especially the hole coordinates of points 77, 85, 86, 87, 95, and 88, which determines the position and pose information of each relevant working component, especially the drill bit 8, in the hole coordinate system.

[0157] Furthermore, based on the distortion-corrected image, existing computer vision algorithms, such as the binocular SLAM algorithm, can be used to obtain the camera's pose in the upper coordinate system and construct a dense map of the drilling rig environment. Moreover, by using the transformation relationship between the upper coordinate system and the hole coordinate system, the camera's pose in the hole coordinate system can be obtained and a dense map of the environment around hole 9 in the hole coordinate system can be constructed.

[0158] Descriptions of aspects in the state detection scheme based on a monocular camera combined with millisecond-wave radar that are identical or similar to those in the exemplary process for the state detection scheme based on a monocular camera have been omitted.

[0159] The following describes an exemplary state detection (monitoring) method based on lidar. It should be noted that lidar can obtain a 3D point cloud independently.

[0160] First, a three-dimensional point cloud is obtained using lidar.

[0161] Next, existing technologies are used to identify the 3D point cloud (e.g., instance segmentation) and detect key points to obtain the onboard coordinates of mast 3, drill rod 5, power head 7, drill bit 8, hole 9 or casing, and each key point in the onboard coordinate system.

[0162] Next, by using the coordinates of the key points on the hole 9 or the casing, the coordinates of the center point 95 of the hole are estimated.

[0163] Next, the direction and positioning point of the drill pipe center axis in the upper coordinate system are estimated using one of the following two methods:

[0164] (a) Using the upper coordinates of the edge profile of drill pipe 5;

[0165] (b) Utilize the on-board coordinates of key points on the power head 8 and the mechanical (geometric) constraint relationship between the key points and the drill pipe center axis.

[0166] Next, the coordinates of the vehicle's entry points 77, 85, and 86 are obtained using one of the following two methods:

[0167] (a) Using the boarding coordinates of key points 75, 76, 81, 82, 83, and 84;

[0168] (b) Using the coordinates of a third point on the circle where each of the three sets of points (75 and 76), (81 and 82), and (83 and 84) is located, and the mechanical (geometric) constraint relationship between the third point and the drill pipe central axis.

[0169] Next, the coordinates of the upper vehicle at the mapping point 88 of the drill bit center axis 80 in the reference plane are calculated.

[0170] Based on the coordinates of the orifice center point 95 in the upper carriage coordinate system and the coordinates of the orifice center point 95 in the lower carriage coordinate system, the rotation angle α of the upper carriage coordinate system relative to the lower carriage coordinate system about the rotation center axis of the upper carriage can be determined. h This determines the transformation relationship between the upper vehicle coordinate system and the hole coordinate system, which is usually a transformation matrix.

[0171] By utilizing the transformation relationship between the upper coordinate system and the hole coordinate system, the coordinate values ​​of each key point, center point, mapping point 88, vector r, etc. in the hole coordinate system can be calculated, especially the hole coordinates of points 77, 85, 86, 87, 95, and 88, which determines the position and pose information of each relevant working component, especially the drill bit 8, in the hole coordinate system.

[0172] Furthermore, based on 3D point clouds, using existing computer vision algorithms, such as the laser SLAM algorithm, the pose of the camera in the upper coordinate system can be obtained and a dense map of the drilling rig environment can be constructed. Moreover, by using the transformation relationship between the upper coordinate system and the hole coordinate system, the pose of the camera in the hole coordinate system can be obtained and a dense map of the environment around hole 9 in the hole coordinate system can be constructed.

[0173] Descriptions of aspects in the lidar-based state detection scheme that are identical or similar to those in the exemplary process for the monocular camera-based state detection scheme described earlier are omitted.

[0174] It should be noted that although the above-described example mainly uses key points on drill bit 8 and power head 7 and mast 3, which are representative of drill bit associated components, to determine the posture of drill bit 8, the posture of drill bit 8 can also be determined using key points on drill bit 8 and other drill bit associated components (such as drill rod 5).

[0175] The drilling rig status detection (or monitoring) method of this application, using an image acquisition device and an adapted algorithm, determines in real time the pose of the drill bit 8 (especially the center point position and the central axis direction). This pose can be used in various control programs of the drilling rig (such as trajectory planning, real-time motion control, etc.). In particular, by comparing it with the center point position of the borehole opening and the central axis direction of the borehole, the drilling rig can ensure that when drilling resumes, the center point of the drill bit coincides with the center point of the borehole opening, and the central axis direction of the drill bit is the same as the central axis direction of the borehole (or in other words, the central axis of the drill bit coincides with the central axis of the borehole). This allows for the precise execution of each drilling cycle. The poses of other components of the drilling rig, determined in real time by this application, can also be determined using a similar method and used in various control programs of the drilling rig, such as trajectory control.

[0176] Those skilled in the art can make various adaptive modifications to the details and steps (including the specific content and execution order of the steps) in the exemplary process of the state detection method described above, according to specific application scenarios.

[0177] In summary, the drilling rig involved in this application includes a control unit (not shown), which receives commands from the command input element and the image acquisition device 10, as well as feedback signals from various actuators, control valves, and sensors, and controls the operation of the main pump of the drilling rig's hydraulic system, as well as the actions of each actuator and control valve. The state detection method described above can be incorporated into this control unit. The control unit executes the state detection process described above based on the signals acquired by the image acquisition device 10.

[0178] It should be noted that, due to the Z-axis of the hole coordinate system... hSince the axis intersects the borehole center axis 90, representing the pose and environment of the drill bit 8, borehole 9 (or casing), and other components in the borehole coordinate system might be more intuitive. However, as mentioned earlier, the dense map of the pose and environment of the drill bit 8, borehole 9 (or casing), and other components can also be constructed in the vehicle coordinate system or even the upper vehicle coordinate system, which might be more convenient for implementing certain drilling rig functions. Therefore, the borehole coordinate system, the vehicle coordinate system, or even the upper vehicle coordinate system can be selected as the coordinate system for expressing the above information, depending on specific needs.

[0179] It should also be noted that although the previous example used the coordinates of some key points in the vehicle coordinate system to determine the pose of drill bit 8 and hole 9 (casing), the pose of drill bit 8 and hole 9 (casing) can also be determined in other coordinate systems (such as the image acquisition device coordinate system, the vehicle coordinate system, and the hole alignment coordinate system) using the coordinates of some key points.

[0180] This application also provides a machine-readable (computer-readable) storage medium storing executable instructions that, when executed by a processor, implement the state detection method described above.

[0181] This application also provides a drilling rig, particularly a rotary drilling rig, which includes the condition detection scheme and related structures described above.

[0182] According to the state detection scheme of this application, an image acquisition device capable of directly sensing the drill bit and hole information is added to the drilling rig, and the position and pose information of the drill bit in the expressed coordinate system are determined in real time based on the information acquired by the image acquisition device. The drill bit position and pose determined in this way has high accuracy and can eliminate cumulative errors, thereby improving drilling accuracy. Furthermore, it is also possible to determine the environmental information around the hole opening, such as soil accumulation information, based on the acquired information. The drill bit position and pose information (and possibly environmental information) determined by the image acquisition device in this application can also be used in other auxiliary control schemes of the drilling rig (such as automatic trajectory control), which helps to improve drilling accuracy and efficiency, and also helps to reduce the workload of the operator. Furthermore, according to the state detection scheme of this application, the position and pose of the mast and power head in the expressed coordinate system can also be determined in real time based on the acquired information of key points. The position and pose of these two components are also important for the automatic control of the entire vehicle. Similarly, the position information of the actuating element (pressure rod) of the drill bit base plate can also be determined and can be used in the automatic control of the entire vehicle.

[0183] While this application has been described herein with reference to specific embodiments, the scope of this application is not limited to the details shown. Various modifications may be made to these details without departing from the basic principles of this application.

Claims

1. A condition monitoring method for drilling rigs, comprising: The image acquisition device (10) installed on the upper part (2) of the drilling rig is used to acquire images that include at least the hole (9) drilled by the drilling rig and the drill bit (8) of the drilling rig. Identify at least the hole (9) and the drill bit (8) from the image, and determine the location information of key points on the hole (9) and the drill bit (8); The position of the hole (9) is determined by the position information of the key points on the hole (9), and the pose of the drill bit (8) is determined by the position information of the key points on the drill bit (8). The position information of the hole (9) and the pose information of the drill bit (8) are expressed in the coordinate system; The coordinate system is: a hole coordinate system, the origin of which is set on the drilling machine, and one axis of the hole coordinate system intersects perpendicularly with the hole center axis (90) of the hole (9); The position information of the hole (9) is determined by using the key points on the hole (9) in the upper coordinate system and their coordinates in the upper coordinate system. The pose information of the drill bit (8) is determined by using the key points on the drill bit (8) in the upper coordinate system. By transforming the coordinate system between the upper vehicle coordinate system and the hole coordinate system, the position information of the hole (9) and the pose information of the drill bit (8) in the upper vehicle coordinate system are transformed into the position information of the hole (9) and the pose information of the drill bit (8) in the hole coordinate system. The origin of the upper vehicle coordinate system is set on the drilling rig, and one axis of the upper vehicle coordinate system is along the rotation center axis of the upper vehicle (2). The transformation relationship between the upper vehicle coordinate system and the hole-aligning coordinate system is determined in the following manner: Determine the mapping point (88) of the reference point (78) on the center line of the hole through which the drill rod (5) passes in the power head (7) in a reference plane perpendicular to the drill bit center axis (80), and the center point (95) of the hole (9) or the upper end of the inner casing is located in the reference plane; The transformation relationship between the upper vehicle coordinate system and the lower hole coordinate system is determined based on the positional difference between the mapping point (88) and the center point of the orifice (95).

2. The state detection method according to claim 1, wherein The origin of the hole coordinate system and the origin of the upper vehicle coordinate system are located on the rotation center axis of the upper vehicle (2).

3. The state detection method according to claim 1, wherein The origin of the hole coordinate system and the origin of the upper carriage coordinate system are located in the plane at the junction between the upper carriage (2) and the lower carriage (1) of the drilling rig and perpendicular to the rotation center axis of the upper carriage (2).

4. The state detection method according to claim 3, wherein The transformation relationship between the upper vehicle coordinate system and the hole-aligning coordinate system is determined based on the following information: The coordinates of the upper vehicle in the upper vehicle coordinate system are based on the center point (95) of the opening at the upper end of the hole (9) or its inner casing; and / or Based on the detection information from the speed sensor of the upper slewing motor; and / or Based on the detection information from the angle encoder on the vehicle.

5. The state detection method according to claim 3, wherein The origin of the upper coordinate system coincides with the origin of the lower coordinate system.

6. The state detection method according to any one of claims 1 to 5, wherein The key points on the hole (9) are at least three points on the upper edge of the hole (9) or its inner casing, and the location information of the hole (9) is the position of the center point (95) of the opening at the upper end of the hole (9) or its inner casing.

7. The state detection method according to any one of claims 1 to 5, wherein The pose information of the drill bit (8) includes at least the position of one or at least two center points on the drill bit (8) and the direction of the drill bit central axis (80).

8. The state detection method according to any one of claims 1 to 5, wherein The images acquired by the image acquisition device (10) also include drill bit-related components; Furthermore, the state detection method also includes: Identify drill bit-related components from the image and determine the location information of key points on the drill bit-related components; The pose information of the drill bit associated components is determined using the positional information of key points on the drill bit associated components; and The pose information of the drill bit associated components is expressed in the hole-hole coordinate system; The drill bit associated components include one or more of the following: Power head (7); The mast (3), or the lower part of the mast (3); Drill pipe (5).

9. The state detection method according to any one of claims 1 to 5, wherein It also includes the verification or correction of the position information of the drill bit (8) based on the detection information of the speed sensor of the main winch motor of the drilling rig.

10. The state detection method according to any one of claims 1-5, wherein, It also includes processing the image to obtain an environment-dense map; The dense environmental map is expressed in the hole coordinate system.

11. The state detection method according to any one of claims 1-5, wherein, It also includes determining the pose of the image acquisition device (10) based on the image; The pose of the image acquisition device (10) is expressed in the aperture coordinate system.

12. The state detection method according to any one of claims 1-5, wherein, The image acquisition device (10) includes one or more of the following: Monocular camera; Binocular camera; RGB-D camera; LiDAR; Millisecond wave radar.

13. A control unit for a drilling rig, configured to perform the status detection method as described in any one of claims 1-12.

14. A drilling rig, comprising: An image acquisition device (10) installed on the upper part (2) of the drilling rig is configured to acquire images including at least the hole (9) drilled by the drilling rig and the drill bit (8) of the drilling rig; as well as The control unit as described in claim 13 is configured to perform the state detection method as described in any one of claims 1-12 based on the image acquired by the image acquisition device (10).

15. A machine-readable storage medium storing executable instructions that, when executed by a processor, implement the state detection method as described in any one of claims 1-12.

Images