Drill pipe quantity and drilling depth calculation method based on un-drilling video analysis

Abstract

The present application relates to a kind of based on the video analysis of drilling rod quantity and drilling depth calculation method of withdrawal, belong to downhole intelligent drilling video field.The method includes: the pretreatment of different length drill pipe, add drill pipe mark for each drill pipe;First mark and second mark are added respectively in the withdrawal end and the drilling end of the gripper of drilling machine;When withdrawing, target object information is obtained by camera, target object includes drill pipe mark, the first mark of gripper, second mark and water injector;Video analysis system adjusts logical program step state according to the position change relationship of obtained target object information, and counts drill pipe quantity and calculates drilling depth according to target object information.The present application discriminates exit a drill pipe by three steps of withdrawal preparation, withdrawal execution, withdrawal completion, and is more accurate in identification;The present application judges the length of current drill pipe according to mark, can adapt to the drilling depth calculation when withdrawing after drilling into different length drill pipe.

Description

Technical Field

[0001] This invention belongs to the field of intelligent downhole drilling video and relates to a method for calculating the number of drill pipes and the drilling depth based on drilling withdrawal video analysis. Background Technology

[0002] Underground coal mines have the requirement of "exploration before excavation and extraction before mining". That is, before excavation, it should be determined that there are no safety risks such as water hazards ahead, and before mining, the gas in the coal seam should be extracted.

[0003] Drilling is a crucial method for water exploration and gas extraction, and the depth of the borehole directly affects the effectiveness of these processes, thus being closely related to coal mine safety. Therefore, monitoring whether the depth of each borehole meets design requirements is a vital aspect of coal mine safety work.

[0004] Most coal mines have now implemented a "one drill, one video" system, which enables real-time monitoring and video playback of the drilling process. However, the drilling depth still needs to be determined manually. This means that personnel calculate the drilling depth by reviewing real-time drilling videos or recording the number and length of each drill rod in the video. This method has drawbacks such as high workload, low efficiency, and susceptibility to errors.

[0005] The existing technology CN109598710B proposes an automatic counting method for coal mine drill rods, which involves acquiring image information and obtaining drilling rig location information; locating the drill rod judgment area based on the drilling rig location information; determining whether the drill rod is in working state based on the pixel changes of the drill rod and its surrounding image within the judgment area; calculating the drilling distance when the drill rod is in working state; and obtaining the number of drill rods driven into the mine based on the drilling distance and counting them.

[0006] The existing technical solutions have the following drawbacks: The current methods for calculating the number of drill rods and the drilling depth based on video analysis are all based on the assumption that all drill rods are of uniform length. However, in actual working environments, drill rods of different lengths are used for drilling. This makes the existing technology of obtaining the number of drill rods through video analysis and then multiplying the number of drill rods by the length of the drill rods to obtain the drilling depth inaccurate, and may even result in large errors. Summary of the Invention

[0007] In view of this, the purpose of this invention is to provide a method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A method for calculating the number of drill rods and the borehole depth based on drilling withdrawal video analysis, the method comprising the following steps:

[0010] S1. Pre-process drill pipes of different lengths and add drill pipe markings to each drill pipe;

[0011] S2. Add a first mark and a second mark to the retraction end and the infeed end of the drill rig's clamp, respectively;

[0012] S3. During drill retraction, the target information is obtained through a camera. The target includes drill pipe markings, the first and second markings of the clamp, and the water injector.

[0013] S4. The video analysis system adjusts the logic program step state according to the positional change relationship of the acquired target information, and counts the number of drill rods and calculates the drilling depth according to the target information.

[0014] Furthermore, in the preprocessing of S1, the greatest common divisor or the second greatest common divisor corresponding to the different lengths of several types of drill rods of different lengths is taken as the interval distance between two adjacent drill rod marks on each drill rod. It is ensured that drill rod marks are drawn at both ends of each drill rod, and the number of marks on each drill rod is greater than or equal to 3. The distance L1 between adjacent drill rod marks on the drill rod after preprocessing is input into the video analysis system.

[0015] Furthermore, in S2, the end of the gripper closest to the tunnel wall is the drilling inlet end, and the end of the gripper furthest from the tunnel wall is the drilling outlet end. A first mark is set on the side of the gripper near the drilling outlet end, and a second mark is set on the side of the gripper near the drilling inlet end. The first mark, the second mark, and the drill pipe mark are distinguished from each other by color and / or shape. The drill pipe mark on the end of the drill pipe furthest from the tunnel wall is set as the drilling outlet end drill pipe mark. The distance L2 between the first mark and the second mark is input to the video analysis system, and L1 / L2 is calculated.

[0016] Furthermore, in S3, the camera is installed in a way that can capture the drilling process. The image information acquired by the camera is transmitted to the video analysis system. The video analysis system performs frame extraction processing on the video images acquired by the camera at time intervals, identifies the target objects in the extracted image information as rectangular boxes, and then determines the position of each target object by obtaining the coordinates of the vertices and center point of the rectangular boxes.

[0017] Furthermore, S4 includes the following steps:

[0018] S41. Initialize parameters, including initializing the drill retraction preparation flag, drill retraction execution flag, and drill retraction completion flag, and record the number of drill rods and the drilling depth;

[0019] S42. The video analysis system determines whether the drill withdrawal condition is met based on the target object information. If not, it waits; if so, it sets the drill withdrawal preparation flag bit to 1. When the drill withdrawal preparation flag bit is 1, calculate the distance between the drill rod mark at the drill withdrawal end of the drill rod and the first mark of the gripper.

[0020] S43. When the drill withdrawal preparation flag bit is 1, when it is recognized that the distance between the drill rod mark at the drill withdrawal end of the drill rod and the first mark of the gripper increases, set the drill withdrawal execution flag bit to 1 and set the drill withdrawal preparation flag bit to 0.

[0021] S44. When the drill withdrawal execution flag bit is 1, when it is recognized that the number of drill rod marks on the drill rod that are collinear with the first mark and the second mark of the gripper is less than or equal to 1, set the drill withdrawal completion flag bit to 1, set the drill withdrawal execution flag bit to 0, and determine the current drill rod length based on the number of drill rod marks in the image when the number of collinear drill marks in the previous frame is greater than or equal to 2.

[0022] S45. When the drill withdrawal completion flag bit is 1, the number of drill rods in the video analysis system is incremented by 1, and the current drilling depth is equal to the drilling depth + the current drill rod length; return to S41 and repeat the execution until the end.

[0023] Further, the drill withdrawal condition at least includes:

[0024] A. The first mark and the second mark of the gripper are recognized, at least two or more drill rod marks on the drill rod on the first mark side of the gripper are recognized, and the water injector is not recognized.

[0025] [[ID=...]](注:原文中此处“B、识别到夹持器的第一标记、第二标记以及2个及以上的钻杆标记共线; ”翻译后应接在“

[0025] ”后,因格式问题未完整显示,实际翻译时需注意格式排版) B. The first mark, the second mark of the gripper, and two or more drill rod marks are recognized as collinear.

[0026] C. The ratio of the distance between adjacent drill rod marks on the drill rod to the distance between the first mark and the second mark of the gripper is consistent with the ratio L1 / L2 pre-calculated in the video analysis system.

[0027] Further, the method for determining whether the first mark, the second mark of the gripper, and two or more drill rod marks are collinear is as follows:

[0028] 1) Obtain the center point coordinates (x1, y1), (x2, y2) of the first mark and the second mark of the gripper, and draw a straight line (y - y1) / (y2 - y1) = (x - x1) / (x2 - x1).

[0029] 2) Obtain the upper right and lower right coordinates (x0, y3), (x0, y ′ 3) of the rectangular recognition frame of the drill rod mark, and calculate the ordinate y0 of x0 on the straight line; if y ′ 3 < y0 < y3, it is determined that the drill rod mark is collinear with the first mark and the second mark before and after the gripper. (注:原文中部分格式可能存在显示不完整的情况,实际翻译时需根据完整准确的原文进行排版和翻译)

[0030] 3) If two or more drill pipe markings are collinear with the first and second markings of the chuck, then the drill pipe and the chuck are considered to be collinear.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention can accurately determine the state of the drill rod by checking whether the markings on the drill rod and the holder meet the constraints, thus avoiding incorrect counting of the drill rods during automatic counting. Furthermore, it can accurately determine the length of the current drill rod by checking the number of drill rod markings on drill rods of different lengths, thereby ensuring that the current drilling depth can be accurately calculated based on the current drill rod length during the drilling depth calculation process, reducing depth calculation errors caused by using drill rods of different lengths.

[0033] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0035] Figure 1 This is a simplified schematic diagram of the drill withdrawal process of the present invention;

[0036] Figure 2 This is a simplified flowchart of the present invention;

[0037] Figure 3 This is a simplified schematic diagram of the drill pipe pretreatment according to the present invention;

[0038] Figure 4 This is a simplified schematic diagram of the clamp of the present invention;

[0039] Figure 5 This is a simplified flowchart of the video analysis system of the present invention for calculating the number of drill rods and the drilling depth when retracting the drill based on the target object;

[0040] Figure 6 This is a schematic diagram illustrating the collinearity determination method of the present invention;

[0041] Figure 7 This is a simplified schematic diagram of the drill retraction process of the present invention. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0043] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0044] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0045] Please see Figures 1 to 7 This is a method for calculating the number of drill rods and the drilling depth based on video analysis of drill retraction.

[0046] This invention uses video recordings of drill rod retraction as a foundation and employs AI-powered intelligent video analysis to automatically calculate the drill rod length and quantity, thereby determining the drilling depth. Specifically, it identifies the drilling direction by recognizing special marks drawn on the drill rig's gripper; determines the drill rod length by recognizing the number of special marks drawn on the drill rod; determines whether the drill rig is performing a drill rod retraction operation by identifying whether the special marks are collinear; and determines whether the retraction of the current drill rod has been completed by identifying the positional relationship between the special mark recognition frames.

[0047] like Figure 1 As shown, the drill rod is drilled into the tunnel wall by a drilling rig. A drill rod holder is located above the drilling rig, used to clamp the drill rod and rotate it; the holder can move back and forth on the drilling rig. Figure 1The drill bit moves left and right, pushing it into the tunnel wall (drilling in) or pulling it out of the tunnel wall (drilling out). The drill bit is hollow and connected by threads. The clamp connects the two drill bits by forward and reverse rotation. The tail of the drill bit to be drilled is connected to a water injector with a water pipe. When drilling, the water injector injects water from the borehole, driving the drill bit to rotate.

[0048] During drilling, the drilling rig is adjusted to the correct angle, and the drill bit is installed in front of the chuck. The worker inserts the drill rod into the chuck from behind. The chuck rotates the drill rod, connecting the remaining drill bits via threads. The worker installs the water injector at the end of the drill rod. The chuck moves the drill rod and drill bit forward, and the water injector drives the drill bit to rotate, initiating drilling. After drilling to a certain depth, the chuck releases, and the drill moves backward. Figure 1 Move the drill pipe a certain distance to the left; then re-clamp the drill pipe and continue to move it forward. When the clamp reaches the end of the drill pipe, the worker removes the water injector; inserts the next drill pipe into the clamp, and repeats the above process until the expected depth is reached.

[0049] Drill rod retraction process: The worker removes the water injector (disposable, not part of the identification process). The clamp holds the drill rod and retracts it ( Figure 1 (Middle left) When the joint between the front and rear drill pipes is in the middle of the clamp, the clamp rotates the rear drill pipe, loosening the threads. The worker then removes the rear drill pipe, or it falls off automatically. Repeat the above process until all drill pipes are removed.

[0050] In the above method, video analysis is needed to calculate the total number of drill rods withdrawn to obtain the drilling depth. However, current analysis, counting, and calculation methods assume that the length of the drill rods inserted each time is the same. In actual working environments, however, there are situations where different models and lengths of drill rods are used in a single drilling operation. This leads to a significant error in the drilling depth calculated by existing methods. Therefore, this invention proposes a new method to address this problem.

[0051] This invention proposes a method for calculating the number of drill rods and the borehole depth based on video analysis of drill retraction, such as... Figure 2 As shown, it includes the following steps:

[0052] S1. Pre-process drill pipes of different lengths and add drill pipe markings to each drill pipe;

[0053] S2. Add a first mark and a second mark to the retraction end and the infeed end of the drill rig's clamp, respectively;

[0054] S3. During drill retraction, the target information is obtained through a camera. The target includes drill pipe markings, the first and second markings of the clamp, and the water injector.

[0055] S4. The video analysis system adjusts the logic program step state according to the positional change relationship of the acquired target information, and counts the number of drill rods and calculates the drilling depth according to the target information.

[0056] Further, in step S1, the greatest common divisor (GCD) or second greatest common divisor (BCD) of several types of drill rods of different lengths is used as the spacing between two adjacent drill rod marks on each drill rod. This ensures that both ends of each drill rod are marked, and the number of marks on each drill rod is greater than or equal to three. The drill rod marks are arranged in a ring on the drill rod to ensure the camera can fully acquire the positional information of the drill rod marks and to prevent the marks from being obscured when the drill rod rotates. The distance L1 between the drill rod marks on the preprocessed drill rod needs to be recorded into the video analysis system. For example... Figure 3 As shown, for example, there are two types of drill pipes with different lengths, 1m and 1.5m. The greatest common divisor between the two lengths is 0.5m. For a 1m drill pipe, one drill pipe mark is added every 0.5m from one end, for a total of 3 drill pipe marks, dividing the 1m drill pipe into 2 sections. For a 1.5m drill pipe, one drill pipe mark is added every 0.5m from one end, for a total of 4 drill pipe marks, dividing the 1.5m drill pipe into 3 sections.

[0057] Further, in step S2, the end of the gripper closest to the tunnel wall is the drilling inlet end, and the end of the gripper furthest from the tunnel wall is the drilling outlet end. A first mark is set on the side of the gripper near the drilling outlet end, and a second mark is set on the side of the gripper near the drilling inlet end. The first and second marks need to be distinguishable, and they also need to be distinguishable from the drill pipe marks. This distinguishability can be color, shape, etc. After setting, the distance L2 between the first and second marks needs to be entered into the video analysis system, and L1 / L2 needs to be calculated. Preferably, as follows... Figure 4 As shown, the drill pipe mark can be set as a ring composed of solid lines, and the color can be yellow; the first mark of the clamp can be set as a strip composed of dashed lines, which is arranged along the height direction of the clamp, and the color can be blue; the second mark of the clamp can be set as a strip composed of triangles, which is also arranged along the height direction of the clamp, and the color can be black.

[0058] The drill pipe mark on the end of the drill pipe away from the roadway wall is set as the drill pipe mark for the withdrawal end.

[0059] Furthermore, in step S3, the camera is mounted on the side of the drilling rig. Specifically, the optimal mounting direction is with the lens perpendicular to the drilling rig, so that the camera can better acquire images that record information about the target objects. Preferably, the video analysis system performs frame extraction processing on the video images acquired by the camera at certain time intervals, and represents the target objects in the extracted image information in the form of rectangular frames. That is, the target objects are enclosed as much as possible by the rectangular recognition frames, and the position of each target object is determined by obtaining the coordinates of the four vertices and the center point of the rectangular recognition frames.

[0060] Furthermore, in step S4, as Figure 5 As shown, it includes the following steps:

[0061] S41. Initialize parameters, including initializing the drill retraction preparation flag, drill retraction execution flag, and drill retraction completion flag, and record the number of drill rods and the drilling depth;

[0062] S42. The video analysis system determines whether the drilling withdrawal conditions are met based on the target information. If not, it waits. If the conditions are met, the drilling withdrawal preparation flag is set to 1. When the drilling withdrawal preparation flag is set to 1, the distance between the drill rod end drill rod mark and the first mark of the clamp is calculated.

[0063] S43. When the drill retraction preparation flag is 1, and the distance between the drill pipe mark at the drill pipe retraction end and the first mark of the chuck is detected to increase, the drill retraction execution flag is 1 and the drill retraction preparation flag is 0.

[0064] S44. When the drill retraction execution flag is 1, if the number of drill rod marks on the drill rod that are collinear with the first and second marks of the clamp is less than or equal to 1, the drill retraction completion flag is set to 1, the drill retraction execution flag is set to 0, and the current drill rod length is determined based on the number of drill rod marks in the image when the number of collinear drill marks in the previous frame is greater than or equal to 2.

[0065] S45. When the drill retraction completion flag is 1, the number of drill rods in the video analysis system is incremented by 1, and the current drilling depth is equal to the drilling depth plus the current drill rod length; return to S41 and repeat until the end.

[0066] Specifically, in step S41, the value of the drill retraction preparation flag is 0 or 1, indicating whether the drill retraction preparation stage is in progress (0 for no, 1 for yes); the value of the drill retraction execution flag is 0 or 1, indicating whether the drill retraction execution stage is in progress (0 for no, 1 for yes); the value of the drill retraction completion flag is 0 or 1, indicating whether the current drill retraction is complete (0 for no, 1 for yes). The number of drill rods and the drilling depth are initially 0, and are updated after each drill retraction is completed.

[0067] Specifically, in step S42, the drill withdrawal conditions at least include:

[0068] A. The first mark and the second mark of the gripper are recognized, at least two or more drill rod marks on the drill rod on the first mark side of the gripper are recognized, and the water injector is not recognized. This condition is the most basic condition. Among them, only recognizing the drill rod marks behind the first mark of the gripper excludes the interference of the tail part marks of the previous drill rod during the drill withdrawal process. Because the water injector has been removed during the drill withdrawal process, if the water injector is recognized, it does not meet the drill withdrawal conditions.

[0069] B. The first mark, the second mark of the gripper, and two or more drill rod marks are collinear. This condition is used to determine whether the drill rod is installed completely. When the drill rod is correctly installed on the gripper, the first mark, the second mark of the gripper, and two or more drill rod marks should be collinear. The reason for requiring at least two or more drill rod marks for collinearity judgment is to avoid misjudgment caused by a certain drill rod mark being collinear with the first mark and the second mark at a certain position when the drill rod is in the vertical state. As Figure 6 shown, the collinearity judgment method is as follows:

[0070] 1) Obtain the center point coordinates (x1, y1), (x2, y2) of the first mark and the second mark of the gripper, and draw a straight line (y - y1) / (y2 - y1) = (x - x1) / (x2 - x1);

[0071] 2) Obtain the upper right and lower right coordinates (x0, y3), (x0, y ′ 3) of the rectangular recognition frame of the drill rod mark, and calculate the ordinate y0 of x0 on the straight line; if y ′ 3 < y0 < y3, it is determined that the drill rod mark is collinear with the first mark and the second mark before and after the gripper;

[0072] 3) If two or more drill rod marks on the drill rod are collinear with the first mark and the second mark of the gripper, it is determined that the drill rod is collinear with the gripper.

[0073] C. The ratio of the distance between two drill rod marks on the drill rod to the distance between the first mark and the second mark of the gripper is consistent with the ratio L1 / L2 in the video analysis system. This constraint condition is used to determine whether the drill rod and the gripper are coplanar. In other words, if the drill rod is closer to the camera compared to the gripper, it may also meet conditions A and B, but at this time the drill rod is not correctly installed in the gripper. Then, because the drill rod is closer to the camera, the calculated distance ratio is larger than the actual value; on the contrary, when the drill rod is farther from the camera, the calculated distance ratio is smaller than the actual value. Therefore, only when the error between the calculated ratio and the actual ratio is within a certain range does it mean that the drill rod is correctly installed in the gripper.

[0074] In addition, the distance can be calculated using the vertex coordinates and center point coordinates of the rectangular recognition box, or it can be estimated by analyzing the number of drill rod marks between the drill rod mark at the drill rod retraction end and the first mark of the clamp, since the distance between adjacent drill rod marks is known for the video analysis system.

[0075] Specifically, in step S43, the clamp is relatively stationary with the drill rod when pulling the drill rod back. The clamp can slide back and forth on the drilling rig along the back-drilling direction. When the drill rod is backed up, the clamp clamps the drill rod. After pushing to a certain extent, the clamp releases the drill rod and moves forward (towards the roadway wall) a certain distance, and then clamps the drill rod again for pulling. Therefore, between the two pulls, the distance between the clamp and the drill rod back-drilling end mark will increase, thereby determining whether the clamp is in the back-drilling process.

[0076] Specifically, in step S44, since the gripper reciprocates continuously to clamp the drill rod, as... Figure 7 As shown, when the joint between the current drill rod and the next drill rod is in the middle of the clamp, the clamp rotates the rear drill rod, loosening the threads. The worker removes the rear drill rod, or the drill rod falls automatically. At this point, if the number of drill rod markings collinear with the first and second markings on the clamp is less than or equal to 1, and there is a previous frame or several previous frames where the number of collinear drill rod markings is greater than or equal to 2, the current drill rod length can be determined based on the number of drill rod markings at this time. It is worth noting that when determining the current drill rod length based on the number of drill rod markings, it is assumed that the drill rod marking at the drill inlet end is obscured by the clamp. Therefore, when calculating the current drill rod length, the video analysis system will increment the number of drill rod markings in the image by 1 before determining the drill rod length.

[0077] Specifically, in step S45, after retracting the drill bit, the drill rod quantity is incremented by 1, and the drilling depth is calculated as the previous drilling depth plus the current drill rod length. The current drill rod length is determined in step S42 based on the number of drill rod markings on the drill rod. Then, steps S41-S45 are repeated until the desired drilling depth is reached.

[0078] Therefore, the present invention can accurately determine the state of the drill rod by checking whether the marks on the drill rod and the chuck meet the constraint conditions, so as to avoid incorrectly judging the number of drill rods during the automatic counting process; and can accurately determine the length of the current drill rod by the number of drill rod marks on drill rods of different lengths, thereby ensuring that the current drilling depth can be accurately calculated according to the current drill rod length during the drilling depth calculation process, reducing the depth calculation error caused by using drill rods of different lengths.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis, characterized in that: The method includes the following steps: S1. Preprocess the drill rods of different lengths by adding drill rod markers to each drill rod. During the preprocessing process in S1, the greatest common divisor or second greatest common divisor of the different lengths of several types of drill rods is taken as the spacing between two adjacent drill rod markers on each drill rod. It is ensured that drill rod markers are drawn at both ends of each drill rod, and the number of markers on each drill rod is greater than or equal to 3. The distance L1 between adjacent drill rod markers on the drill rods after preprocessing is input into the video analysis system. S2. Add a first mark and a second mark to the retraction end and the infeed end of the drill rig's clamp, respectively; S3. During drill retraction, the target information is obtained through a camera. The target includes drill pipe markings, the first and second markings of the clamp, and the water injector. S4. The video analysis system adjusts the logic program step state according to the positional change relationship of the acquired target information, and counts the number of drill rods and calculates the drilling depth according to the target information. S4 includes the following steps: S41. Initialize parameters, including initializing the drill retraction preparation flag, drill retraction execution flag, and drill retraction completion flag, and record the number of drill rods and the drilling depth; S42. The video analysis system determines whether the drilling withdrawal conditions are met based on the target information. If not, it waits. If the conditions are met, the drilling withdrawal preparation flag is set to 1. When the drilling withdrawal preparation flag is set to 1, the distance between the drill rod end drill rod mark and the first mark of the clamp is calculated. S43. When the drill retraction preparation flag is 1, and the distance between the drill pipe mark at the drill pipe retraction end and the first mark of the chuck is detected to increase, the drill retraction execution flag is 1 and the drill retraction preparation flag is 0. S44. When the drill retraction execution flag is 1, if the number of drill rod marks on the drill rod that are collinear with the first and second marks of the chuck is less than or equal to 1, the drill retraction completion flag is set to 1, the drill retraction execution flag is set to 0, and the current drill rod length is determined based on the number of drill rod marks in the image when the number of collinear drill marks is greater than or equal to 2. S45. When the drill retraction completion flag is 1, the number of drill rods in the video analysis system is incremented by 1, and the current drilling depth is equal to the drilling depth plus the current drill rod length; return to S41 and repeat until the end.

2. The method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis according to claim 1, characterized in that: In S2, the end of the gripper closest to the tunnel wall is the drilling inlet end, and the end of the gripper furthest from the tunnel wall is the drilling outlet end. A first mark is set on the side of the gripper near the drilling outlet end, and a second mark is set on the side of the gripper near the drilling inlet end. The first mark, the second mark, and the drill rod mark are distinguished from each other by color and / or shape. The drill rod mark on the end of the drill rod furthest from the tunnel wall is set as the drilling outlet end drill rod mark. The distance L2 between the first mark and the second mark is input to the video analysis system, and L1 / L2 is calculated.

3. The method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis according to claim 2, characterized in that: In S3, the camera is installed in a way that can capture the drilling process. The image information acquired by the camera is transmitted to the video analysis system. The video analysis system performs frame extraction processing on the video images acquired by the camera at time intervals, and represents the target objects in the extracted image information as rectangular recognition boxes. Then, the position of each target object is determined by obtaining the coordinates of the vertices and center point of the rectangular recognition boxes.

4. The method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis according to claim 3, characterized in that: The value of the drill withdrawal preparation flag is 0 or 1, which indicates whether the drill withdrawal preparation stage is in progress. 0 represents no and 1 represents yes. The value of the drill retraction execution flag is 0 or 1, which indicates whether the drill retraction execution stage is in progress. 0 represents no, and 1 represents yes. The value of the drill retraction completion flag is 0 or 1, which indicates whether the current drill retraction is complete. 0 represents no and 1 represents yes. The number of drill rods and the drilling depth are initially set to 0. The number of drill rods and the drilling depth are updated after each drill retraction.

5. The method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis according to claim 3, characterized in that: The conditions for withdrawal from drilling must include at least: A. The first and second marks of the clamp are identified, and at least two or more drill pipe marks on the drill pipe on the side of the first mark of the clamp are identified. The water injector is not identified. B. The first mark, the second mark, and two or more drill pipe marks of the clamp are identified as collinear; C. The ratio of the distance between adjacent drill pipe marks on the drill pipe to the distance between the first and second marks on the clamp is consistent with the ratio L1 / L2 pre-calculated in the video analysis system.

6. The method for calculating the number of drill rods and the drilling depth based on drilling withdrawal video analysis according to claim 5, characterized in that: The method for determining whether the first mark, the second mark, and two or more drill pipe marks of the clamp are collinear is as follows: 1) Obtain the center point coordinates of the first and second marks of the gripper. And draw a straight line. ; 2) Obtain the upper right and lower right coordinates of the rectangular recognition box of the drill pipe mark. and calculate The ordinate on the straight line ;like < < If so, it is determined that the drill pipe mark is collinear with the first and second marks before and after the clamp; 3) If two or more drill pipe markings are collinear with the first and second markings of the chuck, then the drill pipe and the chuck are considered to be collinear.

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