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

Abstract

The present application relates to a kind of based on the drilling video analysis drilling rod quantity and drilling depth calculation method, 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 at the withdrawal end and the drilling end of the gripper of drilling machine;When drilling, 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 the number of drill pipe and calculates drilling depth according to target object information.The present application discriminates to drill into a drill pipe by drilling preparation, drilling execution, drilling completion 3 steps, and is more accurate in identification;The present application judges the length of current drill pipe according to mark, and can adapt to the drilling depth calculation when 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 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 the present invention is to provide a method for calculating the number of drill rods and the drilling depth based on drilling 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 pipes and the borehole depth based on drilling 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 drilling, 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 of the hole to be drilled is the drilling inlet, and the end of the gripper furthest from the tunnel wall is the drilling retraction end. A first mark is set on the side of the gripper near the drilling retraction 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 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 drilling preparation flag, drilling execution flag, and drilling completion flag, and record the number of drill pipes and the drilling depth;

[0019] S42. The video analysis system determines whether the drilling conditions are met based on the target information. If not, it waits. If the conditions are met, it sets the drilling preparation flag to 1. When the drilling preparation flag is 1, it calculates the distance between the water injector and the first mark of the clamp, and determines the current length of the drill rod based on the number of drill rod marks on the drill rod.

[0020] S43. When the drilling preparation flag is 1, and the distance between the first mark of the water injector and the holder is detected to decrease, the drilling execution flag is 1 and the drilling preparation flag is 0.

[0021] S44. When the drilling execution flag is 1, and the distance between the first mark of the water injector and the clamp is less than the rod changing threshold, the drilling completion flag is 1 and the drilling execution flag is 0.

[0022] S45. When the drilling 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.

[0023] Furthermore, the value of the drilling preparation flag is 0 or 1, indicating whether the drilling is in the preparation stage (0 for no, 1 for yes); the value of the drilling execution flag is 0 or 1, indicating whether the drilling is in the execution stage (0 for no, 1 for yes); the value of the drilling completion flag is 0 or 1, indicating whether the current drilling is complete (0 for no, 1 for yes). The number of drill pipes and the drilling depth are initially 0, and are updated after each drilling operation.

[0024] Furthermore, drilling conditions must include at least the following:

[0025] A. The first and second marks of the clamp are identified, at least two or more drill pipe marks on the drill pipe on the side of the first mark of the clamp are identified, and the water injector is identified;

[0026] B. The first mark, the second mark, and two or more drill pipe marks of the clamp are identified as collinear;

[0027] 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.

[0028] Furthermore, 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:

[0029] 1) Obtain the center point coordinates (x1, y1) and (x2, y2) of the first and second marks of the gripper, and draw the straight line (y-y1) / (y2-y1)=(x-x1) / (x2-x1);

[0030] 2) Obtain the upper right and lower right coordinates (x0, y3), (x0, y'3) of the rectangular recognition frame of the drill pipe mark, and calculate the vertical coordinate y0 of x0 on the straight line; if y'3 < y0 < y3, it is determined that the drill pipe mark is collinear with the first mark and the second mark before and after the gripper.

[0031] 3) If 2 or more drill pipe marks on the drill pipe are collinear with the first mark and the second mark of the gripper, it is determined that the drill pipe is collinear with the gripper.

[0032] The beneficial effects of the present invention are as follows:

[0033] The present invention can accurately judge the state of the drill pipe by whether the drill pipe mark and the mark on the gripper meet the constraint conditions, so as to avoid misjudging the number of drill pipes during the automatic counting process; moreover, it can accurately judge the length of the current drill pipe through the number of drill pipe marks on drill pipes of different lengths, so as to ensure that the current drilling depth can be accurately calculated according to the length of the current drill pipe during the calculation of the drilling depth, and reduce the depth calculation error caused by using drill pipes of different lengths.

[0034] Other advantages, objectives and features of the present invention will be elaborated in part in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. Brief Description of the Drawings

[0035] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in preferred detail below in conjunction with the drawings, where:

[0036] Figure 1 is a simplified schematic diagram of the drilling process of the present invention;

[0037] Figure 2 is a simplified flow chart of the present invention;

[0038] Figure 3 is a simplified schematic diagram of the drill pipe pretreatment of the present invention;

[0039] Figure 4 is a simplified schematic diagram of the gripper of the present invention;

[0040] Figure 5 is a simplified flow chart of the video analysis system of the present invention for calculating the number of drill pipes and the drilling depth according to the target object;

[0041] Figure 6 is a schematic diagram of collinearity judgment 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 1-6 This is a method for calculating the number of drill rods and the drilling depth based on drilling video analysis.

[0046] This invention uses drilling video 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 drilling operations by identifying whether the special marks are collinear; and determines whether drilling 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 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] In the above method, video analysis is needed to calculate the total number of drill rods used to determine the drilling depth. However, current analysis and calculation methods assume that the length of the drill rods used each time is the same. In actual working environments, however, different models and lengths of drill rods may be used in a single drilling operation. This leads to significant errors in the drilling depth calculated by existing methods. Therefore, this invention proposes a new method to address this problem.

[0050] This invention proposes a method for calculating the number of drill rods and the borehole depth based on drilling video analysis, such as... Figure 2 As shown, it includes the following steps:

[0051] S1. Pre-process drill pipes of different lengths and add drill pipe markings to each drill pipe;

[0052] S2. Add a first mark and a second mark to the retraction end and the infeed end of the drill rig's clamp, respectively;

[0053] S3. During drilling, the target information is obtained through a camera. The target includes the drill pipe markings, the first and second markings of the clamp, and the water injector.

[0054] 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.

[0055] 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.

[0056] Further, in step S2, the end of the clamp near the tunnel wall of the hole to be drilled is the drilling inlet, and the end of the clamp away from the tunnel wall is the drilling retraction end. A first mark is set on the side of the clamp near the drilling retraction end, and a second mark is set on the side of the clamp near the drilling inlet end. The first and second marks need to be distinguishable, and they also need to be distinguishable from the drill rod marks. This distinction can be based on color, shape, etc. After setting, the distance L2 between the first and second marks needs to be recorded into the video analysis system. Preferably, as follows... Figure 4 As shown, the drill pipe marker can be a ring composed of solid lines, and its color can be yellow; the first marker of the gripper can be a strip composed of dashed lines, arranged along the height direction of the gripper, and its color can be blue; the second marker of the gripper can be a strip composed of triangles, also arranged along the height direction of the gripper, and its color can be black. The distance L2 between the first and second markers is input to the video analysis system, and L1 / L2 is calculated.

[0057] 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.

[0058] Furthermore, in step S4, as Figure 5 As shown, it includes the following steps:

[0059] S41. Initialize parameters, including initializing the drilling preparation flag, drilling execution flag, and drilling completion flag, and record the number of drill pipes and the drilling depth;

[0060] S42. The video analysis system determines whether the drilling conditions are met based on the target information. If not, it waits. If the conditions are met, it sets the drilling preparation flag to 1. When the drilling preparation flag is 1, it calculates the distance between the water injector and the first mark of the clamp, and determines the current length of the drill rod based on the number of drill rod marks on the drill rod.

[0061] S43. When the drilling preparation flag is 1, and the distance between the first mark of the water injector and the holder is detected to decrease, the drilling execution flag is 1 and the drilling preparation flag is 0.

[0062] S44. When the drilling execution flag is 1, and the distance between the first mark of the water injector and the clamp is less than the rod changing threshold, the drilling completion flag is 1 and the drilling execution flag is 0.

[0063] S45. When the drilling 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.

[0064] Specifically, in step S41, the value of the drilling preparation flag is 0 or 1, indicating whether the drilling preparation stage is in progress (0 for no, 1 for yes); the value of the drilling execution flag is 0 or 1, indicating whether the drilling execution stage is in progress (0 for no, 1 for yes); the value of the drilling completion flag is 0 or 1, indicating whether the current drilling is complete (0 for no, 1 for yes). The number of drill pipes and the drilling depth are initially 0, and are updated after each drilling operation.

[0065] Specifically, in step S42, the drilling conditions include at least the following:

[0066] A. Identify the first and second marks of the gripper, identify at least two drill pipe marks on the drill pipe next to the first mark of the gripper, and identify the water injector. This is the most basic condition. Identifying only the drill pipe marks behind the first mark of the gripper eliminates interference from the marks on the tail portion of the previous drill pipe during drilling.

[0067] B. The first mark, the second mark of the gripper, and the marks of two or more drill pipes are collinear. This condition is used to determine whether the drill pipes are installed completely. When the drill pipes are correctly installed on the gripper, the first mark, the second mark of the gripper, and the marks of two or more drill pipes should be collinear. The reason for requiring at least two drill pipe marks for collinearity judgment is to avoid misjudgment caused by a certain drill pipe mark being collinear with the first mark and the second mark at a certain position of the drill pipe in the vertical state. As Figure 6 shown, the method for collinearity judgment is as follows:

[0068] 1) Obtain the center point coordinates (x1, y1), (x2, y2) of the first mark and the second mark of the gripper, and draw the straight line (y - y1) / (y2 - y1) = (x - x1) / (x2 - x1);

[0069] 2) Obtain the upper right and lower right coordinates (x0, y3), (x0, y'3) of the rectangular recognition frame of the drill pipe mark, and calculate the vertical coordinate y0 of x0 on the straight line; if y'3 < y0 < y3, it is determined that the drill pipe mark is collinear with the first mark and the second mark before and after the gripper;

[0070] 3) If the marks of two or more places on the drill pipe are collinear with the first mark and the second mark of the gripper, it is determined that the drill pipe is collinear with the gripper.

[0071] C. The ratio of the distance between two drill pipe marks on the drill pipe 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 judge whether the drill pipe and the gripper are coplanar. In other words, if the drill pipe is closer to the camera compared to the gripper, it may also meet conditions A and B, but at this time the drill pipe is not correctly installed in the gripper. Then, because the drill pipe is closer to the camera, the calculated distance ratio is larger than the actual value; on the contrary, when the drill pipe 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 pipe is correctly installed on the gripper.

[0072] In addition, for the calculation method of the distance, the vertex coordinates and the center point coordinates of the rectangular recognition frame can be used for calculation, or it can be deduced by analyzing the number of drill pipe marks between the water injector on the drill pipe and the first mark of the gripper, because for the video analysis system, the distance between adjacent drill pipe marks is known. It should be noted that when determining the current drill pipe length according to the number of drill pipe marks, it is defaulted that the drill pipe mark at the drilling end of the drill pipe is blocked by the gripper. Therefore, when the video analysis system calculates the current drill pipe length, it will default to add 1 to the number of drill pipe marks in the image and then determine the drill pipe length.

[0073] Specifically, in step S43, the clamp is relatively stationary with respect to the drill rod when pushing the drill rod into the drill. The clamp can slide back and forth on the drilling rig along the drilling direction. When drilling, the clamp clamps the drill rod. After pushing to a certain extent, the clamp releases the drill rod and moves backward a certain distance, then clamps the drill rod again to push it. Therefore, between the two pushes, the distance between the clamp and the water injector at the end of the drill rod will be reduced, thereby determining whether the clamp is in the drilling process.

[0074] Specifically, in step S44, since the clamp is constantly reciprocating to clamp the drill rod, when the distance between the first mark of the clamp and the water injector is less than the rod replacement threshold, for example, less than 0.2m, it means that when this advance is completed, the current drill rod has been completely drilled into the roadway wall and a new drill rod needs to be reconnected. Therefore, the distance between the first mark of the clamp and the water injector can be used to determine whether the drilling is completed.

[0075] Specifically, in step S45, after drilling is completed, 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 expected drilling depth is reached.

[0076] 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.

[0077] 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 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 drilling, the target information is obtained through a camera. The target includes the 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 drilling preparation flag, drilling execution flag, and drilling completion flag, and record the number of drill pipes and the drilling depth; S42. The video analysis system determines whether the drilling conditions are met based on the target information. If not, it waits. If the conditions are met, it sets the drilling preparation flag to 1. When the drilling preparation flag is 1, it calculates the distance between the water injector and the first mark of the clamp, and determines the current length of the drill rod based on the number of drill rod marks on the drill rod. S43. When the drilling preparation flag is 1, and the distance between the first mark of the water injector and the holder is detected to decrease, the drilling execution flag is 1 and the drilling preparation flag is 0. S44. When the drilling execution flag is 1, and the distance between the first mark of the water injector and the clamp is less than the rod changing threshold, the drilling completion flag is 1 and the drilling execution flag is 0. S45. When the drilling 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 video analysis according to claim 1, characterized in that: In S2, the end of the clamp close to the tunnel wall of the hole to be drilled is the drilling inlet, and the end of the clamp away from the tunnel wall of the hole to be drilled is the drilling retraction end. A first mark is set on the side of the clamp near the drilling retraction end, and a second mark is set on the side of the clamp near the drilling inlet. The first mark, the second mark, and the drill rod mark are distinguished from each other by color and / or shape. 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 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 vertex and center point of the rectangular recognition box.

4. The method for calculating the number of drill rods and the drilling depth based on drilling video analysis according to claim 3, characterized in that: The value of the drilling preparation flag is 0 or 1, which indicates whether the drilling preparation stage is underway. 0 represents no and 1 represents yes. The value of the drilling execution flag is 0 or 1, which indicates whether the drilling execution stage is in progress. 0 represents no and 1 represents yes. The value of the drilling completion flag is 0 or 1, which indicates whether the current drilling is completed. 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 drilling operation.

5. The method for calculating the number of drill rods and the drilling depth based on drilling video analysis according to claim 4, characterized in that: Drilling conditions must include at least: A. The first and second marks of the clamp are identified, at least two or more drill pipe marks on the drill pipe on the side of the first mark of the clamp are identified, and the water injector is 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 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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