Drill rod joint position judgment method, early warning method and system

Abstract

The invention belongs to the technical field of well control in the petroleum industry, and particularly relates to a drill rod joint position judgment method, an early warning method and an early warning system. Comprising a magnetic induction loop and a distance sensor, the magnetic induction loop is arranged underground, the distance sensor is arranged on a large hook and used for obtaining the distance between the large hook and a wellhead, and the distance D1n between a drill rod joint located above the well and the wellhead is obtained through a binocular camera dual-channel image and depth map data at the Tn moment; the distance D2n from the underground drill rod joint to the wellhead is obtained through the distance D1n; the distance D4n from the underground drill rod joint to the wellhead is obtained through the distance D3n from the hook to the wellhead at the Tn moment, the distance D3n-1 from the hook to the wellhead at the Tn-1 moment and the distance LH from the magnetic induction lantern ring to the wellhead; and the position Dn of the drill rod joint is obtained through the distance D2n and the distance D4n, or the position Dn of the drill rod joint is obtained through the distance D2n and the distance LH from the magnetic induction lantern ring to the wellhead. According to the invention, the position of the drill rod joint is simultaneously calculated through the position change of the hook and the wellhead and the shot image, so that the accuracy of the position of the drill rod joint is improved, and misjudgment and misoperation are avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of well control in the petroleum industry, and specifically relates to a drill pipe joint position determination method, an early warning method and a system. Background Art

[0002] With the continuous improvement of domestic onshore oil and gas field drilling technology, the workload of deep and ultra-deep well drilling has increased significantly, and the number of high-pressure and high-yield wells has increased year by year, and the risk of drilling operations has also increased. Studies have found that most cases of uncontrolled blowouts are caused by operational errors.

[0003] When encountering a serious blowout or well slug situation, it is necessary to quickly control the wellhead by closing the blowout preventer. At this time, the operator must pay special attention to keep the semi-closed gate blowout preventer away from the drill pipe joint and drill collar.

[0004] If the semi-closed ram BOP fails to successfully avoid the drill pipe joint or drill collar, the semi-closed ram BOP will fail to close or be stuck by the drill pipe joint, which will lead to the failure of shutting in the well, causing major accidents and personnel and property losses of the well team. Therefore, the correct operation of the wellhead equipment to complete the well shut-in action places extremely high demands on the professional ability of the operator and the judgment under high pressure.

[0005] In order to ensure the safety of drilling operations and prevent uncontrolled blowouts caused by improper operations during the handling of well kicks and overflow accidents, each oil field has formulated detailed well shut-in operation procedures in the well control rules. However, in the actual operation process, it is very likely that the operator is extremely nervous and does not observe enough, resulting in misjudgment or erroneous operation.

[0006] In the future, the intelligent well shut-in system will become an important guarantee for the safety of deep and ultra-deep well drilling operations. The gate blowout preventer well shut-in warning system based on wellhead drill pipe joint image recognition is the key to the intelligent well shut-in system, which is used to determine whether the current drill pipe position can perform the well shut-in operation. How to quickly and accurately identify the drill pipe in an emergency well shut-in and how to correctly judge whether the current drill pipe working condition can meet the well shut-in requirements are technical problems that need to be solved urgently.

[0007] Chinese patent: CN117422769A, discloses a wellhead drill pipe joint safety position identification and warning method and device, the method includes: obtaining binocular camera dual-channel image and depth map data; identifying the drill pipe and wellhead in the image based on the image recognition model and recording the detection frame coordinates; calculating the drill pipe joint position according to the detection frame coordinates and the depth map data; determining whether to send a warning signal according to the drill pipe joint position. This application calculates the distance between the drill pipe joint and the wellhead through a new fusion algorithm, and realizes safety warning by autonomously distinguishing the relative position of the lower joint and the gate core of the gate blowout preventer.

[0008] However, the position of the drill rod joint in this technology is obtained by calculation through the captured images. This method of obtaining the position of the drill rod joint has errors, resulting in misjudgment or erroneous operation.

[0009] In view of this, the present invention is proposed. Summary of the invention

[0010] In order to solve the technical problems existing in the prior art, the present invention provides a method for determining the position of a drill pipe joint, an early warning method and a system. The present invention simultaneously calculates the position of the drill pipe joint through the position change of the big hook and the wellhead and through the captured image, thereby improving the accuracy of the drill pipe joint position and avoiding misjudgment and erroneous operation.

[0011] The present invention includes the following technical solutions:

[0012] The first aspect of the present invention provides a method for determining the position of a drill pipe joint, comprising a binocular camera, a magnetic ring sleeve and a distance sensor, wherein the magnetic ring sleeve is arranged underground, and the distance sensor is arranged on a large hook to obtain the distance from the large hook to the wellhead, and the determination method comprises the following steps:

[0013] By T n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n ;

[0014] By T n The distance between the big hook and the wellhead at the moment D3 n 、T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ;

[0015] Through the distance D2 n and the distance D4 n Get the drill pipe joint position D n , or through the distance D2 n and the distance L from the magnetic ring to the wellhead H Get the drill pipe joint position D n .

[0016] Furthermore, if D4 n ≥0, the drill pipe joint position D n Obtained by the following formula: D n =avg(D2 n ,D4 noeLh H );

[0017] Among them, if D4 n >0, the drill pipe joint position D n By formula D n =avg(D2 n ,D4 n ) calculation; if D4 n = 0, the drill pipe joint position D n By formula D n =avg(D2 n ,L H )calculate.

[0018] Furthermore, through T n The distance between the big hook and the wellhead at the moment D3 n 、T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ,

[0019] The steps include:

[0020] Real-time record of the time T when the drill pipe joint passes through the magnetic ring sleeve N , by recording the time T N The distance between the big hook and the wellhead is D3 N ;

[0021] When you want to get T n Drill pipe joint position at time n hour:

[0022] By T n The distance between the big hook and the wellhead at the moment D3 n and T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 Calculate the movement direction and movement distance S of the big hook n ;

[0023] By the movement direction, the movement distance S n and the distance L from the magnetic ring to the wellhead H Calculate the distance D4 from the downhole drill pipe joint to the wellhead n ;

[0024] Where: N∈(1,2,3,...,n-1), n ​​is a positive integer.

[0025] Furthermore, the distance S n Obtained by the following formula: S n=D3 n -D3 n-1 .

[0026] Furthermore, the distance D4 n Obtained by the following formula: D4 n =L H +S n .

[0027] Furthermore, through T n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n , including the following steps:

[0028] Get dual-channel image and depth map data of the binocular camera;

[0029] Identify the drill pipe and wellhead in the image based on the image recognition model and record the coordinates of the detection frame;

[0030] Calculate the distance D1 from the drill pipe joint on the well to the wellhead based on the detection frame coordinates and the depth map data n ;

[0031] Through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n .

[0032] Furthermore, the distance D2 n Obtained by the following formula: D2 n =L F -D1 n ;

[0033] Among them, L F is the distance between two adjacent drill pipe joints.

[0034] A second aspect of the present invention provides an early warning method, comprising the above-mentioned drill pipe joint position determination method, and the early warning method further comprises the following steps:

[0035] Position the drill pipe joint D n Compared with the distance L from the gate core to the wellhead of the gate blowout preventer:

[0036] If D n =L, then an early warning is issued;

[0037] If D n ≠L, no warning will be issued.

[0038] The third aspect of the present invention provides a drill pipe joint position determination system, comprising a binocular camera, a magnetic ring sleeve and a distance sensor, wherein the magnetic ring sleeve is arranged underground, and the distance sensor is arranged on a large hook, and is used to obtain the distance from the large hook to the wellhead; and further comprising:

[0039] Image acquisition module, used to obtain dual-channel images and depth map data of the binocular camera;

[0040] An image recognition module, used to identify the drill pipe and wellhead in the image based on the image recognition model and record the detection frame coordinates;

[0041] The first calculation module is used to calculate the n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n ;

[0042] The data acquisition module is used to record in real time the time T when the drill pipe joint passes through the magnetic ring sleeve. N and time T N The distance between the hook and the wellhead is D3 N ;

[0043] The second calculation module is used to calculate the n The distance between the big hook and the wellhead at the moment D3 n 、T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ;

[0044] The drill pipe joint position calculation module is used to calculate the position of the drill pipe joint through the distance D2 n and the distance D4 n Get the drill pipe joint position D n , or through the distance D2 n and the distance L from the magnetic ring to the wellhead H Get the drill pipe joint position D n .

[0045] A fourth aspect of the present invention provides an early warning system, characterized in that it includes the above-mentioned determination system and further includes:

[0046] Early warning module, used to position the drill pipe joint D n Compared with the distance L from the gate core to the wellhead of the gate blowout preventer: if D n =L, then issue an early warning; if D n ≠L, no warning will be issued;

[0047] Where: N∈(1,2,3,...,n-1), n ​​is a positive integer.

[0048] By adopting the above technical solution, the present invention has the following advantages:

[0049] 1. The present invention The present invention calculates the position of the drill pipe joint simultaneously through the position change of the big hook and the wellhead and through the photographed image, thereby improving the accuracy of the position of the drill pipe joint and avoiding misjudgment and erroneous operation.

[0050] 2. The present invention can obtain the distance between the downhole drill pipe joint and the wellhead with high accuracy, and realize safety early warning by autonomously determining the relative position between the downhole drill pipe joint and the gate core of the gate blowout preventer.

[0051] 3. When the drill pipe passes through the magnetic induction ring sleeve, the induction signal will change due to the different sizes of the drill pipe joint and the drill pipe body, so the drill pipe joint can be identified through the magnetic induction ring sleeve and anchored by the correspondence of the time label; at the same time, by calculating the operation data of the winch and the big hook and forming the time axis data, the upward and downward distances of the drilling tool within a certain time period can be intelligently identified and anchored by the correspondence of the time label; in this way, the drill pipe pole joint passing through the magnetic ring sleeve and the hook operation data can be matched.

[0052] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 The present invention is a flowchart of a method for determining the position of a drill pipe joint according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following description provides many different embodiments or examples for implementing different features of the present invention. The components and arrangements described in the following specific examples are only used to simplify the present invention and are only used as examples, not to limit the present invention.

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] This embodiment provides a method for determining the position of a drill pipe joint, including a binocular camera, a magnetic ring sleeve and a distance sensor, wherein the magnetic ring sleeve is arranged underground, and the distance sensor is arranged on a large hook, and is used to obtain the distance from the large hook to the wellhead. Figure 1 As shown, the determination method comprises the following steps:

[0058] By T n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n ;

[0059] By T n The distance between the big hook and the wellhead at the moment D3 n , T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ;

[0060] Through the distance D2 n and the distance D4 n Get the drill pipe joint position D n , or through the distance D2 n and the distance L from the magnetic ring to the wellhead H Get the drill pipe joint position D n .

[0061] Furthermore, if D4 n ≥0, the drill pipe joint position D n Obtained by the following formula:

[0062] D n =avg(D2 n ,D4 n oeLh H );

[0063] Among them, if D4 n >0, the drill pipe joint position D nBy formula D n =avg(D2 n ,D4 n ) calculation; if D4 n = 0, the drill pipe joint position D n By formula D n =avg(D2 n ,L H )calculate.

[0064] It should be noted that if D4 n <0, the drill pipe joint position D n =D2 n .

[0065] Furthermore, through T n The distance between the big hook and the wellhead at the moment D3 n 、T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n , including the following steps:

[0066] Real-time record of the time T when the drill pipe joint passes through the magnetic ring sleeve N , by recording the time T N The distance between the big hook and the wellhead is D3 N ;

[0067] When you want to get T n Drill pipe joint position at time n hour:

[0068] By T n The distance between the big hook and the wellhead at the moment D3 n and T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 Calculate the movement direction and movement distance S of the big hook n ;

[0069] By the movement direction, the movement distance S n and the distance L from the magnetic ring to the wellhead H Calculate the distance D4 from the downhole drill pipe joint to the wellhead n ;

[0070] Where: N∈(1,2,3,...,n-1), n ​​is a positive integer.

[0071] It should be noted that the times 1 to n-1 are the times when the drill pipe joint passes through the magnetic ring sleeve, and the time n is the time when the well needs to be shut in.

[0072] Furthermore, the distance S n Obtained by the following formula: S n =D3 n -D3 n-1 .

[0073] Furthermore, the distance D4 n Obtained by the following formula: D4 n =L H +S n .

[0074] Furthermore, through T n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n , including the following steps:

[0075] Get dual-channel image and depth map data of the binocular camera;

[0076] Identify the drill pipe and wellhead in the image based on the image recognition model and record the coordinates of the detection frame;

[0077] Calculate the distance D1 from the drill pipe joint on the well to the wellhead based on the detection frame coordinates and the depth map data n ;

[0078] Through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n .

[0079] Furthermore, the image recognition model uses the YoloV5 model to realize image recognition, and the training process of the YoloV5 model is:

[0080] Firstly, a binocular camera with a known and fixed relative position to the wellhead is used to shoot a video of the drill pipe joint on the well. The drill pipe image data under different working conditions obtained by the binocular camera are manually labeled. Pictures containing the drill pipe joint and the wellhead are manually captured from the video. At the same time, the position labels of the drill pipe joint and the wellhead are annotated to obtain the training set for training the YoloV5 model.

[0081] According to the training set obtained in the above process, the YoloV5 model is trained on the server, the trained model is inferred through TensorRT, and then the model is packaged.

[0082] Obtain the dual-channel image data and depth map data of the binocular camera, use the trained YoloV5 model to identify the drill pipe and wellhead in the image, and record the coordinates of the detection frames corresponding to the drill pipe and wellhead.

[0083] The distance D1 from the drill pipe joint on the well to the wellhead is calculated using the fusion algorithm through the detection frame coordinates and depth map data. n .

[0084] The distance D1 from the drill pipe joint on the well to the wellhead is calculated based on the detection frame coordinates and the depth map data. n The calculation can be a technical method in the prior art, including trigonometric function algorithm, pixel calculation and depth camera calculation and so on.

[0085] Now let's take pixel calculation as an example to illustrate. Calibrate according to the calibration reference in the image. For example, according to the known length of the drill pipe joint (BT), calculate its pixel length (bt) to obtain the proportional conversion relationship between the pixel in the image and the actual length. Then calculate the pixel distance from the drill pipe joint to the wellhead to obtain the distance D1 from the drill pipe joint to the wellhead. n , the formula is as follows:

[0086]

[0087] Among them, BT represents the actual length of the drill pipe joint, which is a known value; bt represents the pixel length of the drill pipe joint; and bh represents the pixel distance between the drill pipe joint and the wellhead.

[0088] This embodiment also provides an early warning method, including the drill pipe joint position determination method described above, and the early warning method also includes the following steps:

[0089] Position the drill pipe joint D n Compared with the distance L from the gate core to the wellhead of the gate blowout preventer:

[0090] If D n =L, then an early warning is issued;

[0091] If D n ≠L, no warning will be issued.

[0092] This embodiment also provides a drill pipe joint position determination system, including a binocular camera, a magnetic ring sleeve and a distance sensor, wherein the magnetic ring sleeve is arranged underground, and the distance sensor is arranged on the big hook to obtain the distance from the big hook to the wellhead; and further includes:

[0093] Image acquisition module, used to obtain dual-channel images and depth map data of the binocular camera;

[0094] An image recognition module, used to identify the drill pipe and wellhead in the image based on the image recognition model and record the detection frame coordinates;

[0095] The first calculation module is used to calculate the nThe distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n ;

[0096] The data acquisition module is used to record in real time the time T when the drill pipe joint passes through the magnetic ring sleeve. N and time T N The distance between the hook and the wellhead is D3 N ;

[0097] The second calculation module is used to calculate the n The distance between the big hook and the wellhead at the moment D3 n 、T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ;

[0098] The drill pipe joint position calculation module is used to calculate the position of the drill pipe joint through the distance D2 n and the distance D4 n Get the drill pipe joint position D n , or through the distance D2 n and the distance L from the magnetic ring to the wellhead H Get the drill pipe joint position D n .

[0099] This embodiment also provides an early warning system, including the above-mentioned determination system, and further including:

[0100] Early warning module, used to position the drill pipe joint D n Compared with the distance L from the gate core to the wellhead of the gate blowout preventer: if D n =L, then issue an early warning; if D n ≠L, no warning will be issued;

[0101] Where: N∈(1,2,3,...,n-1), n ​​is a positive integer.

[0102] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0103] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of multiple components or the interaction relationship of multiple components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0104] In the description of the present invention, it should be understood that all terms used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be understood as a limitation on the present invention.

[0105] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the position of a drill pipe joint, comprising a binocular camera, characterized in that: It also includes a magnetic ring sleeve and a distance sensor, wherein the magnetic ring sleeve is arranged underground, and the distance sensor is arranged on the big hook, and is used to obtain the distance from the big hook to the wellhead. The determination method includes the following steps: By T n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n ; By T n The distance between the big hook and the wellhead at the moment D3 n , T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ; Through the distance D2 n and the distance D4 n Get the drill pipe joint position D n , or through the distance D2 n and the distance L from the magnetic ring to the wellhead H Get the drill pipe joint position D n .

2. A method for determining the position of a drill pipe joint according to claim 1, characterized in that: If D4 n ≥0 Drill pipe joint position D n Obtained by the following formula: <h2 style=";text-align:left;direction:ltr">D<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> (avg(D2<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> D4<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> orL<h2 style=";text-align:left;direction:ltr"> H <h2 style=";text-align:left;direction:ltr"> ); Among them, if D4 n >0, the drill pipe joint position D n By formula D n =avg(D2 n ,D4 n ) calculation; if D4 n = 0, the drill pipe joint position D n By formula D n =avg(D2 n ,L H )calculate.

3. A method for determining the position of a drill pipe joint according to claim 1, characterized in that: By T n The distance between the big hook and the wellhead at the moment D3 n , T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n , The steps include: Real-time record of the time T when the drill pipe joint passes through the magnetic ring sleeve N , by recording the time T N The distance between the big hook and the wellhead is D3 N ; When you want to get T n Drill pipe joint position at time n hour: By T n The distance between the big hook and the wellhead at the moment D3 n and T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 Calculate the movement direction and movement distance S of the big hook n ; By the movement direction, the movement distance S n and the distance L from the magnetic ring to the wellhead H Calculate the distance D4 from the downhole drill pipe joint to the wellhead n ; Where: N∈(1,2,3,...,n-1), n ​​is a positive integer.

4. A method for determining the position of a drill pipe joint according to claim 3, characterized in that: The distance S n Obtained by the following formula: S n =D3 n -D3 n-1 .

5. A method for determining the position of a drill pipe joint according to claim 3, characterized in that: The distance D4 n Obtained by the following formula: D4 n =L H +S n .

6. A method for determining the position of a drill pipe joint according to claim 1, characterized in that: By T n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n , including the following steps: Get dual-channel image and depth map data of the binocular camera; Identify the drill pipe and wellhead in the image based on the image recognition model and record the coordinates of the detection frame; Calculate the distance D1 from the drill pipe joint on the well to the wellhead based on the detection frame coordinates and the depth map data n ; Through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n .

7. A method for determining the position of a drill pipe joint according to claim 1, characterized in that: The distance D2 n Obtained by the following formula: D2 n =L F -D1 n ; Among them, L F is the distance between two adjacent drill pipe joints.

8. An early warning method, characterized in that: The method for determining the position of a drill pipe joint according to any one of claims 1 to 7, wherein the early warning method further comprises the following steps: Position the drill pipe joint D n Compared with the distance L from the gate core to the wellhead of the gate blowout preventer: If D n =L, then an early warning is issued; If D n ≠L, no warning will be issued.

9. A drill pipe joint position determination system, characterized in that: It includes a binocular camera, a magnetic ring sleeve and a distance sensor, wherein the magnetic ring sleeve is arranged underground, and the distance sensor is arranged on the big hook to obtain the distance from the big hook to the wellhead; and also includes: Image acquisition module, used to obtain dual-channel images and depth map data of the binocular camera; An image recognition module, used to identify the drill pipe and wellhead in the image based on the image recognition model and record the detection frame coordinates; The first calculation module is used to calculate the n The distance D1 from the drill pipe joint on the well to the wellhead is obtained by using the binocular camera dual-channel image and depth map data at the moment n , through distance D1 n Get the distance D2 from the downhole drill pipe joint to the wellhead n ; The data acquisition module is used to record in real time the time T when the drill pipe joint passes through the magnetic ring sleeve. N and time T N The distance between the hook and the wellhead is D3 N ; The second calculation module is used to calculate the n The distance between the big hook and the wellhead at the moment D3 n , T n-1 The distance between the big hook and the wellhead at the moment D3 n-1 and the distance L from the magnetic ring to the wellhead H Obtain the distance D4 from the downhole drill pipe joint to the wellhead n ; The drill pipe joint position calculation module is used to calculate the position of the drill pipe joint through the distance D2 n and the distance D4 n Get the drill pipe joint position D n , or through the distance D2 n and the distance L from the magnetic ring to the wellhead H Get the drill pipe joint position D n .

10. An early warning system, characterized in that: The determination system according to claim 9 further comprises: Early warning module, used to position the drill pipe joint D n Compared with the distance L from the gate core to the wellhead of the gate blowout preventer: if D n = L, then issue an early warning; if D n ≠L, no warning will be issued; Where: N∈(1,2,3,...,n-1), n ​​is a positive integer.

Images