Drilling tool coupling method and system, storage medium and product

Abstract

The invention discloses a drilling tool coupling method and system, a storage medium and a product, and relates to the technical field of drilling engineering, and the method comprises the steps: obtaining a target image of a target coupling position of a lower drilling tool; the target image is acquired by a binocular camera of the drilling tool coupling system, and the control module is in communication connection with the binocular camera; based on the target image, the internal reference of the binocular camera and the relative position relation between the binocular camera and the lower drilling tool, the current coupling height is determined; and the current coupling height is sent to an iron roughneck of the drilling tool coupling system, so that the iron roughneck controls an upper drilling tool to move to the current coupling height. Compared with the prior art in which butt joint needs to be controlled manually through naked eyes, the coupling of the drilling tool can be more accurately carried out through calculation of the target image, and meanwhile, compared with manual coupling, the coupling efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of drilling engineering, and in particular to a drilling tool coupling method, system, storage medium and product. Background Art

[0002] In the related art, when drilling and repairing wells in oil fields, it is necessary to use iron roughnecks to connect the drill tools to complete the installation / release of the drill tools. However, since the height of the drill tools may be different each time, the height of the connection needs to be manually adjusted by the staff, which requires a high level of operation of the staff and has low efficiency of connection.

[0003] Therefore, how to achieve the coupling of drilling tools more efficiently while ensuring accuracy is a problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide a drill coupling method, system, storage medium and product, aiming to solve the technical problem of how to achieve the coupling of the drill tool more efficiently while ensuring accuracy.

[0005] To achieve the above-mentioned purpose, the present application proposes a drilling tool coupling method, which comprises: Acquire a target image at a target coupling position of a lower drilling tool; the target image is acquired by a binocular camera of a drilling tool coupling system, and the control module is in communication connection with the binocular camera; Determine the current collar height based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool; The current coupling height is sent to an iron roughneck of a drilling tool coupling system, so that the iron roughneck controls the upper drilling tool to move to the current coupling height.

[0006] In one embodiment, before determining the current collar height based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool, the method further includes: Calibrate the binocular camera; Calibrate the relative position relationship between the binocular camera and the lower drilling tool; Calibrate the intrinsic parameters of the binocular camera.

[0007] In some embodiments, the binocular camera is a binocular camera integrated with thermal infrared imaging.

[0008] In addition, to achieve the above-mentioned purpose, the present application also proposes a drill pipe coupling system, the drill pipe coupling system comprising: A binocular camera is used to capture a target image at a target coupling position of a lower drilling tool; a control module, for acquiring the target image; for determining a current collar height based on the target image, an internal parameter of the binocular camera, and a relative positional relationship between the binocular camera and the lower drill tool; and for sending the current collar height to the iron roughneck; The iron roughneck is used to control the upper drilling tool to move to the current coupling height.

[0009] In some embodiments, the control module is further used to send an image acquisition instruction to the binocular camera in response to receiving a coupling instruction; the binocular camera is further used to control the lens of the binocular camera to move up and down to the same height as the target coupling position in response to the image acquisition instruction.

[0010] In some embodiments, the control module includes a visual processing unit, which is used to acquire the target image, calculate the height of the target coupling position relative to the drilling platform based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool, and obtain the current coupling height.

[0011] In some embodiments, the control module includes a control unit, and the control unit is used to obtain the current coupling height, generate a control instruction and send it to the iron roughneck, and the control instruction includes the current coupling height.

[0012] In some embodiments, the binocular camera is a binocular camera integrated with thermal infrared imaging.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the drill bit coupling method described above are implemented.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the drill bit coupling method described above are implemented.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: The target image at the target coupling position is obtained through the binocular camera, and the current coupling height is calculated based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drill bit, so that the current coupling height is sent to the iron driller, who controls the coupling to move to the current coupling height to achieve precise docking with the drill rod. Compared with the related art that requires manual visual control of docking, the present application can more accurately perform the coupling of the drill bit by calculating the target image, and at the same time, compared with manual coupling, the coupling efficiency is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of a working scene of an iron driller in the related art according to an exemplary embodiment of the present application is shown; Figure 2 A structural schematic diagram of a drill pipe coupling system provided in an embodiment of the present application is shown; Figure 3 A schematic flow chart of a drill pipe coupling method provided in an embodiment of the present application is shown; Figure 4 A schematic diagram showing a binocular camera provided by an exemplary embodiment of the present application in a working state is shown; Figure 5 A flowchart of a binocular camera calibration process provided by an exemplary embodiment of the present application is shown; Figure 6 A flow chart of a drill pipe coupling method provided by an exemplary embodiment of the present application is shown.

[0019] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0021] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0022] The main solution of the embodiment of the present application is: obtaining a target image at the target coupling position of the lower drill tool; the target image is collected by a binocular camera of the drill tool coupling system, and the control module is communicated with the binocular camera; based on the target image, the internal parameters of the binocular camera and the relative position relationship between the binocular camera and the lower drill tool, the current coupling height is determined; the current coupling height is sent to the iron driller of the drill tool coupling system, so that the iron driller controls the upper drill tool to move to the current coupling height.

[0023] In the related art, when drilling and repairing wells in oil fields, it is necessary to use iron roughnecks to connect the drill tools to complete the installation / release of the drill tools. However, since the height of the drill tools may be different each time, the height of the connection needs to be manually adjusted by the staff, which requires a high level of operation of the staff and has low efficiency of connection.

[0024] In summary, how to achieve the coupling of drilling tools more efficiently while ensuring accuracy is a problem that needs to be solved urgently.

[0025] Based on this, the present application provides a solution. Compared with the related art which requires manual visual control of the connection, the present application can more accurately connect the drill bit by calculating the target image. At the same time, compared with manual connection, the connection efficiency is greatly improved.

[0026] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a content recommendation device capable of realizing the above functions, etc. The following takes the content recommendation device as an example to illustrate this embodiment and the following embodiments.

[0027] For ease of understanding, the application scenarios of the drill tool coupling involved in the embodiment of the present application are first introduced. Figure 1 As shown, Figure 1 A schematic diagram of a drilling tool coupling provided by an exemplary embodiment of the present application is shown.

[0028] The drill rod in the drilling tool is generally divided into a multi-section structure, which is convenient for transportation and free configuration of length according to actual mining needs.

[0029] In the drilling scenario, various working conditions may occur, such as replacement of drill pipe (or drill bit) and extension of drill pipe, which require the connection of drilling tools. It is very important to ensure the connection quality and stability between multiple sections of drill pipe, because this is directly related to the safety and efficiency of drilling operations. Therefore, the iron roughneck 130 is designed in the related art to connect different sections of drilling tools.

[0030] For example, Figure 1 In the embodiment, the upper drilling tool 110 may be clamped by the tongs of the iron roughneck 130 and moved above the lower drilling tool 120 to prepare for coupling. A portion of the lower drilling tool 120 may be below the ground surface (or the drilling platform), and the upper end of the lower drilling tool 120 is above the ground surface (or the drilling platform) and corresponds to the upper drilling tool 110.

[0031] When coupling, the iron roughneck 130 clamps the upper drilling tool 110 and controls the lifting and moving of the upper drilling tool 110. The staff compares with the naked eye to make the lower end of the upper drilling tool 110 butt with the upper end of the lower drilling tool 120 to complete the coupling.

[0032] Reference Figure 2 , Figure 2 The structural schematic diagram of the drilling tool coupling system provided by the embodiment of the present application is shown. The drilling tool coupling system 200 may include a binocular camera 210 , a control module 220 and an iron roughneck 230 .

[0033] A binocular camera 210 is used to capture a target image at a target coupling position of a lower drilling tool; The control module 220 is used to obtain a target image; further used to determine the current collar height based on the target image, the internal parameters of the binocular camera 210, and the relative position relationship between the binocular camera 210 and the lower drilling tool; and further used to send the current collar height to the iron roughneck; The iron roughneck 230 is used to control the upper drilling tool to move to the current coupling height.

[0034] In some embodiments, the control module 220 is further configured to send an image acquisition instruction to the binocular camera 210 in response to receiving a coupling instruction; The binocular camera 210 is also used to control the lens of the binocular camera 210 to move up and down to the same height as the target coupling position in response to the image acquisition instruction.

[0035] In some embodiments, the control module 220 includes a visual processing unit 221, which is used to acquire a target image, calculate the height of the target coupling position relative to the drilling platform based on the target image, the internal parameters of the binocular camera 210, and the relative position relationship between the binocular camera 210 and the lower drilling tool, and obtain the current coupling height.

[0036] In some embodiments, the control module 220 further includes a control unit 222, and the control unit 222 is used to obtain the current coupling height, generate a control instruction, and send it to the iron roughneck 230, where the control instruction includes the current coupling height.

[0037] In some embodiments, the binocular camera 210 is a binocular camera integrated with thermal infrared imaging.

[0038] For the data interaction between the various components in the above drilling tool coupling system and the specific implementation method, please refer to the relevant content in the following method embodiment.

[0039] Combination Figure 2 A drill tool coupling system is provided, and an implementation method of a drill tool coupling method provided in an embodiment of the present application is explained here.

[0040] Reference Figure 3 , Figure 3 The flowchart of the drilling tool coupling method provided in the embodiment of the present application is shown. The drilling tool coupling method can be applied to the control module in the drilling tool coupling system in the following embodiment, including the following steps S110 to S130: Step S110, acquiring a target image at a target coupling position of the lower drilling tool.

[0041] Among them, the target image is collected by the binocular camera of the drilling tool coupling system.

[0042] like Figure 1 As shown, the target coupling position refers to the upper end of the lower drilling tool (e.g. Figure 1 The shaded portion of the middle and lower drilling tool 120).

[0043] In some embodiments, when the drilling tool needs to be coupled, the staff can send a coupling instruction to the control module through a preset control platform (for example, a computer, a mobile terminal, etc.). After receiving the coupling instruction, the control unit in the control module generates an image acquisition instruction and sends it to the binocular camera.

[0044] In this embodiment, the binocular camera refers to a camera including two horizontally placed cameras. Through the two horizontally placed cameras, the binocular camera can imitate the imaging system of the human binocular vision principle. The two cameras can capture two slightly different images of the same scene (which need to be calibrated by the method in the following embodiment). By calculating the difference between the two images, the depth information (such as height, length, etc.) of the objects in the scene can be obtained, thereby realizing the perception of three-dimensional space.

[0045] In some embodiments, the binocular camera can also be integrated with thermal infrared imaging. Specifically, the thermal imaging binocular camera combines thermal imaging technology and binocular vision technology, and can achieve shooting at night or in low visibility environments. Thermal imaging technology uses infrared radiation emitted by the object itself to form an image. This radiation is related to the temperature of the object. Therefore, through thermal imaging technology, the outline and heat distribution of the object can be detected and displayed under poor lighting conditions. The use of thermal imaging technology combined with binocular vision technology can achieve dual light (visible light and infrared light) fusion, thereby obtaining a more accurate fused image.

[0046] In some embodiments, when the binocular camera does not receive an image acquisition instruction within a set time, it can be in a standby state; in response to receiving the image acquisition instruction, the binocular camera switches from the standby state to the working state and starts to perform subsequent shooting operations.

[0047] In some embodiments, the binocular camera may have a feature recognition function. Specifically, a feature of an object may be specified, and each time the binocular camera receives an image acquisition instruction, the scene may be recognized in the imaged picture. When the specified feature is recognized, the binocular camera may adjust the lens to be flush with the feature, so that the target image obtained by subsequent shooting will not have an angle deviation, so that the current collar height calculated in the subsequent embodiments is more accurate.

[0048] For example, the binocular camera can be installed on the drilling platform through a bracket (or a gimbal and other equipment), the camera of the binocular camera is facing the lower drilling tool, and the feature to be anchored is pre-specified as the target coupling position of the lower drilling tool. When the binocular camera receives an image acquisition instruction, the camera of the binocular camera starts working, and when the target coupling position of the lower drilling tool appears in the field of view, the binocular camera controls the bracket to move up and down until the camera moves to the same height as the target coupling position.

[0049] After completing the above operations, the binocular camera starts to shoot the target collar position to obtain the target image.

[0050] Step S120, determining the current coupling height based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool.

[0051] The intrinsic parameters of a stereo camera refer to the geometric and optical characteristic parameters inside the camera. These parameters determine how the camera in the stereo camera projects points in the three-dimensional world onto the two-dimensional image plane. The intrinsic parameters are crucial for correctly recovering three-dimensional information from the images of the two cameras.

[0052] In this embodiment, the internal parameters may include parameters such as focal length, pixel size, and distortion coefficient, which are not described in detail in this embodiment of the present application.

[0053] In addition to the internal parameters, the binocular camera also includes external parameters, that is, external parameters. In this embodiment, the external parameters may include the distance between the two cameras of the binocular camera, the relative position relationship between the binocular camera and the lower drilling tool, etc.

[0054] The above internal parameters and external parameters can be calibrated in advance before step S110 to step S130 of this embodiment. As a feasible implementation, the parameter calibration process can include the following steps: ① calibrating the relative position relationship between the binocular camera and the lower drilling tool; ② calibrating the internal parameters of the binocular camera.

[0055] In step ①, the angle of the binocular camera, that is, the shooting angle of the two cameras, can be manually adjusted. For example, the angle can be adjusted so that the target coupling position (such as the upper end of the lower drilling tool) is at the shooting center, thereby ensuring that the subsequent target image will not produce a large error caused by the angle tilt.

[0056] In step ②, the focal length and pixel width of each camera in the binocular camera can be adjusted. It is understandable that the distance between the two cameras of the binocular camera is generally a fixed value set at the factory and cannot be changed. The focal lengths of the two cameras should be consistent, and the pixel widths of the two cameras should also be consistent, so that there will be no fusion failure due to different parameters during image fusion. In addition, the proportional relationship between the obtained target image and the real scene can be determined by the focal length and pixel width, thereby determining the three-dimensional information.

[0057] Based on steps ① and ②, the parameters of the binocular camera are pre-calibrated. After obtaining the target image in step S120, the binocular camera can send the target image to the visual processing unit, and the visual processing unit calculates the three-dimensional information of the object in the target image based on the calibrated parameters through a series of preset calculation formulas.

[0058] It is understandable that, since the lower drill bit stays at a different position each time, one of the most important parameters when coupling is the position of the lower drill bit at that time, that is, the current coupling height. Based on the above preset calculation formula, internal parameters, external parameters and target image, the vertical distance between the target coupling position of the lower drill bit and the ground (or drilling platform) can be calculated, which is used as the current coupling height.

[0059] After calculating the current collar height, the visual processing unit sends the current collar height to the control unit, and the control unit executes step S130.

[0060] Step S130, sending the current coupling height to the iron roughneck of the drilling tool coupling system, so that the iron roughneck controls the upper drilling tool to move to the current coupling height.

[0061] After acquiring the current coupling height sent by the visual processing unit, the control unit may generate a control instruction based on the current coupling height and send the control instruction to the iron roughneck.

[0062] In some embodiments, the iron roughneck may include a processing unit, a power unit, and a sensor unit. When the processing unit receives a control instruction sent by the control unit, it may obtain the current coupling height in the control instruction, thereby controlling the power unit (eg, a hydraulic cylinder) to move.

[0063] During the movement of the power unit, the sensor unit can continuously monitor the position of the upper drilling tool clamped on the iron roughneck. In some embodiments, when the lower end of the upper drilling tool moves to the current coupling height, the iron roughneck cuts off the power output of the power unit.

[0064] At this point, the upper drill tool and the lower drill tool have been connected. Since the drill tools are generally connected by threads in the related art, the subsequent iron driller needs to clamp the upper drill tool and move it to screw the upper drill tool into the lower drill tool to achieve the final coupling.

[0065] This embodiment provides a method for coupling drill tools, which uses a binocular camera to obtain a target image at a target coupling position, thereby calculating the current coupling height based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drill tool, and then sending the current coupling height to the iron driller, who controls the coupling member to move to the current coupling height to achieve precise docking with the drill rod. Compared with the related art that requires manual visual control of docking, this application can more accurately couple drill tools by calculating the target image, and at the same time, greatly improves the coupling efficiency compared to manual coupling.

[0066] For example, in order to help understand the implementation process of the drilling tool coupling method obtained by combining this embodiment with the above embodiments, please refer to Figure 4 , Figure 5 as well as Figure 6 , specifically: Taking the first drilling tool coupling as an example, the binocular camera is calibrated first. After the calibration is completed, the angle of the binocular camera is adjusted so that the target coupling position is in the center of the binocular camera field of view. The binocular camera is used for test shooting, and the images taken by the binocular camera are fused and enhanced, such as Gaussian smoothing. In addition, the intrinsic parameters (such as pixel width) and extrinsic parameters (such as the relative position relationship between the binocular camera and the lower drilling tool) of the binocular camera need to be calibrated for use in subsequent calculations.

[0067] When actually coupling the drill bit, the target coupling position of the upper drill bit can be photographed by a binocular camera to obtain a target image. Based on the target image, internal parameters and external parameters, the height of the target coupling position relative to the ground, that is, the current coupling height, is calculated.

[0068] If the current coupling height is calculated, the iron roughneck controls the upper drilling tool to move to the current coupling height, and the coupling is completed.

[0069] If the calculation fails to obtain the current coupling height, an error prompt will be given, which may be due to errors in the internal and external parameters of the binocular camera, prompting the staff to check.

[0070] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the content recommendation method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0071] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the drill tool coupling method in the above-mentioned embodiment.

[0072] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0073] The computer-readable storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0074] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device can write a computer program code for performing the operation of the present application in one or more programming languages ​​or a combination thereof. The programming language includes an object-oriented programming language, such as Java, Smalltalk, C++, and a conventional procedural programming language, such as "C" language or a similar programming language. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0075] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0076] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0077] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned drill coupling method, and can solve the technical problem of how to achieve the coupling of drill tools more efficiently while ensuring accuracy. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the drill coupling method provided by the above-mentioned embodiment, and will not be repeated here.

[0078] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the drilling tool coupling method as described above are implemented.

[0079] The computer program product provided by the present application can solve the technical problem of how to achieve the coupling of the drilling tool more efficiently while ensuring accuracy. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the drilling tool coupling method provided by the above embodiment, which will not be repeated here.

[0080] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A drilling tool coupling method, characterized in that: A control module applied to a drilling tool coupling system, wherein the drilling tool coupling method comprises: Acquire a target image at a target coupling position of a lower drilling tool; the target image is acquired by a binocular camera of a drilling tool coupling system, and the control module is in communication connection with the binocular camera; Determine the current collar height based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool; The current coupling height is sent to an iron roughneck of a drilling tool coupling system, so that the iron roughneck controls the upper drilling tool to move to the current coupling height.

2. The drilling tool coupling method according to claim 1, characterized in that: Before determining the current collar height based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool, the method further includes: Calibrate the binocular camera; Calibrate the relative position relationship between the binocular camera and the lower drilling tool; Calibrate the intrinsic parameters of the binocular camera.

3. The drilling tool coupling method according to claim 1, characterized in that: The binocular camera is a binocular camera integrated with thermal infrared imaging.

4. A drilling tool coupling system, characterized in that: The drilling tool coupling system comprises: A binocular camera is used to capture a target image at a target coupling position of a lower drilling tool; a control module, for acquiring the target image; for determining a current collar height based on the target image, an internal parameter of the binocular camera, and a relative positional relationship between the binocular camera and the lower drill tool; and for sending the current collar height to the iron roughneck; The iron roughneck is used to control the upper drilling tool to move to the current coupling height.

5. The drilling tool coupling system according to claim 4, characterized in that: The control module is also used to send an image acquisition instruction to the binocular camera in response to receiving the collar instruction; The binocular camera is also used to control the lens of the binocular camera to move up and down to the same height as the target coupling position in response to the image acquisition instruction.

6. The drilling tool coupling system according to claim 4, characterized in that: The control module includes a visual processing unit, which is used to obtain the target image, calculate the height of the target coupling position relative to the drilling platform based on the target image, the internal parameters of the binocular camera, and the relative position relationship between the binocular camera and the lower drilling tool, and obtain the current coupling height.

7. The drilling tool coupling system according to claim 5, characterized in that: The control module includes a control unit, and the control unit is used to obtain the current coupling height, generate a control instruction and send it to the iron roughneck, and the control instruction includes the current coupling height.

8. The drilling tool coupling system according to claim 4, characterized in that: The binocular camera is a binocular camera integrated with thermal infrared imaging.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the drill coupling method according to any one of claims 1 to 3 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, which implements the steps of the drill coupling method according to any one of claims 1 to 3 when executed by a processor.

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