Judgment method, device, equipment and system for tightening equipment and storage medium

Abstract

The invention discloses a distinguishing method, device, equipment and system for tightening equipment and a storage medium, and the method comprises the steps: obtaining a first image from an image collection device when the tightening of a current oil pipe is completed, and the first image comprises an image of an opening special head after the tightening of the current oil pipe is completed; positioning and intercepting an interested image area from the first image as a second image, wherein the interested image area comprises a head area of the opening special head after the current oil pipe is tightened; comparing the color of the opening corresponding position of the opening special head in the second image with the color of the opening special head body; and when the color of the corresponding position of the opening of the opening special head is different from the color of the opening special head body, a signal indicating that the opening of the opening special head is not reversed to the original position is sent to a control device for controlling the opening special head to advance and retreat. Whether the opening of the opening special head is reversed to the original position or not is judged when the automatic oil pipe tightening equipment tightens the oil pipe, and the oil pipe and the opening special head can be protected.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic oil pipe tightening equipment, and in particular to a determination method, device, equipment, system and storage medium for tightening equipment. Background Art

[0002] Due to the particularity of the oil pipe connection, a wrench with a special open head is required for tightening. In order to improve the efficiency of tightening the oil pipe, the original manual tightening with a wrench with a special open head is changed to automatic tightening with a robot equipped with a wrench with a special open head. This brings a problem: the robot cannot recognize whether the opening of the special open head is reversed to the original position after tightening. Figure 1 As shown in the figure, A shows that the opening of the opening special head is reversed to the original position, and B shows that the opening of the opening special head is not reversed to the original position. When the opening of the opening special head is not reversed to the original position, if the robot still performs the gun retraction action at this time, the oil pipe will be pulled and the opening special head of the tightening gun head will be damaged. This will result in: first, the damaged oil pipe and the opening special head of the tightening gun head need to be scrapped, and the loss cost is huge; second, after replacing the new opening special head of the tightening gun head, the robot trajectory needs to be readjusted, and the long working hours required to adjust the robot trajectory lead to a long fault recovery time; third, the opening special head of the tightening gun head is an imported non-standard customized part with an extremely long delivery time. If there is no spare part to replace it after damage, it takes a long time to add a staff member for manual emergency tightening, resulting in reduced work efficiency, increased costs, and increased work intensity. Summary of the invention

[0003] To solve at least one aspect of the above problems, the present invention provides a method for distinguishing tightening equipment, comprising the following steps: when the current oil pipe is tightened, obtaining a first image from an image acquisition device, the first image including an image of an opening special head after the current oil pipe is tightened; locating and intercepting an image area of ​​interest from the first image as a second image, the image area of ​​interest including a head area of ​​the opening special head after the current oil pipe is tightened; comparing the color of the opening corresponding position of the opening special head in the second image with the color of the opening special head body; when there is a difference between the color of the opening corresponding position of the opening special head and the color of the opening special head body, sending a signal to a control device that controls the advance and retreat of the opening special head that the opening reversal of the opening special head has not returned to the original position.

[0004] Preferably, the following steps are also included: setting a plurality of detection frames at the corresponding positions of the opening of the special head in the second image; obtaining a corresponding hue-saturation-lightness model image according to the three-primary color model image located in the detection frame; extracting the RGB three-primary color values ​​of the main body of the special head; obtaining the hue-saturation-lightness HSV value of the main body of the special head according to the RGB three-primary color values ​​of the main body of the special head; setting an upper threshold and a lower threshold according to the hue-saturation-lightness HSV value of the main body of the special head; and determining the detection result of the special head according to the upper threshold and the lower threshold, and determining the detection result of the special head according to each detection frame in turn. The hue-saturation-lightness model image in the detection frame is obtained to obtain the corresponding grayscale image; the pixel value of the area of ​​the color to be detected in each grayscale image is assigned to the value A; the number B of pixels whose pixel value is the value A in each grayscale image is calculated in sequence; the number B of each grayscale image is compared with the number B threshold; wherein the number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head is reversed to the original position; and it is determined according to the comparison result whether there is a difference between the color of the opening corresponding to the opening of the opening special head after the current oil pipe is tightened and the color of the opening special head body.

[0005] Preferably, the image region of interest is determined according to the label of the current oil pipe tightening point and the relative position of the current oil pipe tightening point in the first image.

[0006] The present application also provides a discrimination device for tightening equipment, the device comprising: an image receiving module, configured to obtain a first image from an image acquisition device when the current oil pipe is tightened, the first image including an image of an opening special head after the current oil pipe is tightened; a local image capture module, configured to locate and capture an image area of ​​interest from the first image as a second image, the image area of ​​interest including a head area of ​​the opening special head after the current oil pipe is tightened; a comparison module, configured to compare the color of the opening corresponding position of the opening special head in the second image with the color of the opening special head body; a sending module, configured to send a signal to a control device for controlling the advance and retreat of the opening special head indicating that the opening reversal of the opening special head has not returned to the original position when there is a difference between the color of the opening corresponding position of the opening special head and the color of the opening special head body.

[0007] Preferably, the comparison module includes: a detection frame setting module, configured to set a plurality of detection frames at the opening corresponding position of the opening of the special head in the second image; a first image conversion module, configured to obtain a corresponding hue-saturation-brightness model image according to the three-primary color model image located in the detection frame; a feature value extraction module, configured to extract the RGB three-primary color values ​​of the opening special head body; a feature value conversion module, configured to obtain the hue-saturation-brightness HSV value of the opening special head body according to the RGB three-primary color values ​​of the opening special head body; a threshold setting module, configured to set an upper threshold and a lower threshold according to the hue-saturation-brightness HSV value of the opening special head body; a second image conversion module, configured to extract the hue-saturation-brightness HSV value of the opening special head body according to the RGB three-primary color value of the opening special head body; According to the upper threshold and the lower threshold, and in turn according to the hue-saturation-lightness model image in each detection frame, the corresponding grayscale image is obtained; the assignment module is configured to assign the pixel value of the area of ​​the color to be detected in each grayscale image to the value A; the calculation module is configured to calculate the number B of pixel points whose pixel value is the value A in each grayscale image in turn; the comparison module is configured to compare the number B of each grayscale image with the number B threshold; wherein the number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head is reversed to the original position; the judgment module is configured to judge whether there is a difference between the color of the opening position of the opening special head and the color of the opening special head body after the current oil pipe is tightened according to the comparison result.

[0008] The present application also provides a device for identifying a tightening device, the device comprising a memory and a processor, the memory storing a computer program, and implementing any of the above-mentioned methods for identifying a tightening device when the computer program is executed by the processor.

[0009] The present application also provides a control system for tightening equipment, comprising a first control device, a second control device, a third control device, a fourth control device, an image acquisition device and the above-mentioned identification device for tightening equipment; the first control device is used to control the wrench with an open special head to perform tightening work; the second control device is used to control the robot to run to each oil pipe tightening point and control the advance and retreat of the open special head; the third control device is used to send a signal to start acquisition to the image acquisition device; the image acquisition device is used to acquire images within the field of view; the image acquisition device and the third control device and the identification device All are communicatively connected; the first controller, the second controller, the third controller and the discrimination device are all communicatively connected with the fourth controller, which is used to receive the current oil pipe tightening completion signal from the first controller, and control the third controller to send a start acquisition signal to the image acquisition device when receiving the current oil pipe tightening completion signal, and receive the signal of whether the opening reversal of the opening special head of the discrimination device has returned to the original position, and send a stop gun retraction signal to the second control device when receiving the signal that the opening reversal of the opening special head has not returned to the original position, and send a continue operation signal to the second control device when receiving the signal that the opening reversal of the opening special head has returned to the original position.

[0010] Preferably, the image acquisition device adopts an industrial camera.

[0011] Preferably, the third control device and the discrimination device are integrated together.

[0012] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above items is executed.

[0013] The method, device, equipment, system and storage medium for identifying a tightening device of the present invention have the following beneficial effects:

[0014] (1) The present application sets an image acquisition device in the working area of ​​the automatic tightening device for the oil pipe. After the automatic tightening device for the oil pipe is tightened, the image acquisition device is started to acquire an image of the working area and transmit it to the device of the present application, so as to judge whether there is a difference between the color of the opening corresponding to the position of the opening of the special opening head and the color of the main body of the special opening head, and then controls the advance and retreat of the special opening head according to the judgment result, so as to realize the judgment of whether the opening of the special opening head of the oil pipe is reversed to the original position when the automatic tightening device for the oil pipe is tightened. This helps to protect the oil pipe and the special opening head, thereby reducing costs and ensuring work efficiency.

[0015] (2) The present application determines whether the opening of the special opening head is reversed to its original position by determining whether there is a difference between the color at the opening corresponding position of the special opening head and the color of the special opening head body. This makes the determination result of the present application less affected by changes in the ambient light source, which helps to improve the determination accuracy of the present application.

[0016] (3) The present application only requires one image acquisition device to simultaneously determine whether the special opening head has been reversed to its original position after the tightening of multiple oil pipe tightening points is completed. It is only necessary to add or change the region of interest in the first image acquired based on the position and number of the multiple oil pipe tightening points. In addition, the present application adopts a method of acquiring images and making judgments based on the images, without the need to contact the opening of the special opening head, thereby avoiding the possibility of causing wear to the special opening head during detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0018] Figure 1 A schematic diagram showing the automatic tightening device for oil pipes being reversed to the original position and not being reversed to the original position;

[0019] Figure 2 A flow chart of a method for distinguishing a tightening device according to an embodiment of the present invention is shown;

[0020] Figure 3 A schematic diagram showing an image region of interest in a method for identifying a tightening device according to an embodiment of the present invention is shown;

[0021] Figure 4 A schematic diagram showing a detection frame in a method for distinguishing a tightening device according to an embodiment of the present invention is shown;

[0022] Figure 5 A structural block diagram of a device for distinguishing a tightening device according to an embodiment of the present invention is shown;

[0023] Figure 6 A structural block diagram of a control system for a tightening device according to an embodiment of the present invention is shown.

[0024] Description of reference numerals:

[0025] 1. Oil pipe; 2. Open special head; 31. Image receiving module; 32. Local image capture module; 33. Comparison module; 331. Detection frame setting module; 332. First image conversion module; 333. Feature value extraction module; 334. Feature value conversion module; 335. Threshold setting module; 336. Second image conversion module; 337. Assignment module; 338. Calculation module; 339. Comparison module; 3310. Judgment module; 34. Sending module; 4. Discrimination device; 5. Image acquisition device; 51. Connecting frame; 6. First control device; 7. Second control device; 8. Third control device; 9. Fourth control device. DETAILED DESCRIPTION

[0026] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0027] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0028] In order to at least partially solve one or more of the above problems and other potential problems, the embodiments of the present disclosure provide a method for identifying a tightening device, such as Figure 2 As shown, the following steps are included: when the current oil pipe 1 is tightened, a first image is obtained from the image acquisition device 5, and the first image includes an image of the opening special head 2 after the current oil pipe 1 is tightened; in some embodiments, there will be one or more tightening points of the oil pipe 1 on the same vehicle, and one or more vehicles will perform the tightening operation of the oil pipe 1 at the same time. The field of view of an image acquisition device 5 includes multiple tightening points of the oil pipe 1 on the same vehicle or on different vehicles. Specifically, the image acquisition device 5 adopts an industrial camera, and more specifically, the industrial camera adopts a Keyence IV-HG series ultra-small image recognition sensor.

[0029] The image region of interest is located and intercepted from the first image as the second image, and the image region of interest includes the head region of the special head 2 of the opening after the current oil pipe 1 is tightened. In some embodiments, when an image acquisition device 5 is used to simultaneously acquire images of multiple tightening points of the oil pipe 1, the image region of interest is determined according to the label of the tightening point of the current oil pipe 1 and the relative position of the tightening point of the current oil pipe 1 in the first image. Specifically, when the image acquisition device 5 uses the Keyence IV-HG series ultra-small image recognition sensor, the Keyence IV-Navigator software supporting the Keyence IV-HG series ultra-small image recognition sensor is used to locate and intercept the image region of interest in the acquired first image, such as Figure 3 shown.

[0030] Compare the color at the corresponding position of the opening of the opening special head 2 in the second image with the color of the opening special head 2 body; in a preferred embodiment, set a plurality of detection frames at the corresponding position of the opening of the opening special head 2 in the second image; obtain the corresponding hue-saturation-lightness model image according to the three-primary color model image located in the detection frame; extract the RGB three-primary color values ​​of the opening special head 2 body; obtain the hue-saturation-lightness HSV value of the opening special head 2 body according to the RGB three-primary color values ​​of the opening special head 2 body; set the upper and lower thresholds according to the hue-saturation-lightness HSV values ​​of the opening special head 2 body; The upper and lower thresholds are obtained, and the corresponding grayscale images are obtained according to the hue-saturation-lightness model images in each detection frame in turn; the pixel values ​​of the area of ​​the color to be detected in each grayscale image are assigned to the value A; the number B of pixels whose pixel values ​​are the value A in each grayscale image is calculated in turn; the number B of each grayscale image is compared with the number B threshold; wherein the number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head 2 is reversed to the original position; and it is determined according to the comparison result whether there is a difference between the color at the corresponding position of the opening of the opening special head 2 after the current oil pipe 1 is tightened and the color of the opening special head 2 body.

[0031] In a specific embodiment, when the image acquisition device 5 adopts the Keyence IV-HG series ultra-small image recognition sensor, a program is written in the software supporting the Keyence IV-HG series ultra-small image recognition sensor to compare whether the color at the opening corresponding position of the opening special head 2 is the same as the color of the opening special head 2 body, including the following steps: using the Keyence IV-Navigator software supporting the Keyence IV-HG series ultra-small image recognition sensor to set a number of detection frames at the opening corresponding position of the opening special head 2 in the second image. Figure 4As shown, there is no limit to the number of detection frames. In this embodiment, the number of detection frames is 4; according to the three-primary color model image located in the detection frame, the corresponding hue-saturation-lightness model image is obtained; the RGB three-primary color values ​​of the opening special head 2 body are extracted by using the Keyence IV-Navigator software; according to the RGB three-primary color values ​​of the opening special head 2 body, the hue-saturation-lightness HSV value of the opening special head 2 body is obtained; according to the hue-saturation-lightness HSV value of the opening special head 2 body, the upper limit threshold and the lower limit threshold are set; according to the upper limit threshold and the lower limit threshold, and in turn according to the color in each detection frame The tone-saturation-lightness model image is obtained to obtain the corresponding grayscale image; the pixel value of the area of ​​the color to be detected in each grayscale image is assigned to the value A; the number B of pixels whose pixel value is the value A in each grayscale image is calculated in sequence using the Keyence IV-Navigator software; the number B of each grayscale image is compared with the number B threshold; wherein the number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head 2 is reversed to the original position; and according to the comparison result, it is determined whether there is a difference between the color of the position corresponding to the opening of the opening special head 2 after the current oil pipe 1 is tightened and the color of the opening special head 2 body.

[0032] When there is a difference between the color of the opening corresponding position of the opening special head 2 and the color of the opening special head 2 body, a signal indicating that the opening of the opening special head 2 has not been reversed to the original position is sent to the control device for controlling the advance and retreat of the opening special head 2.

[0033] The present application also provides a device for determining a tightening device, such as Figure 5 As shown, the device includes: an image receiving module 31, configured to obtain a first image from the image acquisition device 5 when the current oil pipe 1 is tightened, the first image including the image of the opening special head 2 after the current oil pipe 1 is tightened; a local image interception module 32, configured to locate and intercept an image area of ​​interest from the first image as a second image, the image area of ​​interest including the head area of ​​the opening special head 2 after the current oil pipe 1 is tightened; a comparison module 33, configured to compare the color of the opening corresponding position of the opening special head 2 in the second image with the color of the opening special head 2 body; a sending module 34, configured to send a signal that the opening of the opening special head 2 is reversed and has not returned to the original position to the control device for controlling the advance and retreat of the opening special head 2 when there is a difference between the color of the opening corresponding position of the opening of the opening special head 2 and the color of the opening special head 2 body.

[0034] In a preferred embodiment, the comparison module 33 includes: a detection frame setting module 331, configured to set a plurality of detection frames at the opening corresponding position of the opening special head 2 in the second image; a first image conversion module 332, configured to obtain a corresponding hue-saturation-brightness model image based on the three-primary color model image located in the detection frame; a feature value extraction module 333, configured to extract the RGB three-primary color values ​​of the opening special head 2 body; a feature value conversion module 334, configured to obtain the hue-saturation-brightness HSV value of the opening special head 2 body based on the RGB three-primary color values ​​of the opening special head 2 body; a threshold setting module 335, configured to set an upper threshold and a lower threshold based on the hue-saturation-brightness HSV value of the opening special head 2 body; a second image conversion module 336, The configuration is used to obtain the corresponding grayscale image according to the upper threshold and the lower threshold, and in turn according to the hue-saturation-lightness model image in each detection frame; the assignment module 337 is configured to assign the pixel value of the area of ​​the color to be detected in each grayscale image to the numerical value A; the calculation module 338 is configured to calculate the number B of pixel points whose pixel value is the numerical value A in each grayscale image in turn; the comparison module 339 is configured to compare the number B of each grayscale image with the number B threshold; wherein the number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head 2 is reversed to the original position; the judgment module 3310 is configured to judge whether there is a difference between the color of the position corresponding to the opening of the opening special head 2 after the current oil pipe 1 is tightened and the color of the opening special head 2 body according to the comparison result.

[0035] The present application also provides a device for identifying a tightening device, the device comprising a memory and a processor, the memory storing a computer program, and implementing any of the above-mentioned methods for identifying a tightening device when the computer program is executed by the processor.

[0036] The present application also provides a control system for a tightening device, such as Figure 6As shown, it includes a first control device 6, a second control device 7, a third control device 8, a fourth control device 9, an image acquisition device 5 and the above-mentioned identification device 4 for tightening equipment; the first control device 6 is used to control the wrench with an open special head 2 to perform tightening work; the second control device 7 is used to control the robot to run to each tightening point of the oil pipe 1 and control the advance and retreat of the open special head 2; the third control device 8 is used to send a signal to start acquisition to the image acquisition device 5, preferably, the third control device 8 and the identification device 4 are integrated together; the image acquisition device 5 is used to acquire images within the field of view, preferably, the image acquisition device 5 adopts an industrial camera, specifically, the industrial camera adopts the Keyence IV-HG series ultra-small image recognition sensor; the image acquisition device 5 is connected to the third control device 8 and the identification device 4 for receiving the first The first controller, the second controller, the third controller and the discrimination device 4 are all connected in communication with the fourth controller, and are used to receive the arrival signal of the second control device 7, and send the start signal to the first control device 6 when receiving the signal of the second control device 7, receive the tightening completion signal of the current oil pipe 1 from the first controller, and control the third controller to send the start acquisition signal to the image acquisition device 5 when receiving the tightening completion signal of the current oil pipe 1, and receive the signal of whether the opening of the special head 2 of the discrimination device 4 has been reversed to the original position, and send a stop gun retraction signal to the second control device 7 when receiving the signal that the opening of the special head 2 has not been reversed to the original position, and send a continue operation signal to the second control device 7 when receiving the signal that the opening of the special head 2 has been reversed to the original position.

[0037] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above items is executed.

[0038] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. A method for identifying a tightening device, characterized in that: The following steps are involved: When the current oil pipe (1) is tightened, a first image is acquired from the image acquisition device (5), the first image including an image of the opening special head (2) after the current oil pipe (1) is tightened; Locating and intercepting an image region of interest from the first image as a second image, wherein the image region of interest includes a head region of an opening special head (2) after the current oil pipe (1) is tightened; Comparing the color of the opening corresponding position of the opening special head (2) in the second image with the color of the opening special head (2) body; When there is a difference between the color of the opening corresponding position of the opening special head (2) and the color of the opening special head (2) body, a signal indicating that the opening of the opening special head (2) has not been reversed to the original position is sent to a control device for controlling the advance and retreat of the opening special head (2).

2. A method for identifying a tightening device according to claim 1, characterized in that: The following steps are also included: Setting a plurality of detection frames at positions corresponding to the opening of the opening special head (2) in the second image; According to the three-primary color model image located in the detection frame, a corresponding hue-saturation-lightness model image is obtained; Extract the RGB three primary color values ​​of the opening special head (2) body; According to the RGB three primary color values ​​of the main body of the opening special head (2), the hue-saturation-lightness HSV value of the main body of the opening special head (2) is obtained; According to the hue-saturation-lightness HSV value of the main body of the opening special head (2), an upper threshold and a lower threshold are set; According to the upper threshold and the lower threshold, and in turn according to the hue-saturation-lightness model image in each detection frame, a corresponding grayscale image is obtained; Assign the pixel value of the area to be detected in each grayscale image to the value A; Calculate the number B of pixels whose pixel value is value A in each grayscale image in turn; Compare the number B of each grayscale image with the number B threshold; The number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head (2) is reversed to the original position; According to the comparison result, it is determined whether there is a difference between the color of the opening corresponding position of the opening special head (2) and the color of the opening special head (2) body after the current oil pipe (1) is tightened.

3. A method for identifying a tightening device according to claim 1, characterized in that: The image region of interest is determined according to the label of the tightening point of the current oil pipe (1) and the relative position of the tightening point of the current oil pipe (1) in the first image.

4. A determination device for tightening equipment, characterized in that: The device comprises: An image receiving module (31) is configured to acquire a first image from an image acquisition device (5) when the current oil pipe (1) is tightened, the first image comprising an image of the opening special head (2) after the current oil pipe (1) is tightened; A local image capture module (32) is configured to locate and capture an image region of interest from the first image as a second image, wherein the image region of interest includes a head region of the opening special head (2) after the current oil pipe (1) is tightened; A comparison module (33) configured to compare the color of the opening corresponding position of the opening special head (2) in the second image with the color of the opening special head (2) body; The sending module (34) is configured to send a signal indicating that the opening of the special opening head (2) has not been reversed to its original position to a control device for controlling the advance and retreat of the special opening head (2) when there is a difference between the color at the opening corresponding position of the special opening head (2) and the color of the main body of the special opening head (2).

5. A determination device for tightening equipment according to claim 4, characterized in that: The comparison module (33) comprises: A detection frame setting module (331) configured to set a plurality of detection frames at positions corresponding to the opening of the opening special head (2) in the second image; A first image conversion module (332) is configured to obtain a corresponding hue-saturation-lightness model image according to a three-primary color model image located within a detection frame; A feature value extraction module (333) configured to extract RGB three primary color values ​​of the opening special head (2) body; A feature value conversion module (334) is configured to obtain the hue-saturation-value HSV value of the main body of the opening special head (2) according to the RGB three primary color values ​​of the main body of the opening special head (2); A threshold setting module (335) is configured to set an upper threshold and a lower threshold according to the hue-saturation-value HSV value of the main body of the opening special head (2); A second image conversion module (336) is configured to obtain a corresponding grayscale image according to an upper threshold value and a lower threshold value and in turn according to a hue-saturation-brightness model image in each detection frame; An assignment module (337) configured to assign a pixel value of a region of a color to be detected in each grayscale image to a value A; A calculation module (338), configured to sequentially calculate the number B of pixels having a pixel value of value A in each grayscale image; A comparison module (339) is configured to compare the number B of each grayscale image with a number B threshold; wherein the number B threshold is determined according to the number B in the grayscale image corresponding to each detection frame when the opening of the opening special head (2) is reversed to the original position; The judgment module (3310) is configured to judge whether there is a difference between the color of the opening corresponding position of the opening special head (2) and the color of the opening special head (2) body after the current oil pipe (1) is tightened according to the comparison result.

6. A device for identifying tightening equipment, characterized in that: The device comprises a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the method for distinguishing a tightening device according to any one of claims 1 to 3 is implemented.

7. A control system for tightening equipment, characterized in that: It comprises a first control device (6), a second control device (7), a third control device (8), a fourth control device (9), an image acquisition device (5) and a determination device for a tightening device as claimed in claim 6; A first control device (6) is used to control the wrench with the open special head (2) to perform tightening work; A second control device (7) is used to control the robot to move to each tightening point of the oil pipe (1) and control the advance and retreat of the opening special head (2); A third control device (8) is used to send a signal to start acquisition to the image acquisition device (5); An image acquisition device (5) is used to acquire images within a visual field; the image acquisition device (5) is communicatively connected to the third control device (8) and the identification device (4); The first controller, the second controller, the third controller and the identification device (4) are all connected to the fourth controller for communication, and are used to receive a signal from the first controller indicating that the tightening of the current oil pipe (1) is completed, and control the third controller to send a start acquisition signal to the image acquisition device (5) when receiving the signal indicating that the tightening of the current oil pipe (1) is completed, and receive a signal from the identification device (4 indicating whether the opening of the special opening head (2) has been reversed to the original position or not, and send a stop gun retraction signal to the second control device (7) when receiving a signal indicating that the opening of the special opening head (2) has not been reversed to the original position, and send a continue operation signal to the second control device (7) when receiving a signal indicating that the opening of the special opening head (2) has been reversed to the original position.

8. A control system for tightening equipment according to claim 7, characterized in that: The image acquisition device (5) adopts an industrial camera.

9. A control system for tightening equipment according to claim 7, characterized in that: The third control device (8) and the determination device (4) are integrated together.

10. A storage medium storing computer-readable instructions, wherein when the instructions are executed by a processor, the method according to any one of claims 1 to 3 is executed.

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