Iron roughneck coupling height identification method and system

Abstract

The invention relates to the technical field of oil exploitation, in particular to an iron roughneck coupling height identification method and system, and the method comprises the steps: inputting a received first original image into a drilling tool detection model through an identification module, and obtaining the actual heights of a male buckle and a female buckle; the iron roughneck central control module generates a control instruction according to the actual height of the female buckle and the second corresponding relation, sends the control instruction to the iron roughneck, and obtains the actual height of the calipers according to the detected lifting height of the iron roughneck and the initial height of the calipers; the identification module judges whether the calipers of the iron roughneck are in place or not according to the actual height of the calipers, the actual height of the male buckle, the actual height of the female buckle and preset judgment logic; if not in place, a lifting or descending instruction is given to the iron roughneck center control module according to the actual situation, and then detection is repeated until in place. The device has the beneficial effects that the operation frequency of workers in a dangerous environment is reduced through intelligent caliper position adjustment and an automatic correction mechanism, the safety risk in operation is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of oil extraction, and in particular to a method and system for identifying the height of an iron roughneck collar. Background Art

[0002] At present, the iron roughneck is one of the most frequently used equipment in the process of drilling and drilling. The identification of the height of the iron roughneck collar mainly relies on the monocular 2D image stream captured by the industrial camera and recognized by traditional image processing technology. These technologies mainly include edge detection, pattern matching and machine learning algorithms to identify the position and height of the collar from the 2D image. However, due to the limitations of the monocular vision system, height recognition often makes mistakes in actual operation. Due to the inaccurate height recognition, the iron roughneck often needs to stop working at the wrong position, which requires workers to manually lift it up again for correction. This repeated adjustment process increases the operation time and labor intensity.

[0003] Therefore, it is urgent to solve the problems of inaccurate height recognition and inconvenient operation in the prior art by improving the iron roughneck coupling height recognition method. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a method and system for identifying the height of an iron roughneck coupling, which solves the technical problems of erroneous operation caused by inaccurate height identification, which requires repeated adjustments, resulting in long operation time and high labor intensity.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, an embodiment of the present invention provides a method for identifying the height of an iron roughneck collar, comprising:

[0009] S10, the recognition module inputs the received first original image into a preset drilling tool detection model, obtains the actual height of the male buckle and the actual height of the female buckle, and sends the actual height of the female buckle to the iron roughneck central control module;

[0010] The actual height of the male buckle and the actual height of the female buckle are respectively the actual heights of the current lower edge of the male buckle and the upper edge of the female buckle in the world coordinate system obtained by the recognition module according to the pixel heights of the lower edge of the male buckle and the upper edge of the female buckle in the image coordinate system and the first preset mapping relationship; the first mapping relationship is the mapping relationship between the image coordinate system and the world coordinate system established by the recognition module according to the three calibration points pre-calibrated on the drill rod in the pre-collected drill rod image;

[0011] S20, the iron roughneck central control module generates a control instruction according to the actual height of the box buckle and the preset second corresponding relationship and sends it to the iron roughneck, and obtains the actual height of the caliper of the current iron roughneck caliper according to the detected lifting height of the iron roughneck after lifting and the preset initial height of the caliper, and sends it to the identification module;

[0012] S30, the recognition module determines whether the iron roughneck caliper is in place according to the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle, and the pre-set judgment logic;

[0013] If it is not in place, a position adjustment instruction is generated based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment, until it is determined that the iron roughneck caliper is in place, and then a buckle-on / off instruction is sent to the iron roughneck central control module.

[0014] Optionally, before S10, the step further includes:

[0015] S01, the recognition module determines a first mapping relationship between the image coordinate system and the world coordinate system according to the ordinates of the three pre-calibrated calibration points in the received drill pipe image in the image coordinate system and the ordinates of the three pre-set calibration points in the world coordinate system, and a pre-set formula 1; the formula 1 is:

[0016]

[0017] Where λ is the mapping coefficient between the ordinate of the drill rod in the image coordinate system and the world coordinate system; y0, y1 and y2 are the ordinates of the three calibration points of the drill rod in the image coordinate system; y 00 ,y 11 and 22 They are respectively the ordinates of three calibration points of the drill rod in the world coordinate system, and the three calibration points are all set on the drill rod in the drill rod image.

[0018] Optionally, the S10 includes:

[0019] S10-1, the recognition module inputs the received first original image into a preset drilling tool detection model to obtain the current male buckle pixel height and female buckle pixel height; the male buckle pixel height and female buckle pixel height are respectively the pixel heights of the lower edge of the male buckle and the upper edge of the female buckle in the image coordinate system;

[0020] S10-2. The recognition module converts the male buckle pixel height and the female buckle pixel height into the male buckle actual height and the female buckle actual height according to the first mapping relationship.

[0021] Optionally, between S20 and S30, the following steps are further included:

[0022] S21, the recognition module inputs the received second original image into a preset caliper detection model to obtain first caliper edge pixel information corresponding to the second original image; the first caliper edge pixel information is the pixel height of the caliper edge in the image coordinate system in the second original image; the second original image is an image collected after the iron roughneck is lifted;

[0023] S22, the recognition module converts the first caliper edge pixel information into caliper edge actual information according to a preset first mapping relationship; the caliper edge actual information is the actual height of the caliper edge in the world coordinate system;

[0024] S23, the recognition module determines whether the actual height of the caliper is within the error range of the actual information of the caliper edge according to the actual information of the caliper edge;

[0025] If not, an initialization command is sent to the iron roughneck central control module, and the process jumps to S10;

[0026] The initialization instruction is an instruction to initialize the position of the iron roughneck.

[0027] Optionally, the actual height of the caliper includes the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper;

[0028] Then the S22 further includes:

[0029] The actual information of the caliper edge is screened according to the actual height of the caliper, and the actual information of the caliper edge corresponding to the upper caliper and the lower caliper is obtained respectively.

[0030] Optionally, before S10, the step further includes:

[0031] S02, the recognition module collects first training images at different times through a preset industrial camera, and uses a labeling tool to label the male buckles and female buckles in all the first training images, as well as the pixel height of the lower edge of the male buckle and the pixel height of the upper edge of the female buckle corresponding to each first training image, to obtain a first training set; the first training image includes a drill rod male buckle and a drill rod female buckle;

[0032] The first training set is input into the pre-built drilling tool detection model to obtain a trained drilling tool detection model.

[0033] Optionally, before S21, the step further includes:

[0034] S03, the recognition module collects second training images at different times through a preset industrial camera, and uses a labeling tool to label the calipers in all the second training images, as well as the second caliper edge pixel information corresponding to each second training image, to obtain a second training set; the second training images include iron roughneck calipers;

[0035] The second training set is input into the pre-built caliper detection model to obtain a trained caliper detection model.

[0036] Optionally, the iron roughneck caliper comprises an upper iron roughneck caliper and a lower iron roughneck caliper; the actual height of the caliper comprises an actual height of a lower edge of the upper caliper and an actual height of an upper edge of the lower caliper;

[0037] The S30 includes:

[0038] When in the buckle-up working condition, the recognition module determines whether the actual height of the caliper satisfies that the actual height of the upper edge of the lower caliper is below the actual height of the female buckle, while the actual height of the lower edge of the upper caliper is above the actual height of the male buckle;

[0039] If it is satisfied, it is judged that the iron roughneck is in place;

[0040] If not, it is determined that the iron roughneck is not in place, and a position adjustment instruction is generated according to the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment until it is determined that the iron roughneck is in place, and a make-up instruction is sent to the iron roughneck central control module;

[0041] When in the shackle working condition, the recognition module determines whether the actual height of the caliper satisfies that the actual height of the upper edge of the lower caliper is below the actual height of the female buckle, while the actual height of the lower edge of the upper caliper is above the actual height of the male buckle at a preset height;

[0042] If it is satisfied, it is judged that the iron roughneck is in place;

[0043] If not satisfied, it is determined that the iron roughneck is not in place. If not in place, a position adjustment instruction is generated based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment, until it is determined that the iron roughneck caliper is in place, and a detachment instruction is sent to the iron roughneck central control module.

[0044] Optionally, the iron roughneck caliper comprises an upper iron roughneck caliper and a lower iron roughneck caliper;

[0045] The iron roughneck upper caliper and the iron roughneck lower caliper both include a hook clamp and an arc;

[0046] The first caliper edge pixel information includes: upper arc upper edge pixel information, upper arc lower edge pixel information, upper hook caliper upper edge pixel information, upper hook caliper lower edge pixel information, lower arc upper edge pixel information, lower arc lower edge pixel information, lower hook caliper upper edge pixel information and lower hook caliper lower edge pixel information;

[0047] The actual information of the caliper edge includes: the actual information of the upper edge of the upper arc, the actual information of the lower edge of the upper arc, the actual information of the upper edge of the upper hook clamp, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, the actual information of the lower edge of the lower arc, the actual information of the upper edge of the lower hook clamp and the actual information of the lower edge of the lower hook clamp;

[0048] Then, in S22, the recognition module screens the actual information of the caliper edge according to the actual height of the caliper, and obtains the actual information of the caliper edge corresponding to the upper caliper and the lower caliper respectively, including:

[0049] The recognition module filters out the actual information of the lower edge of the upper arc, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc and the actual information of the upper edge of the lower hook clamp from the actual information of the caliper edge according to the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper.

[0050] In a second aspect, an embodiment of the present invention provides an iron roughneck coupling height identification system, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the above-mentioned iron roughneck coupling height identification method.

[0051] (III) Beneficial effects

[0052] The beneficial effects of the present invention are as follows: a method for identifying the height of an iron roughneck coupling of the present invention significantly reduces erroneous operations caused by inaccurate height identification and reduces the need for repeated adjustments through high-precision target detection and accurate height estimation, thereby improving the efficiency of the entire operation; and the intelligent caliper position adjustment and automatic correction mechanism reduce the number of operations of workers in dangerous environments, reduce safety risks in operations, and at the same time reduce dependence on manual operations and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A flow chart of a method for identifying the height of an iron roughneck collar;

[0054] Figure 2 A schematic diagram of the location of the caliper for the tie iron driller;

[0055] Figure 3 The structure diagram of a method for identifying the height of an iron roughneck collar is shown in FIG. DETAILED DESCRIPTION

[0056] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0057] An iron roughneck coupling height recognition method proposed in an embodiment of the present invention significantly reduces erroneous operations caused by inaccurate height recognition and the need for repeated adjustments through high-precision target detection and accurate height estimation, thereby improving the efficiency of the entire operation; and the intelligent caliper position adjustment and automatic correction mechanism reduce the number of operations of workers in dangerous environments, reduce safety risks in operations, and at the same time reduce dependence on manual operations and reduce labor costs.

[0058] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0059] Example 1

[0060] The present embodiment provides a method for identifying the height of an iron roughneck coupling, which is applied to the make-up and make-out of a drill pipe during the process of pulling out / drilling out, and is implemented based on a pre-set identification module, an industrial camera, an iron roughneck central control module and an iron roughneck; wherein the industrial camera is used to detect the image of the entire coupling operation area in real time and send it to the identification module; the identification module obtains key data based on the image sent by the industrial camera and communicates with the iron roughneck central control module; the iron roughneck central control module is used to control the iron roughneck that performs the make-up and make-out.

[0061] The method, such as Figure 1 As shown, including:

[0062] S01, the recognition module determines a first mapping relationship between the image coordinate system and the world coordinate system according to the ordinates of the three pre-calibrated calibration points in the received drill pipe image in the image coordinate system and the ordinates of the three pre-set calibration points in the world coordinate system, and a pre-set formula 1; the formula 1 is:

[0063]

[0064] Where λ is the mapping coefficient between the ordinate of the drill rod in the image coordinate system and the world coordinate system; y0, y1 and y2 are the ordinates of the three calibration points of the drill rod in the image coordinate system; y 00 ,y 11 and 22 They are respectively the ordinates of three calibration points of the drill rod in the world coordinate system, and the three calibration points are all set on the drill rod in the drill rod image.

[0065] S02, the recognition module collects first training images at different times through a preset industrial camera, and uses a labeling tool to label the male buckles and female buckles in all the first training images, as well as the pixel height of the lower edge of the male buckle and the pixel height of the upper edge of the female buckle corresponding to each first training image, to obtain a first training set; the first training image includes a drill rod male buckle and a drill rod female buckle;

[0066] The first training set is input into the pre-built drilling tool detection model to obtain a trained drilling tool detection model.

[0067] S03, the recognition module collects second training images at different times through a preset industrial camera, and uses a labeling tool to label the calipers in all the second training images, as well as the second caliper edge pixel information corresponding to each second training image, to obtain a second training set; the second training images include iron roughneck calipers;

[0068] The second training set is input into the pre-built caliper detection model to obtain a trained caliper detection model.

[0069] S10, the recognition module inputs the received first original image into a preset drilling tool detection model, obtains the actual height of the male buckle and the actual height of the female buckle, and sends the actual height of the female buckle to the iron roughneck central control module. Specifically including:

[0070] The recognition module inputs the received first original image into a preset drilling tool detection model to obtain the current male buckle pixel height and female buckle pixel height; the male buckle pixel height and female buckle pixel height are respectively the pixel heights of the lower edge of the male buckle and the upper edge of the female buckle in the image coordinate system;

[0071] The recognition module converts the male buckle pixel height and the female buckle pixel height into the male buckle actual height and the female buckle actual height according to the first mapping relationship.

[0072] The actual height of the male buckle and the actual height of the female buckle are respectively the actual heights of the current lower edge of the male buckle and the upper edge of the female buckle in the world coordinate system obtained by the recognition module according to the pixel heights of the lower edge of the male buckle and the upper edge of the female buckle in the image coordinate system and the first preset mapping relationship; the first mapping relationship is the mapping relationship between the image coordinate system and the world coordinate system established by the recognition module according to the three calibration points pre-calibrated on the drill rod in the pre-collected drill rod image;

[0073] S20, the iron roughneck central control module generates a control instruction according to the actual height of the female buckle and the preset second corresponding relationship and sends it to the iron roughneck, and obtains the actual height of the caliper of the current iron roughneck caliper according to the detected lifting height of the iron roughneck after the lifting is completed and the preset initial height of the caliper and sends it to the identification module.

[0074] S21, the recognition module inputs the received second original image into a preset caliper detection model to obtain first caliper edge pixel information corresponding to the second original image; the first caliper edge pixel information is the pixel height of the caliper edge in the image coordinate system in the second original image; the second original image is an image collected after the iron roughneck is lifted;

[0075] S22. The recognition module converts the first caliper edge pixel information into actual caliper edge information according to a pre-set first mapping relationship; and the recognition module filters out the actual information of the lower edge of the upper arc, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, and the actual information of the upper edge of the lower hook clamp from the actual information of the caliper edge according to the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper, that is, the two values ​​closest to the actual height of the lower edge of the upper caliper and the two values ​​of the actual height of the upper edge of the lower caliper are filtered out from the actual information of the caliper edge, that is, the actual information of the lower edge of the upper arc, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, and the actual information of the upper edge of the lower hook clamp.

[0076] The actual information of the caliper edge is the actual height of the caliper edge in the world coordinate system;

[0077] The iron roughneck caliper comprises an upper iron roughneck caliper and a lower iron roughneck caliper; the actual height of the caliper comprises an actual height of a lower edge of the upper caliper and an actual height of an upper edge of the lower caliper.

[0078] S23. The recognition module determines whether the actual height of the caliper is within the error range of the actual information of the caliper edge based on the actual information of the caliper edge; that is, it determines whether the actual height of the lower edge of the upper caliper is close to the actual information of the lower edge of the upper arc and the actual information of the lower edge of the upper hook clamp (a certain error range is set), and the actual height of the upper edge of the lower caliper is close to the actual information of the upper edge of the lower arc and the actual information of the upper edge of the lower hook clamp.

[0079] If not, an initialization command is sent to the iron roughneck central control module, and the process jumps to S10;

[0080] The initialization instruction is an instruction to initialize the position of the iron roughneck.

[0081] The S30 includes:

[0082] When in the buckle-up working condition, the recognition module determines whether the actual height of the caliper satisfies that the actual height of the upper edge of the lower caliper is below the actual height of the female buckle, while the actual height of the lower edge of the upper caliper is above the actual height of the male buckle;

[0083] If it is satisfied, it is judged that the iron roughneck is in place;

[0084] If not, it is determined that the iron roughneck is not in place, and a position adjustment instruction is generated according to the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment until it is determined that the iron roughneck is in place, and a make-up instruction is sent to the iron roughneck central control module;

[0085] When in the shackle working condition, the recognition module determines whether the actual height of the caliper satisfies that the actual height of the upper edge of the lower caliper is below the actual height of the female buckle, while the actual height of the lower edge of the upper caliper is above the actual height of the male buckle at a preset height;

[0086] If it is satisfied, it is judged that the iron roughneck is in place;

[0087] If not satisfied, it is determined that the iron roughneck is not in place. If not in place, a position adjustment instruction is generated based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment, until it is determined that the iron roughneck caliper is in place, and a detachment instruction is sent to the iron roughneck central control module.

[0088] A method for identifying the height of a roughneck coupling significantly reduces erroneous operations caused by inaccurate height identification and the need for repeated adjustments through high-precision target detection and accurate height estimation, thereby improving the efficiency of the entire operation; while the intelligent caliper position adjustment and automatic correction mechanism reduce the number of operations of workers in dangerous environments, reduce safety risks in operations, and at the same time reduce dependence on manual operations and reduce labor costs.

[0089] Example 2

[0090] The present embodiment provides a method for identifying the height of an iron roughneck coupling, which is implemented based on an identification module, an industrial camera, an iron roughneck central control module, and an iron roughneck controlled by the iron roughneck central control module; wherein the caliper of the iron roughneck is divided into an upper caliper and a lower caliper, the upper and lower calipers have the same structure and are mirror images of each other, each caliper is divided into an arc and a hook caliper, the arc is responsible for rotation, the hook caliper and the arc can be clamped, and the drill rod is grasped for drilling and tightening operations, and the caliper position of the coupling iron roughneck during the buckling process is as follows: Figure 2 The above method comprises:

[0091] Install an industrial camera at a suitable location on the drilling platform. The camera should be fixed in a position that can cover the entire coupling operation area and ensure that there is no obstruction in the field of view. After the industrial camera collects the image, it is transmitted to the recognition module through the network. The recognition module can use an embedded recognition system. Use the industrial camera to detect the target, collect the image data of the drill pipe at the wellhead or rathole on the drilling platform at different times, and use the drill pipe male buckle and drill pipe female buckle as the two targets to create a drill pipe classification and drilling tool detection data set, that is, the first training set. The drilling tool detection model is obtained by training with YOLOv8. Use the arc and hook clamp as the two targets to create a caliper classification and caliper detection data set, that is, the second training set. The caliper detection model is obtained by training with YOLOv8.

[0092] Specifically, an industrial camera is used to collect image data of drill pipes at the wellhead or rathole on the drilling platform at different times, and each image includes a drill pipe male buckle and a drill pipe female buckle; the image data is screened to eliminate images with poor imaging conditions and too much interference information, and a labeling tool (lambelimg labeling tool) is used to label the drill pipe male buckle and the drill pipe female buckle in the image data (label the drill pipe male buckle and the drill pipe female buckle, and frame the drill pipe male buckle and the drill pipe female buckle in the form of an identification frame, and label the pixel information of the upper edge, lower edge, left edge and right edge of the drill pipe male buckle and the female buckle respectively), and a labeling file with labeling frame coordinate information and pixel information of the drill pipe male buckle and the female buckle is generated to construct a drill pipe classification drilling tool detection data set, that is, the first training set. The pre-constructed drilling tool detection model is trained using the first training set to obtain a trained drilling tool detection model.

[0093] The drilling tool detection model is improved based on the YOLOv8 model, and includes a backbone network, a neck network and a head network. The backbone network is used to extract features of the received image, the neck network is used to perform feature fusion on the image features extracted by the backbone network, and the head network is used to perform edge height detection on the features fused by the neck network. Among them, both the backbone network and the neck network are provided with a C2f_FELB unit for extracting key feature information. The C2f_FELB unit first adjusts the number of channels of the feature map through the first 1×1 convolution. The output of the first 1×1 convolution is divided into the first two parts, one part is used for residual connection, and the other part is divided into the second two parts after the spilt operation. One part is used for residual connection and the other part enters the main branch; the main branch extracts features through n series-connected feature extraction bottlenecks FEBs and maintains residual connection; then a part obtained by the first 1×1 convolution is used for the output of residual connection, and a part obtained by the spilt operation is used for the output of residual connection to obtain the spliced ​​feature map; finally, the spliced ​​feature map is processed by the second 1×1 convolution to obtain the final output of the C2f_FELB unit. The feature extraction bottleneck FEB includes a first partial convolution PConv, a first point-by-point convolution PWConv, a second partial convolution PConv and a second point-by-point convolution PWConv which are connected in sequence, and a normalization layer BN and a SILU activation function are also arranged between the output of the first partial convolution PConv and the second point-by-point convolution PWConv and the second point-by-point convolution PWConv.

[0094] The backbone network is provided with an FCFB unit for use below, the neck network is provided with an ASSA unit, the head network includes four Dectect layers, and the four Dectect layers are respectively connected to the ASSA units in the neck network.

[0095] The caliper detection model has the same model structure as the drill tool detection model. Similarly, a second data set can be established in the above manner, and the caliper detection model can be trained with the second data set to obtain a trained caliper detection model.

[0096] Calibration, first measure the actual height information of three known pixel height points in the spatial wellhead plane. This step is completed by selecting three clear landmark points of the wellhead part in the camera's field of view, such as the coupling, male buckle and female buckle parts. The ordinates of these points in the image coordinate system (the height of the pixel point in the image coordinate system) are recorded separately, and the corresponding actual heights in the world coordinate system are also measured and recorded synchronously. The actual positions of these points are estimated by applying the geometric principle of similar triangles. First, the pixel width of the target is calculated; then the height scale factor calculated previously is used to convert it to the actual width; finally, a linear interpolation algorithm is applied to estimate the actual height based on the pixel position of the target in the image. This algorithm supports linear extrapolation when the target position exceeds the predetermined calibration point, ensuring accurate measurement results under various operating conditions. Specifically, the camera must first be calibrated to determine the mapping relationship between the ordinates of the world coordinate system and the image coordinate system, that is, the first mapping relationship, including:

[0097] Use a ruler to select three points on the drill pipe image at the wellhead. The ordinates of these three points in the image coordinate system are y0, y1, and y2, and the actual heights from the drilling floor in the world coordinate system are y 00 ,y 11 and 22 ; Then the conversion coefficient λ1 of the wellhead drill pipe is:

[0098]

[0099] Similarly, the conversion coefficient λ2 of the drill rod in the rat hole can be calculated and the calibration can be completed. That is, the pre-process is completed.

[0100] The whole process of buckling and unbuckling is as follows: Figure 3 As shown, it is divided into the following steps. First, when the bolting and unbolting process begins, the iron roughneck caliper begins to extend forward, and the recognition module collects the first original image of the drilling wellhead position through the industrial camera, and performs target detection on the male buckle and the female buckle through the drill tool detection model to obtain the male buckle pixel height and the female buckle pixel height. In general, the male buckle pixel height is the pixel height of the lower edge of the male buckle, and the female buckle pixel height is the pixel height of the upper edge of the female buckle. The male buckle and the female buckle pixel heights are converted into the actual male buckle height and the actual female buckle height through the pre-calibrated first mapping relationship.

[0101] The identification module transmits information such as the actual height of the male buckle and the female buckle to the iron roughneck central control module, and the iron roughneck central control module controls the iron roughneck to lift according to the height of the female buckle (the above process is based on the correspondence between the preset female buckle height and the iron roughneck caliper height, that is, it is carried out through the second correspondence).

[0102] When the roughneck is lifted to the target position (the target position is the position after being lifted by the height of the female buckle corresponding to the first original image), the roughneck central control module detects the lifting height of the roughneck caliper actually lifted by the hydraulic pressure (generally, the lifting of the roughneck caliper is achieved by the hydraulic system, and the lifting height of the roughneck caliper actually lifted can be detected by detecting the extension distance of the oil cylinder), and obtains the actual height of the caliper of the current iron roughneck caliper, that is, the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper, through the pre-set initial heights of the upper and lower calipers (the initial height of the lower edge of the upper caliper and the initial height of the upper edge of the lower caliper). Under normal circumstances, due to the influence of problems such as abnormal initial height of the iron roughneck caliper and insufficient hydraulic oil pressure, these two data may be inaccurate, so a subsequent judgment process is added for correction.

[0103] After the iron roughneck central control module sends the actual height of the current iron roughneck caliper to the recognition module, the recognition module collects the second original image of the drilling wellhead position at this time through the industrial camera, and inputs the second original image into the caliper detection model, performs target detection on the arc and hook clamp, and converts the pixel height into the actual height according to the first mapping relationship to obtain the height information of the upper and lower edges of the arc and the hook clamp, that is, the actual information of the caliper edge, the actual edge information of the caliper includes the actual information of the upper edge of the upper arc, the actual information of the lower edge of the upper arc, the actual information of the upper edge of the upper hook clamp, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, the actual information of the lower edge of the lower arc, the actual information of the upper edge of the lower hook clamp and the actual information of the lower edge of the lower hook clamp.

[0104] At this time, the recognition module can filter the actual edge information of the caliper through the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper transmitted from the iron roughneck central control module, and filter out the actual information of the lower edge of the upper arc, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, and the actual information of the upper edge of the lower hook clamp; and judge whether the actual height is within the error range of the actual information of the caliper edge according to the actual information of the lower edge of the upper arc, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, and the actual information of the upper edge of the lower hook clamp, that is, whether the actual information of the lower edge of the upper caliper is approximately equal to the actual information of the lower edge of the upper arc and the actual information of the lower edge of the upper hook clamp, and whether the actual information of the upper edge of the lower caliper is approximately equal to the actual information of the upper edge of the lower arc and the actual information of the upper edge of the lower hook clamp; if not, send an initialization instruction to the iron roughneck central control module, and re-capture the first original image; the initialization instruction is an instruction to initialize the position of the iron roughneck.

[0105] If it is within the error range, the recognition module determines whether the iron roughneck caliper is in place based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle, as well as the pre-set judgment logic;

[0106] If it is not in place, a position adjustment instruction is generated based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment, until it is determined that the iron roughneck caliper is in place, and then a buckle-on / off instruction is sent to the iron roughneck central control module.

[0107] The judgment logic specifically includes:

[0108] Position judgment during make-up operation:

[0109] Make sure that the actual height of the upper edge of the lower caliper is below the actual height of the upper edge of the box buckle; make sure that the actual height of the lower edge of the upper caliper is above the actual height of the lower edge of the male buckle.

[0110] Position judgment during shackle operation:

[0111] Ensure that the actual height of the upper edge of the lower caliper is below the actual height of the upper edge of the female buckle, and the actual height of the lower edge of the upper caliper is about 40mm (39-41mm) above the actual height of the lower edge of the male buckle.

[0112] This embodiment utilizes a high dynamic range industrial camera combined with a deep learning model (such as YOLO v8) to perform precise target detection of key components such as male buckles, female buckles, and "arcs" and "hook clamps". Through the calibration process of the system, the relationship between the known pixel height points and the actual height in the wellhead plane is accurately measured and recorded, and the actual position of the target is estimated using geometric principles and linear interpolation algorithms. The accuracy of the measurement can be guaranteed even when it exceeds the preset calibration point. The position of the caliper can be automatically adjusted according to the height information transmitted from the iron driller's central control system to achieve the optimal buckle-up and buckle-down positions. When the caliper position does not reach the predetermined position, the system not only provides error feedback, but also automatically guides the iron driller to adjust the height according to the actual situation, without the need for manual intervention, thereby improving work efficiency.

[0113] Compared with the prior art, this embodiment significantly reduces erroneous operations caused by inaccurate height recognition and the need for repeated adjustments through high-precision target detection and accurate height estimation, thereby improving the efficiency of the entire operation. The intelligent caliper position adjustment and automatic correction mechanism reduce the number of operations of workers in dangerous environments and reduce safety risks in operations. At the same time, it reduces dependence on manual operations and reduces labor costs. By improving operating efficiency and reducing equipment and labor costs, the present invention helps to improve the economic benefits of the entire drilling operation and bring significant economic returns to the oil drilling industry.

[0114] Example 3

[0115] The present embodiment provides an iron roughneck coupling height identification system, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the iron roughneck coupling height identification method described in Embodiment 1 or Embodiment 2.

[0116] In the description of the present invention, it should be understood that 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 technical features indicated. 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, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0117] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0118] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0119] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0120] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for identifying the height of an iron roughneck collar, characterized in that: include: S10, the recognition module inputs the received first original image into a preset drilling tool detection model, obtains the actual height of the male buckle and the actual height of the female buckle, and sends the actual height of the female buckle to the iron roughneck central control module; The actual height of the male buckle and the actual height of the female buckle are respectively the actual heights of the current lower edge of the male buckle and the upper edge of the female buckle in the world coordinate system obtained by the recognition module according to the pixel heights of the lower edge of the male buckle and the upper edge of the female buckle in the image coordinate system and the preset first mapping relationship; The first mapping relationship is a mapping relationship between an image coordinate system and a world coordinate system established by the recognition module according to three calibration points pre-calibrated on the drill rod in a pre-collected drill rod image; S20, the iron roughneck central control module generates a control instruction according to the actual height of the box buckle and the preset second corresponding relationship and sends it to the iron roughneck, and obtains the actual height of the caliper of the current iron roughneck caliper according to the detected lifting height of the iron roughneck after lifting and the preset initial height of the caliper, and sends it to the identification module; S30, the recognition module determines whether the iron roughneck caliper is in place according to the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle, and the pre-set judgment logic; If it is not in place, a position adjustment instruction is generated based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment, until it is determined that the iron roughneck caliper is in place, and then a buckle-on / off instruction is sent to the iron roughneck central control module.

2. The method for identifying the height of an iron roughneck coupling according to claim 1, characterized in that: The S10 and above also include: S01, the recognition module determines a first mapping relationship between the image coordinate system and the world coordinate system according to the ordinates of the three pre-calibrated calibration points in the received drill pipe image in the image coordinate system and the ordinates of the three pre-set calibration points in the world coordinate system, and a pre-set formula 1; the formula 1 is: Where λ is the mapping coefficient between the ordinate of the drill rod in the image coordinate system and the world coordinate system; y0, y1 and y2 are the ordinates of the three calibration points of the drill rod in the image coordinate system; y 00 ,y 11 and 22 They are respectively the ordinates of three calibration points of the drill rod in the world coordinate system, and the three calibration points are all set on the drill rod in the drill rod image.

3. The method for identifying the height of an iron roughneck coupling according to claim 2, characterized in that: The S10 includes: S10-1, the recognition module inputs the received first original image into a preset drilling tool detection model to obtain the current male buckle pixel height and female buckle pixel height; the male buckle pixel height and female buckle pixel height are respectively the pixel heights of the lower edge of the male buckle and the upper edge of the female buckle in the image coordinate system; S10-2. The recognition module converts the male buckle pixel height and the female buckle pixel height into the male buckle actual height and the female buckle actual height according to the first mapping relationship.

4. The method for identifying the height of an iron roughneck coupling according to claim 1, characterized in that: The S20 and S30 also include: S21, the recognition module inputs the received second original image into a preset caliper detection model to obtain first caliper edge pixel information corresponding to the second original image; the first caliper edge pixel information is the pixel height of the caliper edge in the image coordinate system in the second original image; the second original image is an image collected after the iron roughneck is lifted; S22, the recognition module converts the first caliper edge pixel information into caliper edge actual information according to a preset first mapping relationship; the caliper edge actual information is the actual height of the caliper edge in the world coordinate system; S23, the recognition module determines whether the actual height of the caliper is within the error range of the actual information of the caliper edge according to the actual information of the caliper edge; If not, an initialization command is sent to the iron roughneck central control module, and the process jumps to S10; The initialization instruction is an instruction to initialize the position of the iron roughneck.

5. The method for identifying the height of an iron roughneck coupling according to claim 4, characterized in that: The actual height of the caliper includes the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper; Then the S22 further includes: The recognition module screens the actual information of the caliper edge according to the actual height of the caliper, and obtains the actual information of the caliper edge corresponding to the upper caliper and the lower caliper respectively.

6. The method for identifying the height of an iron roughneck coupling according to claim 1, characterized in that: The S10 and before also include: S02, the recognition module collects first training images at different times through a preset industrial camera, and uses a labeling tool to label the male buckles and female buckles in all the first training images, as well as the pixel height of the lower edge of the male buckle and the pixel height of the upper edge of the female buckle corresponding to each first training image, to obtain a first training set; the first training image includes a drill rod male buckle and a drill rod female buckle; The first training set is input into the pre-built drilling tool detection model to obtain a trained drilling tool detection model.

7. The method for identifying the height of an iron roughneck coupling according to claim 4, characterized in that: The S21 also includes: S03, the recognition module collects second training images at different times through a preset industrial camera, and uses a labeling tool to label the calipers in all the second training images, as well as the second caliper edge pixel information corresponding to each second training image, to obtain a second training set; the second training images include iron roughneck calipers; The second training set is input into the pre-built caliper detection model to obtain a trained caliper detection model.

8. The method for identifying the height of an iron roughneck coupling according to claim 1, characterized in that: The iron roughneck caliper includes an upper iron roughneck caliper and a lower iron roughneck caliper; the actual height of the caliper includes an actual height of the lower edge of the upper caliper and an actual height of the upper edge of the lower caliper; The S30 includes: When in the buckle-up working condition, the recognition module determines whether the actual height of the caliper satisfies that the actual height of the upper edge of the lower caliper is below the actual height of the female buckle, while the actual height of the lower edge of the upper caliper is above the actual height of the male buckle; If it is satisfied, it is judged that the iron roughneck is in place; If not, it is determined that the iron roughneck is not in place, and a position adjustment instruction is generated according to the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment until it is determined that the iron roughneck is in place, and a make-up instruction is sent to the iron roughneck central control module; When in the shackle working condition, the recognition module determines whether the actual height of the caliper satisfies that the actual height of the upper edge of the lower caliper is below the actual height of the female buckle, while the actual height of the lower edge of the upper caliper is above the actual height of the male buckle at a preset height; If it is satisfied, it is judged that the iron roughneck is in place; If not satisfied, it is determined that the iron roughneck is not in place. If not in place, a position adjustment instruction is generated based on the actual height of the caliper, the actual height of the male buckle and the actual height of the female buckle and sent to the iron roughneck central control module, and S30 is re-executed based on the received actual height of the caliper after position adjustment, until it is determined that the iron roughneck caliper is in place, and a detachment instruction is sent to the iron roughneck central control module.

9. The method for identifying the height of an iron roughneck coupling according to claim 5, characterized in that: The iron roughneck caliper comprises an upper iron roughneck caliper and a lower iron roughneck caliper; The iron roughneck upper caliper and the iron roughneck lower caliper both include a hook clamp and an arc; The first caliper edge pixel information includes: upper arc upper edge pixel information, upper arc lower edge pixel information, upper hook caliper upper edge pixel information, upper hook caliper lower edge pixel information, lower arc upper edge pixel information, lower arc lower edge pixel information, lower hook caliper upper edge pixel information and lower hook caliper lower edge pixel information; The actual information of the caliper edge includes: the actual information of the upper edge of the upper arc, the actual information of the lower edge of the upper arc, the actual information of the upper edge of the upper hook clamp, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc, the actual information of the lower edge of the lower arc, the actual information of the upper edge of the lower hook clamp and the actual information of the lower edge of the lower hook clamp; Then, in S22, the recognition module screens the actual information of the caliper edge according to the actual height of the caliper, and obtains the actual information of the caliper edge corresponding to the upper caliper and the lower caliper respectively, including: The recognition module filters out the actual information of the lower edge of the upper arc, the actual information of the lower edge of the upper hook clamp, the actual information of the upper edge of the lower arc and the actual information of the upper edge of the lower hook clamp from the actual information of the caliper edge according to the actual height of the lower edge of the upper caliper and the actual height of the upper edge of the lower caliper.

10. An iron roughneck collar height identification system, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the iron roughneck coupling height identification method according to any one of claims 1 to 9.

Images