Water exploration drilling counting method and system, terminal equipment and storage medium
By using a pre-trained target recognition model to identify the drill pipe tail and fuselage in the underground drilling environment, the drill pipe movement trajectory is solved, and the problem of inaccurate counting in complex environments in the prior art is solved, achieving higher counting accuracy and reliability.
Patent Information
- Application Number
- CN202411892958.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-04-15
AI Technical Summary
Existing image recognition technology is difficult to accurately detect drill pipe movement trajectory in complex downhole environments, which affects the accuracy and reliability of counting results.
By obtaining images of the working process of the water exploration drill rig, identify the drill pipe tail and the drill rig fuselage based on the pre-trained target recognition model, determine the drill pipe movement trajectory, and determine the endpoint of the moving trajectory based on the distance between the drill pipe tail and the center point of the identification box of the drill rig fuselage, thereby achieving accurate counting of drilling times.
This method has good fault tolerance in the case of occlusion, which can ensure the accuracy and reliability of counting, avoid counting omissions, and significantly improve the stability of the results.
Smart Images
Figure CN119832386A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of downhole drilling and image recognition, and in particular to a water exploration drilling counting method, system, terminal equipment and storage medium. Background Art
[0002] In the process of underground water exploration and drainage in coal mines, accurately calculating the drilling depth is a crucial task. Usually, this process is achieved by counting the number of drillings. Among the existing technical means, a common method is to use image recognition technology to track the movement trajectory of the drill rod, thereby counting the number of drillings. However, this method faces some challenges and limitations in practical applications. Especially in the complex working environment underground, the drill rod may be blocked by equipment, brackets or other obstacles, resulting in the inability of the image recognition system to accurately detect the movement trajectory of the drill rod. This occlusion phenomenon will significantly reduce the detection rate, thereby affecting the accuracy of the final counting results. In addition, environmental factors such as lighting conditions and dust in the mine may further interfere with the effect of image recognition, greatly reducing the reliability of the counting results. Therefore, the existing image recognition technology has obvious deficiencies in dealing with occlusion and complex environments, and a more stable and reliable solution is urgently needed to improve the accuracy and reliability of counting. Summary of the invention
[0003] In order to overcome the problems existing in the related art, the present invention provides a water exploration drilling counting method, system, terminal equipment and storage medium.
[0004] According to a first aspect of an embodiment of the present invention, a method for counting water exploration drilling is provided, comprising:
[0005] Acquire images of the water exploration drilling rig operation process;
[0006] Based on a pre-trained target recognition model, identify the drill pipe tail and the drilling rig body in the image;
[0007] Determining a movement trajectory of the drill rod according to the recognition results of the drill rod tail in the plurality of images;
[0008] Determining the azimuth relationship of the drill rod tail when it is detected to appear and disappear, and the drill rig body when it is detected to appear, relative to the center line of the movement trajectory;
[0009] The number of drilling times is counted according to the azimuth relationship.
[0010] Further, determining the movement trajectory of the drill rod according to the recognition results of the drill rod tail in the plurality of images specifically includes:
[0011] The movement trajectory of the drill rod tail is determined according to the distance between the center point of the identification frame of the drill rod tail and the drilling rig body in the multiple images.
[0012] Further, the movement trajectory of the drill rod is determined according to the distance between the tail of the drill rod and the center point of the identification frame of the drilling rig body, specifically including:
[0013] Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the shortest as the first endpoint of the movement trajectory of the drill rod;
[0014] Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the farthest as the second end point of the movement trajectory of the drill rod;
[0015] The movement trajectory of the drill rod is determined according to the first end point and the second end point.
[0016] Further, determining the azimuth relationship of the drill rod tail when it is detected to appear and disappear, and the rig body when it is detected to appear, relative to the center line of the movement trajectory, specifically includes:
[0017] Determine a first direction, a second direction, and a third direction of the drill rod tail and the drilling rig body relative to the center line of the moving trajectory, wherein the first direction is the direction relative to the center line when the drill rod tail is detected to appear, the second direction is the direction relative to the center line when the drill rod tail is detected to disappear, and the third direction is the direction of the drilling rig body relative to the center line.
[0018] Further, the number of drilling times is counted according to the azimuth relationship, specifically including:
[0019] If the first direction is inconsistent with the second direction, and the second direction is consistent with the third direction, one drilling is considered completed.
[0020] According to a second aspect of an embodiment of the present invention, there is provided a water exploration drilling counting system, comprising:
[0021] An image acquisition module, used to acquire images of the water exploration drilling rig operation process;
[0022] A target recognition module, used for recognizing the drill pipe tail and the drilling rig body in the image based on a pre-trained target recognition model;
[0023] A trajectory determination module, used to determine the movement trajectory of the drill rod according to the recognition results of the tail of the drill rod in the multiple images;
[0024] An orientation judgment module, used to determine the orientation relationship of the drill rod tail when it is detected to appear and disappear, and the drilling rig body when it is detected to appear, relative to the center line of the movement trajectory;
[0025] The drilling counting module is used to count the number of drilling times according to the orientation relationship.
[0026] Furthermore, the trajectory determination module is specifically used to:
[0027] The movement trajectory of the drill rod tail is determined according to the distance between the center point of the identification frame of the drill rod tail and the drilling rig body in the multiple images.
[0028] Furthermore, the trajectory determination module is specifically used to:
[0029] Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the shortest as the first endpoint of the movement trajectory of the drill rod;
[0030] Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the farthest as the second end point of the movement trajectory of the drill rod;
[0031] The movement trajectory of the drill rod is determined according to the first end point and the second end point.
[0032] Furthermore, the position determination module is specifically used for:
[0033] Determine a first direction, a second direction, and a third direction of the drill rod tail and the drilling rig body relative to the center line of the moving trajectory, wherein the first direction is the direction relative to the center line when the drill rod tail is detected to appear, the second direction is the direction relative to the center line when the drill rod tail is detected to disappear, and the third direction is the direction of the drilling rig body relative to the center line.
[0034] Furthermore, the drilling counting module is specifically used for:
[0035] If the first direction is inconsistent with the second direction, and the second direction is consistent with the third direction, then one drilling is considered completed.
[0036] According to a third aspect of an embodiment of the present invention, a terminal device is provided, including:
[0037] Processor; and
[0038] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.
[0039] According to a fourth aspect of an embodiment of the present invention, there is provided a non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method as described above.
[0040] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:
[0041] This patent has good fault tolerance for occlusion during drilling. As long as the azimuth relationship between the identified target and the centerline of the track is determined, accurate counting can be achieved. Even if occlusion occurs within a certain period of time, it will not lead to missing counts, which significantly improves the reliability and accuracy of the counting results.
[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.
[0044] Figure 1 is a flow chart of a water exploration drilling counting method according to an exemplary embodiment of the present invention;
[0045] Figure 2 It is a schematic diagram of target identification of a water exploration drilling rig;
[0046] Figure 3 is a structural block diagram of a water exploration and drilling counting system according to an exemplary embodiment of the present invention;
[0047] Figure 4 It is a schematic diagram showing the structure of a computing device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION
[0048] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred 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 make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.
[0049] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.
[0050] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0051] The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
[0052] Figure 1 The figure is a flow chart of a method for counting water exploration drilling according to an exemplary embodiment of the present invention.
[0053] See also Figure 1 , the method comprising:
[0054] 110. Obtain images of the water exploration drilling rig operation process.
[0055] Specifically, a camera installed at the water exploration drilling rig operation site is used to obtain images of on-site drilling. The shooting range should include the drilling rig body and the drilling rig tail for subsequent identification.
[0056] 120. Based on a pre-trained target recognition model, identify the drill pipe tail and the drilling rig body in the image.
[0057] Specifically, the type of target recognition model and its training process are implemented using existing technologies, which will not be described in detail here. Figure 2 As shown, in one embodiment, the trained target recognition model (YOLOV8) can be used to identify and mark the identification boxes and weights of the drill pipe tail (TAIL) and the fuselage (MACHINE) in the image.
[0058] 130. Determine a movement trajectory of the drill rod according to the recognition results of the drill rod tail in the plurality of images;
[0059] Specifically, the movement trajectory of the drill rod can be determined based on the recognition result of step 120. In one embodiment, the movement trajectory of the drill rod tail can be determined based on the distance between the drill rod tail and the center point of the recognition frame of the drilling rig body in the multiple images.
[0060] Optionally, in one embodiment, step 130 specifically includes:
[0061] 1301. Record the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the shortest as the first endpoint of the movement trajectory of the drill rod.
[0062] 1302. Record the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the farthest as the second endpoint of the movement trajectory of the drill rod.
[0063] 1303. Determine a moving trajectory of the drill rod according to the first endpoint and the second endpoint.
[0064] Specifically, in this embodiment, the slope of the moving trajectory in the image needs to be initialized first, which can be calculated based on the coordinates of the drill rod tail and the drilling rig body in the image. The two ends of the moving trajectory segment are the farthest endpoint (max point, MaxP) and the closest endpoint (min point, MinP) of the TAIL from the MACHINE; the coordinates of the farthest endpoint and the closest endpoint are related to the positive and negative of the slope of the motion trajectory after initialization; when the slope is positive, according to the coordinate system characteristics of the image (the upper left corner is the origin (0,0)), the coordinates of the farthest endpoint and the closest endpoint are (TAIL_X max ,TAIL_Y max ), (TAIL_X min ,TAIL_Y min ); When the slope is negative, the coordinates of the farthest and nearest endpoints are (TAIL_X max ,TAIL_Y min ), (TAIL_X min ,TAIL_Y max ).
[0065] 140. Determine the orientation relationship of the drill rod tail when it is detected to appear and disappear, and the orientation relationship of the drilling rig body when it is detected to appear, relative to the center line of the movement trajectory.
[0066] Specifically, in this embodiment, in order to avoid misidentification, preferably, when the drill rod tail is identified in N consecutive frames, it is determined that the drill rod tail appears, and the coordinates of the drill rod tail appearance point are recorded; when the drill rod tail is not identified in N consecutive frames, it is determined that the drill rod tail disappears, and the coordinates of the drill rod tail disappearance point are recorded; the position of the drill rig body is fixed, and the average coordinates of the drill rig body in multiple frames of images can be used as the coordinates of the drill rig body; the center line of the moving trajectory is a straight line that intersects the midpoint of the moving trajectory and is perpendicular to the moving trajectory. In this way, the appearance and disappearance of the drill rod tail and the position of the drill rig body can be determined respectively, so as to determine the azimuth relationship relative to the center line of the moving trajectory.
[0067] Optionally, in this embodiment, step 140 specifically includes:
[0068] Determine a first direction, a second direction, and a third direction of the drill rod tail and the drilling rig body relative to the center line of the moving trajectory, wherein the first direction is the direction relative to the center line when the drill rod tail is detected to appear, the second direction is the direction relative to the center line when the drill rod tail is detected to disappear, and the third direction is the direction of the drilling rig body relative to the center line.
[0069] 150. Count the number of drilling times according to the orientation relationship.
[0070] Specifically, during the water exploration drilling operation, the tail of the current drill rod is detected to appear and gradually move from the side away from the drilling rig body to the side close to the drilling rig body. After the drilling is completed, since the current drill rod has been driven into the borehole, it is detected that the tail of the current drill rod disappears and the tail of the next drill rod appears. At this point, it can be considered that one drilling is completed. Based on the change law of the above-mentioned azimuth relationship during a drilling process, the number of drilling times can be counted.
[0071] The prior art relies solely on detecting the movement trajectory of the drill rod. When problems such as occlusion and blur occur on site, resulting in a low detection rate, the problem of missed counting may occur. The technical solution of the embodiment of the present invention only requires partial image detection, and drilling counting can be performed based on simple azimuth relationship judgment, which greatly improves the accuracy and stability of counting.
[0072] Optionally, in this embodiment, step 150 specifically includes:
[0073] If the first direction is inconsistent with the second direction, and the second direction is consistent with the third direction, then one drilling is considered completed.
[0074] In this embodiment, in order to solve the problem of repeated counting caused by the wandering of the drill rod trajectory in the prior art, this embodiment adopts a method of detecting the vanishing point and the appearance point of the drill rod tail. Even if the trajectory line wanders, as long as the target drill rod still exists in the detection range, the counting logic will not be triggered, thereby avoiding the occurrence of repeated counting.
[0075] Specifically, the applicant found that when drilling starts, the tail of the drill rod appears on one side of the center line of the moving trajectory, and when drilling ends, the tail of the drill rod disappears on the other side of the center line of the moving trajectory, and is located on the same side of the center line of the moving trajectory as the drill rig body. Therefore, if it is detected that the tail of the drill rod and the drill rig body in the image meet the above conditions, it is considered that the previous drill rod has been drilled and a new drill rod currently exists, so a drilling count can be performed. In other cases, no drilling count is performed.
[0076] In addition, after the last drilling is completed, since there is no point where the tail of the drill rod of the next rod appears, for such a situation, optionally, a timeout time is set in this embodiment. When the time when the tail of the drill rod is detected to have disappeared exceeds the timeout time, and the direction of the tail of the drill rod relative to the center line of the moving trajectory (i.e., the second direction) when it is detected to have disappeared is consistent with the direction of the drill rig body relative to the center line of the moving trajectory (i.e., the third direction), then one drilling is counted as completed. At this point, the drilling count of the current borehole is completed, the drilling count is reset, and the drilling count of the next borehole is started.
[0077] The water exploration drilling counting method provided by the embodiment of the present invention has good fault tolerance for occlusion during drilling by a drilling rig. As long as the azimuth relationship between the identified target and the center line of the track is determined, accurate counting can be achieved. Even if occlusion occurs within a certain period of time, counting will not be missed, which significantly improves the reliability and accuracy of the counting results.
[0078] Figure 3 It is a structural block diagram of a water exploration drilling counting system according to an exemplary embodiment of the present invention.
[0079] See also Figure 3 The system comprises:
[0080] An image acquisition module, used to acquire images of the water exploration drilling rig operation process;
[0081] A target recognition module, used for recognizing the drill pipe tail and the drilling rig body in the image based on a pre-trained target recognition model;
[0082] A trajectory determination module, used to determine the movement trajectory of the drill rod according to the recognition results of the tail of the drill rod in the multiple images;
[0083] An orientation judgment module, used to determine the orientation relationship of the drill rod tail when it is detected to appear and disappear, and the drilling rig body when it is detected to appear, relative to the center line of the moving track;
[0084] The drilling counting module is used to count the number of drilling times according to the orientation relationship.
[0085] Optionally, in this embodiment, the trajectory determination module is specifically used to:
[0086] The movement trajectory of the drill rod tail is determined according to the distance between the center point of the identification frame of the drill rod tail and the drilling rig body in the multiple images.
[0087] Optionally, in this embodiment, the trajectory determination module is specifically used to:
[0088] Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the shortest as the first endpoint of the movement trajectory of the drill rod;
[0089] Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the farthest as the second end point of the movement trajectory of the drill rod;
[0090] The movement trajectory of the drill rod is determined according to the first end point and the second end point.
[0091] Optionally, in this embodiment, the orientation determination module is specifically used to:
[0092] Determine a first direction, a second direction, and a third direction of the drill rod tail and the drilling rig body relative to the center line of the moving trajectory, wherein the first direction is the direction relative to the center line when the drill rod tail is detected to appear, the second direction is the direction relative to the center line when the drill rod tail is detected to disappear, and the third direction is the direction of the drilling rig body relative to the center line.
[0093] Optionally, in this embodiment, the drilling counting module is specifically used for:
[0094] If the first direction is inconsistent with the second direction, and the second direction is consistent with the third direction, one drilling is considered completed.
[0095] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.
[0096] Figure 4 It is a schematic diagram showing the structure of a computing device according to an exemplary embodiment of the present invention.
[0097] See also Figure 4 , the computing device 400 includes a memory 410 and a processor 420 .
[0098] The processor 420 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
[0099] The memory 410 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor 420 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 410 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 410 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.
[0100] The memory 410 stores executable codes, and when the executable codes are processed by the processor 420 , the processor 420 can execute part or all of the methods described above.
[0101] In addition, the method according to the present invention may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing part or all of the steps in the above method of the present invention.
[0102] Alternatively, the present invention may also be implemented as a non-temporary machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or computing device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present invention.
[0103] The scheme of the present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required by the present invention. In addition, it can be understood that the steps in the method of the embodiment of the present invention can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present invention can be merged, divided and deleted according to actual needs.
[0104] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or a combination of both.
[0105] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0106] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A method for counting water exploration drilling, characterized in that: include: Acquire images of the water exploration drilling rig operation process; Based on a pre-trained target recognition model, identify the drill pipe tail and the drilling rig body in the image; Determining a movement trajectory of the drill rod according to the recognition results of the drill rod tail in the plurality of images; Determining the azimuth relationship of the drill rod tail when it is detected to appear and disappear, and the drill rig body when it is detected to appear, relative to the center line of the movement trajectory; The number of drilling times is counted according to the azimuth relationship.
2. The method according to claim 1, characterized in that Determining the movement trajectory of the drill rod according to the recognition results of the drill rod tail in the multiple images specifically includes: The movement trajectory of the drill rod tail is determined according to the distance between the center point of the identification frame of the drill rod tail and the drilling rig body in the multiple images.
3. The method according to claim 2, characterized in that Determining the movement trajectory of the drill rod according to the distance between the tail of the drill rod and the center point of the identification frame of the drilling rig body specifically includes: Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the shortest as the first endpoint of the movement trajectory of the drill rod; Recording the position of the drill rod tail when the distance between the drill rod tail and the center point of the identification frame of the drilling rig body is the farthest as the second end point of the movement trajectory of the drill rod; The movement trajectory of the drill rod is determined according to the first end point and the second end point.
4. The method according to any one of claims 1 to 3, characterized in that: Determining the azimuth relationship of the drill rod tail when it is detected to appear and disappear, and the rig body when it is detected to appear, relative to the center line of the movement trajectory, specifically includes: Determine a first direction, a second direction, and a third direction of the drill rod tail and the drilling rig body relative to the center line of the moving trajectory, wherein the first direction is the direction relative to the center line when the drill rod tail is detected to appear, the second direction is the direction relative to the center line when the drill rod tail is detected to disappear, and the third direction is the direction of the drilling rig body relative to the center line.
5. The method according to claim 4, characterized in that The number of drilling times is counted according to the azimuth relationship, specifically including: If the first direction is inconsistent with the second direction, and the second direction is consistent with the third direction, one drilling is considered completed.
6. A water exploration drilling counting system, characterized in that: include: An image acquisition module, used to acquire images of the water exploration drilling rig operation process; A target recognition module, used for recognizing the drill pipe tail and the drilling rig body in the image based on a pre-trained target recognition model; A trajectory determination module, used to determine the movement trajectory of the drill rod according to the recognition results of the tail of the drill rod in the multiple images; An orientation judgment module, used to determine the orientation relationship of the drill rod tail when it is detected to appear and disappear, and the drilling rig body when it is detected to appear, relative to the center line of the movement trajectory; The drilling counting module is used to count the number of drilling times according to the orientation relationship.
7. The system according to claim 6, characterized in that The position determination module is specifically used for: Determine a first direction, a second direction, and a third direction of the drill rod tail and the drilling rig body relative to the center line of the moving trajectory, wherein the first direction is the direction relative to the center line when the drill rod tail is detected to appear, the second direction is the direction relative to the center line when the drill rod tail is detected to disappear, and the third direction is the direction of the drilling rig body relative to the center line.
8. The system according to claim 7, characterized in that The drilling counting module is specifically used for: If the first direction is inconsistent with the second direction, and the second direction is consistent with the third direction, one drilling is considered completed.
9. A terminal device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 5.
10. A non-transitory machine-readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 5.