On-line detection system and method for automatic tightening and screwing-on of underground coal mine drill rod

Abstract

The invention relates to an on-line detection system and method for automatic screwing and screwing of a coal mine underground drill rod, which are based on an advanced machine vision technology, projection imaging is carried out on a thread screwing process, image acquisition and analysis processing are carried out, a screwing process technology is integrated, a screwing detection system is established, a screwing detection algorithm is proposed, and finally, non-stop and automatic screwing and screwing of a drill rod can be realized. Whether the drill rod threads are tightened or not is detected on line, it is guaranteed that the drill rod screwing operation is conducted smoothly, and the accuracy of drill rod thread screwing detection can be remarkably improved. The detection system is simple in structure, low in price, convenient to install, low in price and capable of being suitable for the severe working condition environment of the underground coal mine, and large-scale commercial application of the underground coal mine can be achieved.

Description

Technical Field

[0001] The present application relates to the field of underground coal mine drilling rigs, and in particular to an online detection system and method for automatic tightening and make-up of underground coal mine drill rods. Background Art

[0002] In the automation of underground coal mine drilling rigs, properly tightening drill pipe threads is a crucial process. During drilling operations, drill pipes are frequently subjected to complex bending, torque, and combined bending-torsion forces. If the threads between adjacent drill pipes are not properly tightened, the drill pipe will not be able to effectively withstand these forces, potentially causing the female threads to deform and fail, or break from the joint. This can damage the drill pipe, lead to the loss of valuable detection equipment and the drill pipe in the hole, and result in serious financial losses. Furthermore, failure to tighten drill pipe threads can lead to failure of the entire drilling rig, impacting production efficiency and work progress.

[0003] Currently, commonly used thread tightening detection methods rely primarily on monitoring the tightening pressure and time. Specifically, tightening begins after reaching a predetermined make-up point. Once the system reaches a specified torque pressure and maintains it for a specified period, the drill pipe thread is considered tightened. However, in real-world industrial scenarios, drill pipes often exhibit various non-ideal conditions, such as bending or deformation, which can cause the two drill pipe axes to become misaligned, increasing the torque required for tightening. However, increasing the tightening torque requires even greater torque to achieve breakout. To ensure proper breakout, the tightening torque is typically set at half the maximum torque. In this case, even if the torque reaches the specified tightening pressure, misjudgment can still occur, leading to damage to the drill pipe or interruption of operations, severely impacting production efficiency and economics. Furthermore, drill pipe length can vary significantly, resulting in real-time and significant variability in the location of the make-up point, complicating drill pipe thread tightening detection. Summary of the Invention

[0004] In order to overcome at least one shortcoming in the prior art, the present application provides an online detection system and method for automatic tightening and make-up of drill rods in coal mines.

[0005] In a first aspect, a method for online detection of automatic tightening and make-up of a drill rod in a coal mine is provided, comprising:

[0006] Acquire the front projection image and the rear projection image during the automatic tightening and make-up process of the drill rod. The front projection image is the image of the automatic tightening and make-up process of the drill rod to be made up and the active drill rod, and the rear projection image is the image of the automatic tightening and make-up process of the drill rod to be made up and the drill rod in the hole;

[0007] Obtain distance parameters of key nodes based on the front-end projection image and the rear-end projection image; the key nodes include the fastening preparation point, the rear-end preparatory make-up point, the rear-end make-up completion point, the front-end preparatory make-up point, and the front-end make-up completion point;

[0008] Obtain the pull rope sensor parameters of the key nodes; the pull rope sensor parameters of the key nodes include the distance between the rear end fastening completion point and the fastening preparation point, the distance between the rear end pre-makeup point and the fastening preparation point, the distance between the front end fastening completion point and the fastening preparation point, and the distance between the front end pre-makeup point and the fastening preparation point;

[0009] According to the key node distance parameters and the pull rope sensor parameters, it is determined whether the female thread of the drill rod to be made up and the male thread of the active drill rod are tightened, and whether the male thread of the drill rod to be made up and the female thread of the drill rod in the hole are tightened.

[0010] In one embodiment, determining whether the female thread of the drill rod to be made up is tightened with the male thread of the active drill rod includes:

[0011] Calculate the distance W1 that the feed device needs to travel when tightening the female thread of the drill pipe to be made up with the male thread of the active drill pipe:

[0012] W1=S1+Z1+T

[0013] Where S1 is the distance between the female thread of the drill pipe to be made up and the image origin of the rear projection image when the power head moves to the rear preparatory make-up point; Z1 is the distance between the male thread of the active drill pipe and the image origin of the rear projection image when the power head moves to the rear preparatory make-up point; T is the length of the male thread;

[0014] Calculate the actual travel distance M1 of the power head when the female thread of the drill pipe to be made up is screwed into the male thread of the active drill pipe:

[0015] M1=L2-L1

[0016] Among them, L2 is the distance between the rear end threading completion point and the threading preparation point, and L1 is the distance between the rear end preparation make-up point and the threading preparation point;

[0017] If W1-M1≤ΔL, where ΔL is the set threshold, it is determined that the female thread of the drill rod to be made up and the male thread of the active drill rod are tightened into place.

[0018] In one embodiment, determining whether a male thread of a drill rod to be made-up is tightened with a female thread of a drill rod in a hole includes:

[0019] Calculate the distance W2 that the feed device needs to travel when tightening the female thread of the drill pipe in the hole to the male thread of the drill pipe to be screwed on:

[0020] W1=S2+Z3+T

[0021] Where S2 is the distance between the female thread of the drill pipe to be made up and the image origin of the rear projection image when the power head moves to the front preparatory make-up point; Z3 is the distance between the female thread of the drill pipe in the hole and the image origin of the front projection image when the power head moves to the front preparatory make-up point; T is the length of the male thread;

[0022] Calculate the actual distance M2 that the power head travels when the female thread of the drill pipe in the hole is screwed into the male thread of the drill pipe to be screwed in:

[0023] M2=L4-L3

[0024] Among them, L4 is the distance between the front end fastening completion point and the fastening preparation point, and L3 is the distance between the front end preparation make-up point and the fastening preparation point;

[0025] If W2-M2≤ΔL, where ΔL is the set threshold, it is determined that the male thread of the make-up drill rod is tightened to the female thread of the drill rod in the hole.

[0026] In a second aspect, a device for automatically tightening and making up an online detection device for a drill rod in a coal mine is provided, comprising:

[0027] An image acquisition module is used to acquire front-end projection images and rear-end projection images during the automatic tightening and make-up process of the drill rod. The front-end projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the active drill rod, and the rear-end projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the drill rod in the hole;

[0028] A distance parameter acquisition module is used to obtain distance parameters of key nodes based on the front-end projection image and the rear-end projection image; the key nodes include the fastening preparation point, the rear-end preparatory make-up point, the rear-end make-up completion point, the front-end preparatory make-up point, and the front-end make-up completion point;

[0029] A drawstring sensor parameter acquisition module is used to obtain drawstring sensor parameters at key nodes; the drawstring sensor parameters at key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point;

[0030] The detection module is used to determine whether the female thread of the drill rod to be made up and the male thread of the active drill rod are tightened according to the key node distance parameters and the rope sensor parameters, and to determine whether the male thread of the make-up drill rod and the female thread of the drill rod in the hole are tightened.

[0031] In a third aspect, a system for automatically tightening and making up an online detection system for a drill rod in a coal mine is provided, comprising: a machine vision detection unit, a sensor unit, a control unit, and a drive unit;

[0032] The machine vision inspection unit is used to capture the front-end projection image and the rear-end projection image during the automatic tightening and make-up process of the drill rod. The front-end projection image is the image of the automatic tightening and make-up process of the drill rod to be made up and the active drill rod, and the rear-end projection image is the image of the automatic tightening and make-up process of the drill rod to be made up and the drill rod in the hole;

[0033] The sensor unit is used to collect the rope sensor parameters of key nodes; the rope sensor parameters of key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point;

[0034] The control unit is used to implement the above-mentioned online detection method for automatic tightening and make-up of the drill rod in the coal mine, and send control instructions to the drive unit according to the detection results;

[0035] The drive unit is used to perform corresponding actions according to the control instructions.

[0036] In one embodiment, the machine vision detection unit includes a front-end machine vision detection unit and a rear-end machine vision detection unit. The front-end machine vision detection unit is used to collect the front-end projection image during the automatic tightening and make-up process of the drill rod, and the rear-end machine vision detection unit is used to collect the rear-end projection image during the automatic tightening and make-up process of the drill rod.

[0037] In one embodiment, the sensor unit includes a drawstring sensor, which is mounted on the feeding device. One end of the drawstring of the drawstring sensor is fixedly mounted on the rear end of the feeding device, and the other end is fixedly mounted on the power head.

[0038] In one embodiment, the sensor unit further includes a rotation speed sensor, which is installed on the power head and is used to detect the rotation speed of the power head.

[0039] In one embodiment, the driving unit includes an inclination and azimuth adjustment device, a feeding device, a front clamp, a rear clamp, a drill rod unit, and a power head; the inclination and azimuth adjustment device is used to adjust the inclination and azimuth of the drilling rig, the feeding device is used to drive the drill rod unit forward and backward through the active drill rod of the power head, the front clamp is used to clamp the drill rod in the hole, and the rear clamp is used to clamp the drill rod to be fastened.

[0040] Compared with the prior art, this application has the following beneficial effects:

[0041] 1. Based on advanced machine vision technology, the thread tightening process is projected and imaged for image acquisition, analysis and processing. The tightening process is integrated to establish a tightening detection system and propose a tightening detection algorithm. Ultimately, it is possible to detect whether the drill pipe thread is tightened online without stopping the machine, ensuring the smooth progress of the drill pipe tightening operation.

[0042] 2. Drill pipe length errors are large. Traditional drill pipe thread twist detection methods cannot overcome the effects of drill pipe length errors and drill pipe bending deformation on twist, resulting in a low thread twist detection success rate and affecting production efficiency. This application can significantly improve the accuracy of drill pipe thread twist detection.

[0043] 3. It has a simple structure and low price, and can be applied to the harsh working environment in coal mines. It is easy to install and has a low price, and can be used for large-scale commercial applications in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present application may be better understood by referring to the following description in conjunction with the accompanying drawings, which together with the following detailed description are incorporated into and form a part of this specification. In the drawings:

[0045] Figure 1 Shows a schematic diagram of the installation of a machine vision inspection unit;

[0046] Figure 2 Shows a schematic diagram of the structure of the back-end machine vision light source;

[0047] Figure 3 Shows a schematic diagram of the structure of the back-end machine vision image collector;

[0048] Figure 4 shows a schematic diagram of the installation of the sensor unit;

[0049] Figure 5 shows a schematic structural diagram of a drive unit;

[0050] Figure 6 A flow chart of an online detection method for automatic tightening and make-up of drill rods in underground coal mines is shown;

[0051] Figure 7 A schematic diagram of five key nodes is shown;

[0052] Figure 8 The present invention shows the structural block diagram of an online detection device for automatic tightening and make-up of drill rods in coal mines.

[0053] Reference numerals:

[0054] 1—Tilt and azimuth adjustment device, 2—Feeding device, 3—Front clamp, 4—Rear clamp, 5—Drill rod unit, 6—Power head, 7—Breaker, 8—Front-end machine vision inspection unit, 9—Rear-end machine vision inspection unit;

[0055] 51—drill rod in the hole, 52—drill rod to be made-up;

[0056] 81—front-end machine vision light source, 82—front-end machine vision image collector;

[0057] 91—backend machine vision light source, 92—backend machine vision image collector.

[0058] 911—light source mounting plate, 912—light source support rod, 913—parallel light source;

[0059] 921—collector mounting plate, 922—collector support rod, 923—image collector. DETAILED DESCRIPTION

[0060] Exemplary embodiments of the present application are described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of actual embodiments are described in this specification. However, it should be understood that in the process of developing any such actual embodiment, many implementation-specific decisions may be made to achieve the developer's specific goals, and these decisions may vary from one implementation to another.

[0061] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, the accompanying drawings only show the device structure closely related to the solution according to the present application, while other details that are not closely related to the present application are omitted.

[0062] It should be understood that the present application is not limited to the described embodiments due to the following description with reference to the accompanying drawings. In this document, where feasible, the embodiments may be combined with each other, features between different embodiments may be replaced or borrowed, and one or more features may be omitted in one embodiment.

[0063] The present application provides an online detection system and method for automatic tightening and make-up of drill rods in coal mines, which aims to solve the problem of detecting whether the drill rods are tightened into place. Through real-time visual data analysis and algorithm judgment, it ensures the correct tightening of each drill rod thread during the drilling process, thereby improving the reliability and stability of the tightening operation and reducing production losses caused by misjudgment.

[0064] The present invention provides an online detection system for automatic tightening and make-up of underground coal mine drill rods, comprising a machine vision detection unit, a sensor unit, a control unit, and a drive unit. The following describes in detail the structure and functions of each unit.

[0065] The machine vision inspection unit is used to collect the front-end projection image and the rear-end projection image during the automatic tightening and make-up process of the drill rod. The front-end projection image is the image of the automatic tightening and make-up process of the drill rod to be put on and the active drill rod, and the rear-end projection image is the image of the automatic tightening and make-up process of the drill rod to be put on and the drill rod in the hole.

[0066] Specifically, the machine vision detection unit includes a front-end machine vision detection unit 8 and a back-end machine vision detection unit 9 .

[0067] Specifically, the front-end machine vision inspection unit 8 and the back-end machine vision inspection unit 9 have the same structural composition but are installed in different locations. The distance between the front-end machine vision inspection unit 8 and the back-end machine vision inspection unit 9 is the result of calibration using a standard measuring tool. The distance between the front-end machine vision inspection unit 8 and the back-end machine vision inspection unit 9 is denoted as S0. This is a factory parameter and cannot be changed. Each time the machine vision system is reinstalled, the S0 parameter should be re-measured and obtained. The following detailed description uses the back-end machine vision inspection unit as an example. Figure 1 The back-end machine vision detection unit 9 mainly includes: a back-end machine vision light source 91 and a back-end machine vision image collector 92. The front-end machine vision detection unit 8 mainly includes: a front-end machine vision light source 81 and a front-end machine vision image collector 82.

[0068] The back-end machine vision light source 91 continuously emits uniform and continuous parallel light, which shines on the threads of the drill rod to form a projection. The back-end machine vision image collector 92 collects the projection images formed during the process of tightening and making up the drill rod threads, forming a set of images of the drill rod tightening and making up process.

[0069] here, Figure 2 Shows the schematic diagram of the structure of the back-end machine vision light source, see Figure 2 The back-end machine vision light source 91 mainly includes: a light source mounting plate 911, a light source support rod 912, and a parallel light source 913. The light source mounting plate 911 is installed on the side of the drilling rig's feed device 2 and can be fine-tuned up and down and forward and backward. The light source support rod 912 is installed on the light source mounting plate 911, which can be adjusted in height. The parallel light source 913 is installed on the top of the light source support rod 912, which can continuously emit uniform parallel light.

[0070] Figure 3 The schematic diagram of the back-end machine vision image collector is shown in Figure 3The back-end machine vision image collector 92 mainly includes: a collector mounting plate 921, a collector support rod 922, and an image collector 923. The collector mounting plate 921 is installed on the other side of the drilling rig's feed device 2, that is, on the opposite side of the back-end machine vision light source 91, and can be fine-tuned up and down and forward and backward. The collector support rod 922 is installed on the collector mounting plate 921, which can be adjusted in height. The image collector 923 is installed on the top of the collector support rod 922. The image collector 923 can quickly and continuously capture images, achieving high-quality and high-definition image capture, and obtaining images of the drill rod tightening process.

[0071] The back-end machine vision image collector 92 and the back-end machine vision light source 91 appear in pairs, and the center axis formed by the corresponding center point of the back-end machine vision image collector 92 and the center point of the back-end machine vision light source 91 should be on the same plane as the center axis of the drill rod 51 and the active drill rod in the hole, so as to ensure that during the drill rod tightening process, the thread projection can be accurately captured and analyzed by the machine vision system, thereby realizing real-time and precise monitoring of the tightening process of each drill rod.

[0072] The sensor unit is used to collect the rope sensor parameters of key nodes; the rope sensor parameters of key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point;

[0073] Specifically, Figure 4 Shows the installation diagram of the sensor unit, see Figure 4 The sensor unit includes a pull-wire sensor g1, which is installed on the feeding device 2. One end of the pull-wire of the pull-wire sensor g1 is fixedly installed on the rear end of the feeding device 2, and the other end is fixedly installed on the power head 6.

[0074] Furthermore, the sensor unit further includes a rotation speed sensor g2 , which is mounted on the power head 6 and is used to detect the rotation speed of the power head 6 .

[0075] The control unit is used to implement an online detection method for automatic tightening and make-up of drill rods in coal mines, and sends control instructions to the drive unit according to the detection results; the specific detection process is described in detail in the following embodiments.

[0076] The drive unit is used to execute corresponding actions according to the control instructions. When the button fastening fails, the button fastening operation is repeated according to the control instructions.

[0077] Specifically, Figure 5The schematic diagram of the structure of the driving unit is shown, which includes an inclination and azimuth adjustment device 1, a feeding device 2, a front clamp 3, a rear clamp 4, a drill rod unit 5, a power head 6, and a breaker 7; the inclination and azimuth adjustment device 1 is used to adjust the inclination and azimuth of the drilling rig, the feeding device 2 is used to drive the drill rod unit 5 forward and backward through the active drill rod of the power head 6, the front clamp 3 is used to clamp the drill rod 51 in the hole, and the rear clamp 4 is used to clamp the drill rod 52 to be buckled.

[0078] Specifically, the drill rod unit 5 includes an in-hole drill rod 51 and a to-be-attached drill rod 52. The power head 6 includes an active drill rod and a power unit. The power unit drives the active drill rod forward and backward, and can also simultaneously rotate forward and reverse. Through the forward and backward and rotational combined motion of the active drill rod, the front clamp, rear clamp, breaker, and feed device cooperate to perform the thread tightening operation between the to-be-attached drill rod and the in-hole drill rod, thereby tightening the drill rod threads.

[0079] The embodiment of the present application also provides an online detection method for automatic tightening and make-up of a drill rod in a coal mine, which is applied to a control unit. Figure 6 The flowchart of the automatic tightening and make-up online detection method of the drill rod in the coal mine is shown in FIG. Figure 6 , the methods mainly include:

[0080] Step S1, obtaining the front projection image and the rear projection image during the automatic tightening and make-up process of the drill rod, the front projection image is the image of the automatic tightening and make-up process of the drill rod to be put on and the active drill rod, and the rear projection image is the image of the automatic tightening and make-up process of the drill rod to be put on and the drill rod in the hole.

[0081] Step S2, obtaining distance parameters of key nodes based on the front projection image and the rear projection image; the key nodes include the buttoning preparation point, the rear end preparation buttoning point, the rear end buttoning completion point, the front end preparation buttoning point, and the front end buttoning completion point.

[0082] Specifically, the obtained front-end projection images and rear-end projection images are screened and preprocessed. Here, image screening includes obtaining the projection image when the power head moves to the key node; image preprocessing is to filter the screened images to remove impurity points in the image to improve the image quality. At the same time, contour extraction and feature extraction are performed. For example, edge detection technology can be used to perform contour extraction to obtain the contour curve of the drill rod. The equal division method can be used to perform feature extraction on the contour curve of the drill rod to obtain the center point of the drill rod joint, that is, the image feature point.

[0083] By comparing with the calibration ruler, the distance parameters of the image feature points in the image are obtained, and the distance parameters of the image feature points corresponding to each key node in the image can be obtained.

[0084] Step S3, obtaining the rope sensor parameters of the key nodes; the rope sensor parameters of the key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point.

[0085] Step S4, based on the key node distance parameter and the pull rope sensor parameter, determine whether the female thread of the drill rod to be made up is tightened with the male thread of the active drill rod, and determine whether the male thread of the drill rod to be made up is tightened with the female thread of the drill rod in the hole.

[0086] Figure 7 The diagram shows five key nodes, namely the screw thread preparation point, the rear end preparation make-up point, the rear end make-up completion point, the front end preparation make-up point, and the front end make-up completion point.

[0087] The threading preparation point is the point at which the power head reaches the rear end of the feed mechanism, also known as the feed mechanism's origin. At this point, the power head is positioned at the rear end of the feed mechanism, the front gripper clamps the drill rod in the hole, and the rear gripper clamps the rod to be threaded. This completes the threading preparation process and allows threading to begin. The power head is located at point P0, the rear end of the feed mechanism. The distance between P0 and the feed mechanism's origin is L0. Theoretically, L0 is zero, but in practice, there are variations. As long as L0 is less than 5mm, the power head is considered at the threading preparation point. At this point, the distance between the active drill rod and the feed mechanism's origin (the threading preparation point) is Z0, and the distance between the front-end machine vision inspection system and the back-end machine vision inspection system is S0. These two parameters are system parameters determined after pre-installation and commissioning. They generally do not change and require recalibration after each system reinstallation. T is the male thread length of the drill rod. This is obtained from a drawing or can be measured with a vernier caliper. This data requires updating when the drill rod is replaced.

[0088] Rear-end preparatory make-up point: After the make-up preparation is complete, the feed device drives the power head forward to point P1, the rear-end preparatory make-up point. After image processing and data analysis, the rope sensor determines the distance between point P1 and the make-up preparation point as L1, the distance between the active drill pipe's male thread and the image origin of the rear-end projection image as Z1, and the distance between the female thread of the drill pipe to be made and the image origin of the rear-end projection image as S1.

[0089] Back-end threading completion point: When the rear-end speed sensor detects that the power head rotation speed has dropped to zero, the threading operation is considered complete. The pull rope sensor parameter L2 at this time is recorded. The distance between the back-end threading completion point and the threading preparation point is L2.

[0090] Front-end preparatory make-up point: After completing the rear-end threading of the drill pipe to be made up, the feed device drives the power head forward to point P3, the front-end preparatory make-up point (this point is the point to which the control program controls the power head movement). After image processing and data analysis, the rope sensor determines that the distance between point P3 and the make-up preparatory point is L3. The distance between the male thread of the drill pipe to be made up and the image origin of the front-end projection image is S3. The distance between the female thread of the drill pipe in the hole and the image origin of the front-end projection image is Z3. The distance between the female thread of the drill pipe to be made up and the image origin of the rear-end projection image is S2.

[0091] Front-end threading completion point: When the speed sensor detects that the power head's rotation speed has dropped to zero, the front-end threading operation is considered complete. The pull rope sensor parameter L4 at this time is recorded. This is the distance between the front-end threading completion point and the threading preparation point.

[0092] In one embodiment, in step S4, determining whether the female thread of the drill rod to be made up and the male thread of the active drill rod are tightened includes:

[0093] Calculate the distance W1 that the feed device needs to travel when tightening the female thread of the drill pipe to be made up with the male thread of the active drill pipe:

[0094] W1=S1+Z1+T

[0095] Where S1 is the distance between the female thread of the drill pipe to be made up and the image origin of the rear projection image when the power head moves to the rear preparatory make-up point; Z1 is the distance between the male thread of the active drill pipe and the image origin of the rear projection image when the power head moves to the rear preparatory make-up point; T is the length of the male thread;

[0096] Calculate the actual travel distance M1 of the power head when the female thread of the drill pipe to be made up is screwed into the male thread of the active drill pipe:

[0097] M1=L2-L1

[0098] Among them, L2 is the distance between the rear end threading completion point and the threading preparation point, and L1 is the distance between the rear end preparation make-up point and the threading preparation point;

[0099] If W1-M1≤ΔL, where ΔL is the set threshold, the female thread of the drill pipe to be made up is confirmed to be tightened to the male thread of the active drill pipe. Otherwise, the tightening fails and requires re-tightening or manual intervention.

[0100] In one embodiment, in step S4, determining whether the male thread of the drill rod to be made-up is tightened with the female thread of the drill rod in the hole includes:

[0101] Calculate the distance W2 that the feed device needs to travel when tightening the female thread of the drill pipe in the hole to the male thread of the drill pipe to be screwed on:

[0102] W1=S2+Z3+T

[0103] Where S2 is the distance between the female thread of the drill pipe to be made up and the image origin of the rear projection image when the power head moves to the front preparatory make-up point; Z3 is the distance between the female thread of the drill pipe in the hole and the image origin of the front projection image when the power head moves to the front preparatory make-up point; T is the length of the male thread;

[0104] Calculate the actual distance M2 that the power head travels when the female thread of the drill pipe in the hole is screwed into the male thread of the drill pipe to be screwed in:

[0105] M2=L4-L3

[0106] Among them, L4 is the distance between the front end fastening completion point and the fastening preparation point, and L3 is the distance between the front end preparation make-up point and the fastening preparation point;

[0107] If W2-M2≤ΔL, where ΔL is the set threshold, the male thread of the make-up drill pipe is properly tightened to the female thread of the drill pipe in the hole. Otherwise, the tightening fails and requires re-tightening or manual intervention.

[0108] Based on the same inventive concept as the method for detecting the automatic tightening and beading of a drill rod in a coal mine, this embodiment also provides a corresponding device for detecting the automatic tightening and beading of a drill rod in a coal mine. Figure 8 The structure diagram of the automatic tightening and make-up online detection device for underground coal mine drill rods is shown, including:

[0109] Image acquisition module 801 is used to acquire front-end projection images and rear-end projection images during the automatic tightening and make-up process of the drill rod. The front-end projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the active drill rod, and the rear-end projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the drill rod in the hole;

[0110] The distance parameter acquisition module 802 is used to acquire distance parameters of key nodes based on the front-end projection image and the rear-end projection image; the key nodes include the fastening preparation point, the rear-end preparatory make-up point, the rear-end make-up completion point, the front-end preparatory make-up point, and the front-end make-up completion point;

[0111] The drawstring sensor parameter acquisition module 803 is used to acquire the drawstring sensor parameters of key nodes; the drawstring sensor parameters of key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point;

[0112] The detection module 804 is used to determine whether the female thread of the drill rod to be fastened and the male thread of the active drill rod are tightened according to the key node distance parameters and the rope sensor parameters, and to determine whether the male thread of the fastened drill rod and the female thread of the drill rod in the hole are tightened.

[0113] The automatic tightening and make-up online detection device for underground coal mine drill rods of this embodiment has the same inventive concept as the above-mentioned automatic tightening and make-up online detection method for underground coal mine drill rods. Therefore, the specific implementation method of the device can be seen in the embodiment part of the automatic tightening and make-up online detection method for underground coal mine drill rods in the above-mentioned text, and its technical effect corresponds to the technical effect of the above-mentioned method, which will not be repeated here.

[0114] In summary, this application has the following technical effects:

[0115] 1. Based on advanced machine vision technology, the thread tightening process is projected and imaged for image acquisition, analysis and processing. The tightening process is integrated to establish a tightening detection system and propose a tightening detection algorithm. Ultimately, it is possible to detect whether the drill pipe thread is tightened online without stopping the machine, ensuring the smooth progress of the drill pipe tightening operation.

[0116] 2. Drill pipe length errors are large. Traditional drill pipe thread twist detection methods cannot overcome the effects of drill pipe length errors and drill pipe bending deformation on twist, resulting in a low thread twist detection success rate and affecting production efficiency. This application can significantly improve the accuracy of drill pipe thread twist detection.

[0117] 3. It has a simple structure and low price, and can be applied to the harsh working environment in coal mines. It is easy to install and has a low price, and can be used for large-scale commercial applications in coal mines.

[0118] The above descriptions are merely examples of various embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for automatically tightening and making up an online detection method for a drill rod in a coal mine, characterized in that: include: Acquire a front projection image and a rear projection image during the automatic tightening and make-up process of the drill rod, wherein the front projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the active drill rod, and the rear projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the drill rod in the hole; Obtain distance parameters of key nodes according to the front projection image and the rear projection image; the key nodes include a fastening preparation point, a rear end pre-makeup point, a rear end makeup completion point, a front end pre-makeup point, and a front end makeup completion point; Obtaining the pull rope sensor parameters of the key nodes; the pull rope sensor parameters of the key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point; According to the key node distance parameter and the pull rope sensor parameter, it is determined whether the female thread of the drill rod to be fastened and the male thread of the active drill rod are tightened, and whether the male thread of the drill rod to be fastened and the female thread of the drill rod in the hole are tightened.

2. The method according to claim 1, wherein in, Determine whether the female thread of the drill pipe to be made up and the male thread of the active drill pipe are tightened, including: Calculate the distance W1 that the feed device needs to travel when tightening the female thread of the drill pipe to be made up with the male thread of the active drill pipe: W1=S1+Z1+T Where S1 is the distance between the female thread of the drill pipe to be made up and the image origin of the rear projection image when the power head moves to the rear preparatory make-up point; Z1 is the distance between the male thread of the active drill pipe and the image origin of the rear projection image when the power head moves to the rear preparatory make-up point; T is the length of the male thread; Calculate the actual travel distance M1 of the power head when the female thread of the drill pipe to be made up is screwed into the male thread of the active drill pipe: M1=L2-L1 Among them, L2 is the distance between the rear end threading completion point and the threading preparation point, and L1 is the distance between the rear end preparation make-up point and the threading preparation point; If W1-M1≤ΔL, where ΔL is the set threshold, it is determined that the female thread of the drill rod to be made up and the male thread of the active drill rod are tightened into place.

3. The method according to claim 1, wherein in, Determine whether the male thread of the drill pipe to be made up is tightened with the female thread of the drill pipe in the hole, including: Calculate the distance W2 that the feed device needs to travel when tightening the female thread of the drill pipe in the hole to the male thread of the drill pipe to be screwed on: W1=S2+Z3+T Where S2 is the distance between the female thread of the drill pipe to be made up and the image origin of the rear projection image when the power head moves to the front preparatory make-up point; Z3 is the distance between the female thread of the drill pipe in the hole and the image origin of the front projection image when the power head moves to the front preparatory make-up point; T is the length of the male thread; Calculate the actual distance M2 that the power head travels when the female thread of the drill pipe in the hole is screwed into the male thread of the drill pipe to be screwed in: M2=L4-L3 Among them, L4 is the distance between the front end fastening completion point and the fastening preparation point, and L3 is the distance between the front end preparation make-up point and the fastening preparation point; If W2-M2≤ΔL, where ΔL is the set threshold, it is determined that the male thread of the make-up drill rod is tightened to the female thread of the drill rod in the hole.

4. An online detection device for automatic tightening and make-up of drill rods in coal mines, characterized in that: include: An image acquisition module is used to acquire a front projection image and a rear projection image during the automatic tightening and make-up process of the drill rod, wherein the front projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the active drill rod, and the rear projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the drill rod in the hole; a distance parameter acquisition module, configured to acquire distance parameters of key nodes based on the front projection image and the rear projection image; the key nodes including a fastening preparation point, a rear end preparatory make-up point, a rear end make-up completion point, a front end preparatory make-up point, and a front end make-up completion point; A drawstring sensor parameter acquisition module is used to acquire drawstring sensor parameters of key nodes; the drawstring sensor parameters of the key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point; The detection module is used to determine whether the female thread of the drill rod to be fastened and the male thread of the active drill rod are tightened according to the key node distance parameter and the pull rope sensor parameter, and to determine whether the male thread of the fastened drill rod and the female thread of the drill rod in the hole are tightened.

5. An automatic tightening and make-up online detection system for underground coal mine drill rods, characterized in that: include: Machine vision detection unit, sensor unit, control unit and drive unit; The machine vision detection unit is used to collect front-end projection images and rear-end projection images during the automatic tightening and make-up process of the drill rod, wherein the front-end projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the active drill rod, and the rear-end projection image is an image of the process of automatic tightening and make-up of the drill rod to be made up and the drill rod in the hole; The sensor unit is used to collect the rope sensor parameters of the key nodes; the rope sensor parameters of the key nodes include the distance between the rear end buckle completion point and the buckle preparation point, the distance between the rear end pre-makeup point and the buckle preparation point, the distance between the front end buckle completion point and the buckle preparation point, and the distance between the front end pre-makeup point and the buckle preparation point; The control unit is used to implement the online detection method for automatic tightening and make-up of a coal mine drill rod according to any one of claims 1 to 3, and send a control instruction to the drive unit according to the detection result; The driving unit is used to perform corresponding actions according to the control instruction.

6. The system according to claim 5, wherein: The machine vision detection unit comprises a front-end machine vision detection unit (8) and a rear-end machine vision detection unit (9); the front-end machine vision detection unit (8) is used to collect a front-end projection image during the automatic tightening and make-up process of the drill rod; and the rear-end machine vision detection unit (9) is used to collect a rear-end projection image during the automatic tightening and make-up process of the drill rod.

7. The system according to claim 5, wherein: The sensor unit comprises a drawstring sensor, which is mounted on the feeding device (2). One end of the drawstring of the drawstring sensor is fixedly mounted on the rear end of the feeding device (2), and the other end is fixedly mounted on the power head (6).

8. The system according to claim 7, wherein: The sensor unit further includes a rotation speed sensor, which is installed on the power head and is used to detect the rotation speed of the power head.

9. The system according to claim 5, wherein: The driving unit comprises an inclination and azimuth adjustment device (1), a feeding device (2), a front clamp (3), a rear clamp (4), a drill rod unit (5), and a power head (6); the inclination and azimuth adjustment device (1) is used to adjust the inclination and azimuth of the drilling rig, the feeding device (2) is used to drive the drill rod unit (5) forward and backward through the active drill rod of the power head (6), the front clamp (3) is used to clamp the drill rod (51) in the hole, and the rear clamp (4) is used to clamp the drill rod (52) to be fastened.

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