Non-uniform drilling television video jigsaw method based on small-period speed averaging

Abstract

The invention provides a non-uniform drilling television video jigsaw method based on small-period speed averaging. The method comprises the following steps: acquiring an original video and an original depth file; reading an original depth file; generating an instantaneous speed file; searching the position of each speed wave crest in the range of 85% of the amplitude of the speed curve; calculating the average speed in adjacent peak small periods; generating a new depth file; and performing puzzle calculation by using the new depth file and the original video, intercepting an annular image segment from the original video according to depth information, then unfolding the annular image to form a strip-shaped image, and sequentially splicing each unfolded image according to the hole depth to obtain a two-dimensional puzzle image. The problem that the imaging effect is poor under the vibration working condition of the drill rod can be solved, and more geological information can be stored as much as possible.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geotechnical engineering investigation, in particular to a method for non-uniform speed borehole television video jigsaw based on small cycle speed average. BACKGROUND

[0002] In recent years, with the rise of horizontal directional drilling technology, storage type borehole television has also emerged, which better solves the problems of traditional borehole television delivery and all-around structural plane analysis algorithm. It is widely used in the investigation and construction disturbance evaluation of underground engineering or slope engineering such as hydropower and mine in China. By using borehole television images, various characteristics and subtle structures of geological bodies in the borehole can be observed, such as stratum lithology, rock structure, fault, fracture, interlayer and karst, and a geological columnar graph can be compiled.

[0003] However, with the progress of horizontal drilling technology, the drilling depth exceeds one kilometer, and there is a bend left due to orientation in the hole body. When the storage type borehole television is tested, it is directly connected with the drill rod. Due to the weight of the drill rod itself and the friction with the hole wall, the drill rod is subjected to a great resistance, and therefore periodic vibration is generated. This leads to the "mosaic" phenomenon of borehole television jigsaw, the imaging effect is not clear, and a lot of geological information is lost. SUMMARY

[0004] The present application provides a method for non-uniform speed borehole television video jigsaw based on small cycle speed average, which aims to solve the problem of borehole television jigsaw algorithm under the working condition of drill rod vibration. Under the vibration working condition, there is always a time lag between the depth gauge fixed at the orifice and the camera located at the bottom of the drill rod, which leads to the fact that the camera actually moves forward while the depth gauge fails to record at the same time. The traditional algorithm considers that it is in a static state, and therefore a lot of frame images are lost periodically, which leads to the "mosaic" phenomenon of borehole television jigsaw, the imaging effect is not clear, and a lot of geological information is lost.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: The method for non-uniform speed borehole television video jigsaw based on small cycle speed average comprises: S001: obtaining original video and original depth file; S002: reading the original depth file; S003: generating an instantaneous speed file based on the original depth file; S004: searching for the positions of each speed wave peak within the range of 85% of the amplitude of the speed curve based on the instantaneous speed file; S005: calculating the average speed within the adjacent peak small cycle based on the positions of each speed wave peak; S006: generating a new depth file based on the average speed within the adjacent peak small cycle; S007: Use the new depth file and the original video to calculate the puzzle, according to the depth information, cut the annular image segment from the original video, then expand the annular image to form a strip image, and then sequentially splice each expanded image according to the hole depth to obtain a two-dimensional puzzle image.

[0006] In this specification, the error estimate is generated by the small period speed average algorithm, including: The front and back order of each frame of the two-dimensional puzzle image will not change; In each small period, the starting and ending depth of the image is constant; Upper limit estimation of single frame image depth error.

[0007] In this specification, an optical camera is installed at the front end of the borehole television probe to record the borehole wall image reflected by the conical mirror or curved mirror to form a continuous original video.

[0008] In this specification, an electronic compass is arranged inside the probe to record the orientation information of the probe.

[0009] In this specification, a depth wheel is installed at the orifice, and a depth gauge is arranged in the depth wheel to record the displacement by the friction between the drill rod and the depth wheel to form an original depth file.

[0010] In this specification, the calculation formula for generating the instantaneous speed file is: Wherein is the instantaneous speed corresponding to sequence i, is the displacement corresponding to the i-th sequence, and n is the total number of depth file sequence numbers.

[0011] In this specification, if the speed corresponding to the i-th sequence is greater than the speed corresponding to the i-1 and i+1 sequences, then the point i is considered as a wave peak, and the i satisfying the condition forms an array: ; Wherein is the starting sequence number corresponding to the j-th period, is the sequence number corresponding to the j-th wave peak, and N is the total number of wave peaks.

[0012] In this specification, the average speed formula in the adjacent peak small period is: ; Wherein, is the instantaneous speed corresponding to the sequence m after the small period average, is the instantaneous speed corresponding to the sequence m, is the sequence number corresponding to the j+1 wave peak.

[0013] In this specification, the calculation formula for generating a new depth file is: ; wherein is the displacement value corresponding to the i-th sequence after the average in the small period.

[0014] In the specification, the calculation formula of the single-frame image depth error upper limit estimation is: ; wherein is the single-frame image depth error upper limit, is the maximum speed in the j-th period, is the average speed in the j-th period, and u is the camera sampling interval.

[0015] In summary, the present application has at least the following beneficial effects: The present application can solve the problem of poor imaging effect under the working condition of drill pipe vibration, and can save more geological information as much as possible.

[0016] In the present application, the front and rear order of each frame of image of the two-dimensional jigsaw puzzle will not change; the starting and ending depth of the image in each small period is unchanged; the single-frame image depth error extreme value caused thereby is very small and is acceptable. The engineering example application shows that the algorithm has obvious advantages. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a schematic diagram of the method of the two-dimensional jigsaw puzzle of the non-uniform speed drilling television video based on small period average involved in the present application.

[0019] Figure 2 is a two-dimensional expansion schematic diagram of the drilling television, wherein a is a two-dimensional expansion diagram of a traditional algorithm, and b is a two-dimensional expansion diagram of a small period speed average algorithm.

[0020] Figure 3 is a process curve schematic diagram of the small period speed average algorithm, wherein a is a schematic diagram of the original depth curve, b is a schematic diagram of the speed curve, c is a schematic diagram of the wave peak detection of the speed curve, d is a schematic diagram of the speed curve after small period average, and e is a schematic diagram of the speed curve after small period average.

[0021] Figure 4 is a schematic diagram of the image conversion process.

[0022] Figure 5 to operate the interface. DETAILED DESCRIPTION

[0023] In the following, only certain exemplary embodiments are simply described. As will be realized by those skilled in the art, the described embodiments can be modified in various different ways. Therefore, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

[0024] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present embodiments. For purposes of simplicity and clarity, the description is directed to specific examples and implementations. However, one skilled in the art will understand that the present embodiments can be practiced with different features and / or settings. Thus, the following disclosure is not intended to be limiting, but rather is intended to be illustrative regarding the present embodiments. Further, the present embodiments can be repeated with reference numerals and / or letters that have different embodiments and / or settings in various examples, such repetition is expressly intended to be for a simplification and clarity of the description and is not intended to indicate that the described various embodiments and / or settings are related.

[0025] The embodiments of the present application will be described in detail below with reference to the attached drawings.

[0026] As Figure 1 shown, the present embodiments provide a method for non-uniform speed drilling television video puzzle based on small period average, which first converts the original depth file into a speed file, then detects the minimum period of the speed curve, and performs speed average within the minimum period, so that the video information can be retained while the position error is small, and the formed two-dimensional development chart has good effect. Specifically: S001: A high-definition, high-resolution optical camera is installed at the front end of the drilling television probe, which records the image of the drilling hole wall reflected back through the conical mirror or curved mirror. As the probe continuously moves in the drilling hole, a continuous original video is formed. An electronic compass is also provided inside the probe to record the orientation information of the probe. A depth wheel is installed at the orifice, which is equipped with a depth gauge. The displacement is recorded by the friction between the drill rod and the depth wheel to form an original depth file.

[0027] S002: Read the original depth (displacement) file, which is composed of sequence number i and corresponding displacement .

[0028] S003: Generate a instantaneous speed file: ; (1) wherein, is the instantaneous speed corresponding to sequence i, is the displacement corresponding to the i-th sequence; n is the total number of depth file sequence numbers.

[0029] S004: search the position of each speed peak in the range of speed curve amplitude [0.85, 1]. If the speed corresponding to the i-th sequence is greater than the speeds corresponding to the (i-1)-th and (i+1)-th sequences, it is considered that the point i is a peak. The i satisfying the condition forms the following array: (2) wherein, is the starting sequence number corresponding to the j-th period, is the sequence number corresponding to the j-th peak, and N is the total number of peaks.

[0030] S005: average speed in the adjacent peak small period: (3) wherein, is the instantaneous speed corresponding to the sequence m after the small period averaging, is the instantaneous speed corresponding to the sequence m, is the sequence number corresponding to the (j+1)-th peak.

[0031] S006: generate a new depth file: (4) wherein, is the displacement value corresponding to the i-th sequence after the small period averaging.

[0032] S007: perform a puzzle calculation using the new depth file and the original video, according to the depth information, cut a ring-shaped image segment from the original video, then expand the ring-shaped image to form a strip-shaped image, and sequentially splice each expanded image according to the hole depth to obtain a two-dimensional puzzle image. The image conversion process is shown in Figure 4 .

[0033] wherein, the error estimation generated by the "small period speed averaging" algorithm is: (1) the front and back order of each frame of the two-dimensional puzzle image will not change.

[0034] (2) the starting and ending depths of the image in each small period are unchanged.

[0035] (3) the calculation formula of the upper limit estimation of the single-frame image depth error is: ; wherein, is the upper limit of the single-frame image depth error, is the maximum speed in the j-th period, is the average speed in the j-th period, and u is the camera sampling interval.

[0036] In a specific embodiment: In a water conservancy underground powerhouse survey project, a horizontal directional hole drilling is set, the hole depth is 880.5 m, the elevation is 1060 m, the design hole depth is 900 m, and the actual final hole depth is 880.50 m, wherein the first opening diameter is 122 mm and drilled to 160 m, and the casing length is 160 m; the second opening diameter is 96 mm and drilled to 880.50 m.

[0037] The storage type borehole television is used for logging imaging. Due to multiple directional buildups, the hole body is curved, and the drill pipe is blocked by a large resistance. In addition, in order to ensure the video quality, the hole has been washed in advance, and the mud (main component is polyacrylamide) originally playing a lubricating role in the drilling process has also been washed out, so that there is no lubricant between the drill pipe and the hole wall, and the friction resistance also becomes larger. During the test, it is found that the drill pipe presents periodic vibration. Under the vibration working condition, there is always a time lag between the depth gauge fixed at the orifice and the camera located at the bottom of the drill pipe, which leads to the fact that the camera actually moves forward, while the depth gauge fails to record at the same time. The traditional algorithm considers that it is in a static state, so many frames of images are lost periodically, leading to the "mosaic" phenomenon of the borehole television puzzle, and the imaging effect is not clear, and a lot of geological information is lost (see Figure 2 a in detail). Figure 2 It is a two-dimensional expansion schematic diagram of the borehole television, wherein a exists the mosaic phenomenon, leading to the fact that the structural surface presents a jagged shape, and the structural surface in b presents a smooth and complete sinusoidal curve, and there is no mosaic phenomenon, and the geological information is clear and visible. Figure 3 It is a process curve of the small cycle speed average algorithm, wherein a is the original depth curve; b is the speed curve, and it can be seen that there is a certain periodic vibration; c is the wave peak detection of the speed curve, and the wave peak and position information are found; d is the speed curve after the small cycle average; and e is the speed curve after the small cycle average.

[0038] Therefore, the method of the non-uniform speed borehole television video puzzle based on the small cycle average is used for calculation: S001: A high-definition and high-resolution optical camera is installed at the front end of the borehole television probe, and the borehole wall image reflected back through the conical mirror or curved mirror is recorded. With the continuous movement of the probe in the borehole, a continuous original video is formed. An electronic compass is also arranged in the probe, which can record the azimuth information of the probe. A depth wheel is installed at the orifice, and a depth gauge is arranged in the depth wheel. The displacement is recorded by the friction between the drill pipe and the depth wheel, and an original depth file is formed.

[0039] S002: The original depth (displacement) file is read, and the depth file is composed of a serial number i and a corresponding displacement . The speed curve of this embodiment is shown in b of Figure 3 .

[0040] S003: An instantaneous speed file is generated: (1) wherein, is the instantaneous velocity corresponding to the sequence i, is the displacement corresponding to the i-th sequence; n is the total number of depth file sequence numbers.

[0041] The peak detection results of the velocity curve of the present embodiment are shown in Figure 3 c in FIG. 4.

[0042] S004: Search for the positions of the velocity peaks in the range of 85% of the amplitude of the velocity curve, i.e. [0.85, 1] (this setting is to avoid searching for low-amplitude peaks). If the velocity corresponding to the i-th sequence is greater than the velocities corresponding to the (i-1)-th and (i+1)-th sequences, then the point i is considered to be a peak. The i's satisfying this condition form the following array: (2) wherein, is the starting sequence number corresponding to the j-th period, is the sequence number corresponding to the j-th peak, and N is the total number of peaks.

[0043] The velocity curve after small-period averaging of the present embodiment is shown in Figure 3 d in FIG. 4.

[0044] S005: Average the velocity in the small period between adjacent peaks; (3) wherein, is the instantaneous velocity corresponding to the sequence m after small-period averaging, is the instantaneous velocity corresponding to the sequence m.

[0045] S006: Generate a new depth file; (4) wherein, is the displacement value corresponding to the i-th sequence after averaging in the small period.

[0046] The depth curve after small-period averaging of the present embodiment is shown in Figure 3 e in FIG. 4.

[0047] S007: Perform a jigsaw calculation using the new depth file and the original video, according to the depth information, cut out a ring-shaped image segment from the original video, then unfold the ring-shaped image to form a strip-shaped image, and sequentially splice each unfolded image according to the hole depth to obtain a two-dimensional jigsaw image. The operation interface is shown in Figure 5 .

[0048] The two-dimensional jigsaw image obtained in the present embodiment has good effects (see Figure 2(b) in the figure effectively eliminates the mosaic phenomenon and retains clear rock structure surface information.

[0049] Among them, the error estimate generated by the "small cycle velocity average" algorithm is: (1) The order of each frame image of the two-dimensional puzzle will not change.

[0050] (2) In each small cycle, the starting and ending depths of the image remain unchanged.

[0051] (3) Estimation of upper limit of depth error of single frame image: ; (5) Where, is the upper limit of the depth error of a single frame image, is the maximum speed in the jth cycle, m / min, is the average speed in the jth period, and u is the camera sampling interval, in ms.

[0052] In this implementation case, the average test speed is 2m / min, the maximum speed is 3m / min, and the sampling interval is 40ms. The maximum depth error of a single frame image is: ; In geological exploration, centimeter-level errors are negligible, which shows that the depth error caused by this algorithm is acceptable in engineering practice.

[0053] The above embodiments are intended to illustrate the present invention, not to limit the present invention. Therefore, changes in illustrative values ​​or substitutions of equivalent components should still fall within the scope of the present invention.

[0054] From the above detailed description, it will be clear to those skilled in the art that the present invention can indeed achieve the aforementioned objectives and is in compliance with the provisions of the Patent Law.

[0055] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as covering the preferred embodiments and all changes and modifications that fall within the scope of the invention. The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

[0056] It should be noted that the above description of the relevant processes is for illustration and purpose only and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the processes under the guidance of this specification. However, such modifications and changes are still within the scope of this specification.

[0057] The foregoing description has been directed to embodiments for the invention. As will be understood by those skilled in the art, the foregoing description is intended to be illustrative only and is not intended to be limiting on the application. Modifications, improvements and perturbations of the application can become apparent to those skilled in the art, but such modifications, improvements and perturbations are suggested by this application and remain within the spirit and scope of the exemplary embodiments of the application.

[0058] In addition, certain terminology has been used for the purpose of reference only, and is not intended to be limiting on the application. For example, "one embodiment", "an embodiment" and / or "some embodiments" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, it is emphasized that the use of "one embodiment", "an embodiment" and / or "some embodiments" to describe certain features, structures or characteristics of the application is not intended to limit the spirit and scope of the application to such described embodiments. In addition, it is noted that certain features, structures or characteristics can be combined in any suitable manner in one or more embodiments of the application.

[0059] In addition, those skilled in the art will appreciate that aspects of the application can be embodied in a variety of other forms or contexts, including any of the several types or kinds of patentable subject matter including any new and useful process, machine, manufacture or composition of matter, or any new and useful improvement thereof. Accordingly, aspects of the application can be embodied in a completely hardware embodiment, a completely software embodiment (including firmware, resident software, micro-code, etc.), or a combination of hardware and software. The above described embodiments are intended to be illustrative only and not restrictive of the application. The scope of the application should be determined by the appended claims and their legal equivalents rather than by the described embodiments. In addition, aspects of the application can take the form of a computer program product on one or more computer readable media having computer readable program code embodied in the medium.

[0060] Computer program code for carrying out operations of various aspects of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, conventional procedural programming languages, such as the C programming language, Visual Basic, Fortran 2103, Perl, COBOL 2102, PHP, ABAP, dynamic programming languages, such as Python, Ruby and Groovy, or another programming language. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any form of network, such as a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet) or within a cloud computing environment or as a service, such as software as a service (SaaS).

[0061] Furthermore, the order of presentation of the processing elements and sequences, use of numerals, letters, or other designations, in the description of embodiments is illustrative only and the steps and embodiments can be performed in any order, unless otherwise specifically noted. Although the above disclosure discusses some presently preferred embodiments of the application, the skilled artisan will understand that where

[0062] Similarly, it is to be noticed that the term "comprising", used in the description, is not used in the sense restricting itself to the features recited before the term, but rather in the sense of specifying the presence of such features, integers, steps or components. It is further noted that the description uses the term "comprising" to mean "including" or "comprising". It is further noted that the description uses the term "comprising" to mean "including" or "comprising".

Claims

1. A method for piecing together non-uniform drilling video based on small-cycle speed averaging, characterized in that: include: S001: Get the original video and original depth file; S002: Read the original depth file; S003: Generate instantaneous speed file based on original depth file; S004: Search for the location of each speed peak within 85% of the speed curve amplitude based on the instantaneous speed file; S005: Calculate the average speed within the adjacent peak small period based on the location of each speed peak; S006: Generate a new depth file based on the average velocity within the adjacent peak small period; S007: Use the new depth file and the original video to perform puzzle calculations. According to the depth information, a ring image segment is captured from the original video. The ring image is then expanded to form a strip image. Each expanded image is then stitched together in sequence according to the hole depth to obtain a two-dimensional puzzle image.

2. The method for non-uniform drilling video mosaic based on small cycle speed averaging according to claim 1 is characterized in that: The error estimate generated by the small-cycle velocity averaging algorithm includes: The order of each frame image of the two-dimensional puzzle remains unchanged; In each small cycle, the starting and ending depths of the image remain unchanged; Upper bound estimation of depth error for single frame images.

3. The method for non-uniform drilling video mosaic based on small cycle speed averaging according to claim 1, characterized in that: An optical camera is installed at the front end of the drilling TV probe to record the image of the drilling wall reflected by the conical mirror or curved mirror to form a continuous original video.

4. The method for non-uniform drilling video mosaic based on small cycle speed averaging according to claim 1, characterized in that: An electronic compass is set inside the probe to record the probe's orientation information.

5. The method for non-uniform drilling video mosaic based on small cycle speed averaging according to claim 1, characterized in that: A depth wheel is installed at the hole mouth, and a depth gauge is installed in the depth wheel. The friction between the drill rod and the depth wheel is used to record the displacement and form the original depth file.

6. The method for non-uniform drilling video mosaic based on small-cycle speed averaging according to claim 2, characterized in that: The calculation formula for generating instantaneous speed file is: ,in is the instantaneous velocity corresponding to sequence i, is the displacement corresponding to the i-th sequence, is the displacement corresponding to the i-1th sequence, and n is the total number of depth file sequence numbers.

7. The method for non-uniform drilling video mosaic based on small-cycle speed averaging according to claim 6, characterized in that: If the speed corresponding to the i-th sequence is greater than the speeds corresponding to the i-1th and i+1th sequences at the same time, then the point i is considered to be a peak, and the i that meet the conditions form an array: ； in is the starting sequence number corresponding to the j-th cycle, is the sequence number corresponding to the j-th peak, and N is the total number of peaks.

8. The method for non-uniform drilling video mosaic based on small-cycle speed averaging according to claim 7, characterized in that: The formula for calculating the average speed within the small period of adjacent peaks is: ； in, is the instantaneous velocity corresponding to the sequence m after small period averaging, is the instantaneous velocity corresponding to sequence m, is the sequence number corresponding to the j+1th peak.

9. The method for non-uniform drilling video mosaic based on small-cycle speed averaging according to claim 8, characterized in that: The calculation formula for generating a new depth file is: ； in is the displacement value corresponding to the ith sequence after averaging within a small period, is the displacement corresponding to the i=1th sequence.

10. The method for non-uniform drilling video mosaic based on small-cycle speed averaging according to claim 9, characterized in that: The calculation formula for estimating the upper limit of the depth error of a single frame image is: ； in is the upper limit of the depth error of a single frame image, is the maximum speed in the jth cycle, is the average speed in the jth period, and u is the camera sampling interval.

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