Drilling machine wellhead centering measuring device and centering adjusting method

Abstract

The invention discloses a drilling machine wellhead centering measuring device and a centering adjusting method, the device comprises a support, a shell, an upper high-definition camera and a lower high-definition camera, the upper high-definition camera and the lower high-definition camera are arranged in the shell, and the upper high-definition camera and the lower high-definition camera are used for shooting a tool on the upper portion and a rotary table on the lower portion; an all-in-one computer is arranged on the surface of the shell; the upper high-definition camera and the lower high-definition camera are connected into a whole through a connecting piece, the optical axes of the upper high-definition camera and the lower high-definition camera coincide, a double-axis angle sensor is arranged on the upper high-definition camera and used for monitoring angle change data of the cameras and transmitting the angle change data to the computer all-in-one machine, and the computer all-in-one machine further obtains images of the upper high-definition camera and the lower high-definition camera; a bidirectional adjusting mechanism is arranged on the connecting piece and used for adjusting the angle of the upper high-definition camera and the angle of the lower high-definition camera so that the view field of the cameras can cover a preset operation area. The method has the advantages of high measurement precision, no need of dependence on artificial experience, convenience in use, suitability for various places and realization of integration of measurement and calculation.

Description

Technical Field

[0001] This invention relates to the field of oil drilling technology. More specifically, this invention relates to a drilling rig wellhead centering measuring device and a centering adjustment method. Background Technology

[0002] During oil drilling, the drill string rotates within the rotary table. The coaxiality between the drill string and the rotary table center is a crucial indicator affecting the drilling rig's performance. Excessive eccentricity between the drill string and the rotary table center can cause lateral vibration of the drill string during drilling, increasing the risk of drill pipe wear and failure, and compromising drilling safety. Therefore, during rig installation and drilling operations, it is necessary to measure the eccentricity and orientation between the drill string center and the rotary table center. Based on the measurement results, the shims at the derrick legs are adjusted to ensure coaxiality between the drill string center and the rotary table center.

[0003] Currently, there are generally three technical solutions for measuring the coaxiality between the drill string center and the rotary table center.

[0004] 1. Suspended weight measurement: The weight is suspended from the large hook by a steel wire rope and hangs down to the turntable. The measuring staff measures the deviation between the weight and the center of the turntable by visual inspection or by using tools.

[0005] The method of suspending heavy objects relies heavily on the experience of the construction workers. If the measurement is carried out in the field, the steel wire rope and drill collar will swing with the wind in windy weather, resulting in low accuracy and low efficiency of centering and detection.

[0006] 2. Using a total station / theodolite for measurement: This method requires raising the drill rod to a certain height above the rotary table. Three prisms are placed at the lower end of the drill rod and on the rotary table surface. The coordinates of the prism reflection points are measured using a total station. The coordinate data of the three points on each side are fitted into circles, and the centers of the two circles are calculated. The coaxiality between the drill rod and the rotary table is then determined by comparing the coordinates of the center points. A similar method uses a theodolite, but the theodolite's measurement accuracy is lower than that of a total station.

[0007] Using a total station or theodolite for measurement is time-consuming and has low measurement accuracy.

[0008] 3. Using a laser plumb line for measurement, two laser plumb lines are symmetrically inverted and installed above the derrick, and two laser receivers are symmetrically installed on the turntable. The installation position of the laser transmitter is determined by the reading of the receivers, and then the position of the derrick center relative to the turntable center can be calculated to determine whether the deviation between the two centers is within the allowable range.

[0009] Using laser detection methods requires the fabrication of specialized mounting brackets on the derrick to install the laser equipment, increasing the workload of derrick manufacturing and on-site installation. Furthermore, the accuracy of laser measurements is significantly affected by direct sunlight. Moreover, the high cost of precision laser equipment and its need for continuous power supply present a significant obstacle in field inspections. Summary of the Invention

[0010] One objective of this invention is to provide a drilling rig wellhead centering measurement device and centering adjustment method, which has the advantages of high measurement accuracy, no reliance on human experience, convenient use, applicability to various locations, and integration of measurement and calculation.

[0011] To address the aforementioned technical problems, this invention provides a drilling rig wellhead alignment measurement device, comprising a support, a housing fixedly mounted on the top of the support, and an upper high-definition camera and a lower high-definition camera respectively disposed in the upper and lower parts of the housing. The support is stably supported on the ground so that the upper and lower high-definition cameras can take pictures of the upper tooling and the lower rotary table. A computer is mounted on the surface of the housing. The upper and lower high-definition cameras are connected as one unit by a connector, and their optical axes coincide. The upper high-definition camera is equipped with a dual-axis angle sensor, which monitors the angle change data of the camera and transmits it to the computer. The computer also acquires images from the upper and lower high-definition cameras. A bidirectional adjustment mechanism is provided on the connector, which adjusts the bidirectional angles of the upper and lower high-definition cameras to make them horizontal.

[0012] Preferably, a coaxial telephoto lens is fixedly disposed above the upper high-definition camera, and a coaxial telephoto lens is also fixedly disposed below the lower high-definition camera.

[0013] Preferably, the connector includes a connecting block and a fixed box arranged symmetrically on the upper and lower sides. The fixed box has a hollow structure and a protective layer on its inner wall. The upper high-definition camera and the lower high-definition camera are positioned inside the fixed box, and the telephoto lens extends freely outside the fixed box. A bidirectional adjustment mechanism is provided on the connecting block.

[0014] Preferably, elastic blocks are fixedly provided on both the top and bottom surfaces of the connecting block, and sliding plates are fixedly provided on the surfaces of the elastic blocks. The symmetrically arranged fixed boxes are slidably connected to the corresponding sliding plates along the Y-axis. The bidirectional adjustment mechanism includes an X-axis adjustment component and a Y-axis adjustment component. The X-axis adjustment component includes an adjustment gear and an X-axis adjustment knob. The adjustment gear is an annular internal gear and is fixed inside the connecting block via a shaft. One end of the X-axis adjustment knob is used for operation rotation, and the other end is fixedly provided with a small gear that meshes with the adjustment gear. Rotation of the X-axis adjustment knob drives the adjustment gear to rotate the connecting block as a whole along the X-axis, thereby causing the two cameras to rotate along the X-axis. The Y-axis adjustment component includes a connecting plate, a fixed block, and a... The slider and Y-axis adjustment knob are placed inside the fixed block. The connecting plate is a U-shaped plate, with both ends fixedly connected to the upper and lower fixed boxes. The center of the U-shaped plate is hinged to the center of the side plate of the connecting block. Two springs are symmetrically arranged above and below the hinge point of the U-shaped plate, with their ends fixed to the U-shaped plate and the connecting block respectively. The fixed block is fixed inside the housing. The slider is slidably arranged inside the fixed block along the Y-axis. A rack is arranged on the top surface of the slider along its length. One end of the Y-axis adjustment knob is used for operation and rotation, and the other end is fixedly equipped with a drive gear, which meshes with the rack to realize that the slider moves linearly by rotating the drive gear, thereby pushing the connecting plate to drive the two cameras to rotate along the Y-axis; thus adjusting the tilt angle of the two cameras.

[0015] Preferably, the upper and lower high-definition cameras are symmetrically arranged along the horizontal axis of the connecting block, and the optical axes of the upper and lower high-definition cameras are aligned with the vertical axis of the connecting block. Two X-axis adjustment components are symmetrically arranged along the axis of the connecting block, and the ends of the X-axis adjustment knobs corresponding to the two X-axis adjustment components extend through small gears and are connected as one unit.

[0016] Preferably, the all-in-one computer includes a data acquisition module, a calculation and analysis module, a visual calibration and deviation calculation module, a control module, a display module, and a conversion module. The data acquisition module acquires data from the angle sensor and camera image data and transmits it to the visual calibration and deviation calculation module and the control module. The visual calibration and deviation calculation module establishes a proportional relationship between the difference in image pixels and the change in camera tilt angle using calibration results from two different states. Combined with the input actual turntable diameter value, it further calculates the conversion relationship between pixels and physical length. Then, based on these two relationships, it acquires the same... The horizontal offset distance between the tooling center and the turntable center in two directions within a plane is measured. The control module controls the X-axis adjustment knob and Y-axis adjustment knob to adjust the camera tilt angle based on angle sensor data and camera image data so that the camera's field of view covers the predetermined working area. The data acquisition module acquires image data from the two cameras and converts it into the same coordinate system through the conversion module. The display module is used to display the tooling and turntable images displayed by the two cameras in the same coordinate system. The calculation and analysis module automatically calculates the offset between the center of the tooling and the center of the turntable and adjusts the position and lifting height of the derrick legs.

[0017] The present invention also provides a method for centering adjustment using a drilling rig wellhead centering measuring device, comprising the following steps: Step 1: Place the entire centering measuring device directly above the turntable using the bracket, adjust it so that the camera is basically directly facing the center of the turntable, and then fix the bracket. Step 2: Adjust the camera lens focal length and aperture until the image displayed in the software module is clear and the brightness is appropriate; Step 3: In the first camera tilt angle state, identify the positions of the turntable center and the tooling center, and record the current camera tilt angle; then, fine-tune the camera tilt angle using the X-axis and Y-axis adjustment knobs to form the second camera tilt angle state, identify the current positions of the turntable center and the tooling center, and record the new camera tilt angle; through the two tilt angle calibration results, establish the proportional relationship between pixel difference and camera tilt angle change; then, combined with the input actual turntable diameter value, further calculate the conversion relationship between pixel and physical length; based on the above two relationships, obtain the horizontal offset distance in two directions between the tooling center and the turntable center in the same plane; Step 4: Based on the established mathematical model of the derrick and the obtained parameter values ​​of the derrick, and combined with the horizontal offset distances in the two directions calculated above, calculate the position and lifting height of the outriggers to be adjusted on the derrick, and then adjust and center them.

[0018] The present invention has at least the following beneficial effects: 1. The present invention effectively solves the problems existing in the prior art, such as inaccurate detection, low accuracy of measurement results, susceptibility to weather and environmental impacts, and high R & D costs of equipment, and has significant technical improvement significance and application value.

[0019] 2. The present invention uses a long - focal - length high - definition camera combined with a special control software for image acquisition and processing, and can achieve image acquisition and measurement with an accuracy of up to 1 mm, significantly improving the detection accuracy.

[0020] 3. The present invention is powered by a rechargeable and dischargeable lithium - battery, providing power support, and has good field adaptability and endurance; it enhances the adaptability and endurance of the equipment in the complex field environment.

[0021] 4. The present invention supports remote access to terminal devices through software, facilitating system control and function updates; it is easy to operate and has high security. Without personnel climbing or relying on manual experience, it can efficiently complete the centering detection, ensuring the safety of operators while improving the detection efficiency and accuracy; at the same time, the device has an integrated software - hardware design and can independently achieve measurement and data processing without external auxiliary equipment, and overall has high precision, high security, strong adaptability and good engineering practicability.

[0022] Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the rig wellhead centering measurement device of the present invention.

[0024] Figure 2 It is an overall schematic diagram of the rig wellhead centering measurement device of the present invention.

[0025] Figure 3 It is an enlarged sectional view of the inside of the housing of the rig wellhead centering measurement device of the present invention.

[0026] Figure 4 It is an overall schematic diagram of the supporting tooling of the rig wellhead centering measurement device of the present invention.

[0027] Figure 5 It is a schematic diagram of the derrick mathematical model of the present invention Figure 1 ; Figure 6 It is a schematic diagram of the derrick mathematical model of the present invention Figure 2 。

[0028] DESCRIPTION OF THE REFERENCE NUMERALS: 1. Upper telephoto lens, 2. Upper HD camera, 3. Lower telephoto lens, 4. Lower HD camera, 5. All-in-one computer, 6. Angle sensor, 7. X-axis adjustment knob, 8. Y-axis adjustment knob, 9. Lithium battery, 10. Housing, 11. Tripod, 12. Upper fixed box, 13. Lower fixed box, 14. Connecting block, 15. Elastic block, 16. Slide plate, 17. Drive gear, 18. Pinion gear, 19. Adjusting gear, 20. Connecting plate, 21. Fixed block, 22. Slider, 23. Spring, 24. Positioning disc, 25. Tooling body, 26. Suspension lug, 27. Steel wire rope. Detailed Implementation

[0029] To better understand the purpose, structure, and function of this invention, the invention will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0030] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] like Figure 1 and Figure 2As shown, this invention provides a drilling rig wellhead centering measurement device, including a bracket, a housing fixedly mounted on the top of the bracket, and an upper high-definition camera and a lower high-definition camera respectively mounted in the upper and lower parts of the housing. The bracket is stably supported on the ground so that the upper and lower high-definition cameras can take pictures of the upper tooling and the lower rotary table. A computer is mounted on the surface of the housing. The tooling adopts a cap-shaped ring structure and is suspended from the center of the traveling block hook, configured to simulate the center of the overhead crane. The upper and lower high-definition cameras are connected as one unit by a connector, and their optical axes coincide. The upper high-definition camera is equipped with a dual-axis angle sensor, which is used to monitor the angle change data of the camera and transmit it to the computer. The computer also acquires images from the upper and lower high-definition cameras. A bidirectional adjustment mechanism is provided on the connector, which is used to adjust the angle of the upper and lower high-definition cameras so that their fields of view cover a predetermined working area. A coaxial telephoto lens is fixedly mounted above the upper high-definition camera, and a coaxial telephoto lens is also fixedly mounted below the lower high-definition camera. The drill string is suspended below the center of the derrick, so the center of the derrick is generally assumed to be the center of the drill string. The fact that the center of the overhead crane and the center of the rotary table in the tooling simulation coincides indicates that the coaxiality of the drill string and the center of the rotary table meets the requirements.

[0032] like Figure 1 and Figure 2As shown, the hardware of the drilling rig wellhead centering measurement device of the present invention consists of an upper telephoto lens 1, an upper high-definition camera 2, a lower telephoto lens 3, a lower high-definition camera 4, an all-in-one computer 5, an angle sensor 6, a lithium battery 9, a housing 10, and a support, i.e., a tripod 11. The upper telephoto lens 1 and the upper high-definition camera 2 are connected for capturing and outputting images of the tooling, while the lower telephoto lens 3 and the lower high-definition camera 4 are connected for capturing and outputting images of the turntable center. The all-in-one computer 5 runs the accompanying software to acquire data from the dual-axis angle sensor and images from the upper and lower high-definition cameras. The angle sensor 6 is a dual-axis angle sensor used to accurately measure the tilt angles of the camera lens in two directions and adjust the camera's field of view to cover the predetermined working area by controlling the bidirectional adjustment mechanism. The image from the upper high-definition camera is the tooling image, and the image from the lower high-definition camera is the turntable image. The two images are displayed on the same interface, and the offset of the tooling center relative to the turntable center is measured and calculated. Based on this, a preset algorithm is used to calculate the position and lifting height of the derrick legs that need to be adjusted, thereby adjusting the tooling center and the turntable center to coincide and center. The bracket is a tripod, providing stable support and ensuring stable camera monitoring. Two cameras are connected as a single unit via connectors, allowing for overall angle adjustment. The alignment of the optical axes of the two cameras ensures that the image data from the fixture and turntable are unified into a single reference coordinate system. A bidirectional adjustment mechanism assists in adjusting the camera angle in two directions, providing higher precision. Lithium battery 9 provides power to the high-definition camera and the all-in-one computer. All the above components are housed inside housing 10, which has a circular flange at the bottom that fits into the triangular chuck at the top of tripod 11. The camera is then secured using a locking knob.

[0033] The upper telephoto lens 1 is fixedly connected above the upper high-definition camera 2, arranged coaxially and vertically to achieve high-precision shooting of the tooling. Its focus or aperture can be adjusted according to on-site construction needs to adapt to different environmental brightness levels. The upper high-definition camera 2 is installed in the upper middle part of the housing 10, directly below the upper telephoto lens 1, maintaining a concentric and vertical state to ensure the clarity of the captured images. The lower telephoto lens 3 is fixedly connected below the lower high-definition camera 4, arranged coaxially and vertically, for shooting the center hole of the turntable. Its focus can be adjusted on-site to adapt to different measurement accuracy requirements. The lower high-definition camera 4 is located in the lower middle part of the housing 10, directly above the lower telephoto lens 3, ensuring stable acquisition of the turntable center image. The all-in-one computer 5 is fixed to the front of the housing 10, with its screen parallel to the housing wall. It runs the accompanying software, displays the offset of the tooling circle center relative to the turntable center circle in the same plane, and calculates the position and lifting height of the derrick support leg to be adjusted based on the offset using a preset algorithm. The angle sensor 6 is installed on the upper inner side of the housing 10 to detect the tilt angle of the camera lens in real time. The lithium battery 9 is located on the lower side of the housing 10, between the two cameras, providing stable power support for the cameras, all-in-one computer, and sensors. A circular flange is located at the bottom of the housing 10, into which the tripod 11's triangular chuck is inserted and secured with a locking knob, ensuring robust support for the entire machine under operating conditions. The overhead crane corresponding to the tooling is supported by a derrick with four rectangular legs. Adjusting the derrick legs allows for adjustment of the tooling's center offset. The height of the derrick legs is adjusted by adding or removing shims.

[0034] In another technical solution, such as Figure 3 As shown, the connector includes a connecting block 14 and symmetrically arranged upper and lower fixing boxes, namely an upper fixing box 12 and a lower fixing box 13. The fixing boxes are hollow structures with a protective layer on their inner walls. The upper and lower high-definition cameras and their telephoto lenses are all housed inside the fixing boxes. The fixing boxes have light holes corresponding to the lens positions, and a bidirectional adjustment mechanism is mounted on the connecting block. Directly connecting the cameras is inconvenient and prone to damage. By using the connector to link the upper and lower cameras together, the optical axes of both cameras are aligned in a straight line. Simultaneously, the fixing boxes, combined with the internal protective layer, provide both fixation and protection for the cameras. The protective layer is made of a soft material, such as a rubber layer.

[0035] In another technical solution, elastic blocks 15 are fixedly installed on the top and bottom surfaces of the connecting block, and sliding plates 16 are fixedly installed on the surfaces of the elastic blocks. Symmetrically arranged fixed boxes are slidably connected to the corresponding sliding plates along the Y-axis. The bidirectional adjustment mechanism includes an X-axis adjustment component and a Y-axis adjustment component. The X-axis adjustment component includes an adjustment gear 19 and an X-axis adjustment knob 7. The adjustment gear is an annular internal gear and is fixed inside the connecting block via a shaft. One end of the X-axis adjustment knob is used for operation rotation, and the other end is fixedly equipped with a small gear 18, which meshes with the adjustment gear to drive the adjustment gear to rotate the connecting block along the X-axis through the rotation of the X-axis adjustment knob, thereby causing the two cameras to rotate along the X-axis. The Y-axis adjustment component includes a connecting plate 20 and a fixed... The assembly includes block 21, a slider 22 and a Y-axis adjustment knob 8 disposed within the fixed block. The connecting plate is a U-shaped plate, with both ends fixedly connected to the upper and lower fixed boxes. The center of the U-shaped plate is hinged to the center of the side plate of the connecting block. Two springs 23 are symmetrically arranged above and below the hinge point of the U-shaped plate, with their ends fixed to the U-shaped plate and the connecting block, respectively. The fixed block is fixed inside the housing. A slider is slidably disposed within the fixed block along the Y-axis direction. A rack is disposed on the top surface of the slider along its length direction. One end of the Y-axis adjustment knob is used for operation rotation, and the other end is fixedly disposed with a drive gear 17, which meshes with the rack to drive the slider to move linearly through the rotation of the drive gear, thereby pushing the connecting plate to drive the two cameras to rotate along the Y-axis; thus adjusting the tilt angle of the two cameras.

[0036] like Figure 4 As shown, the simulated fixture has a hat-shaped ring structure, mainly composed of a suspension lug 26, a fixture body 25, a positioning disc 24, and a steel wire rope 27. The suspension lug 26 is located at the top of the device, and the steel wire rope 27 passes through it and is configured to hang from the traveling crane hook, thus suspending the device. One end of the fixture body 25 is fixedly connected to the suspension lug 26, and the other end extends downwards and is vertically connected to the center of the positioning disc 24. The positioning disc 24 is located at the bottom of the device, and its outer diameter is larger than that of the fixture body 25 to form a hat-shaped brim. When the fixture is suspended at the center of the traveling crane hook by the steel wire rope 27, the fixture body 25 and the positioning disc 24 naturally droop under gravity, causing the geometric center axis of the positioning disc 24 to coincide with the center axis of the crane, thereby providing a centering reference for the upper high-definition camera 2 and the lower high-definition camera 4.

[0037] After the bracket supports the entire device, due to various reasons such as uneven ground or bracket installation errors, the camera may tilt, causing the optical axis to not be aligned with the center of the turntable. Therefore, it is necessary to monitor the camera's tilt angle using an angle sensor, and then adjust the camera angle to ensure that the camera's field of view covers the predetermined working area. The angle sensor is a dual-axis angle sensor, capable of displaying the camera's tilt along both the X and Y axes. The angle is adjusted via a bidirectional adjustment mechanism. Based on the acquired angle sensor readings and the offset angle along the X-axis, the rotation direction of the X-axis adjustment knob is determined, driving the X-axis adjustment knob to rotate and adjusting the angle of the high-definition camera along the X-axis. The angle adjustment is monitored in real time by the angle sensor. A hole is provided on the connecting plate for the slider to pass through. The slider does not affect the connecting plate's ability to rotate the two cameras along the Y-axis. The upper and lower springs ensure that the camera can freely rotate and adjust its angle along both directions of the Y-axis. Y-axis adjustment is achieved by rotating the Y-axis adjustment knob to adjust the angle of the high-definition camera along the Y-axis. Rotating the knob drives a gear that moves a rack and pinion linearly. This linear movement of the slider rotates the connecting plate around the central hinge point. The connecting plate then causes the connecting box to slide linearly along the slide plate. The angle is adjusted by compressing an elastic block, and the angle is monitored in real-time by an angle sensor until it is adjusted to within the set error tilt angle range, ensuring the camera's field of view covers the predetermined work area. X-axis adjustment knobs are horizontally arranged on both sides of the housing, allowing for fine-tuning of the camera's horizontal direction via a handwheel. Y-axis adjustment knobs are vertically arranged at the front and rear of the housing, allowing for precise vertical adjustment via a handwheel. The handwheel can be configured as an intelligent electronic handwheel, intelligently controlled by a module within an all-in-one computer.

[0038] The upper and lower high-definition cameras are symmetrically arranged along the horizontal axis of the connecting block, and their optical axes coincide with the vertical axis of the connecting block. Two X-axis adjustment components are symmetrically arranged along the axis of the connecting block, and the ends of the X-axis adjustment knobs corresponding to the two X-axis adjustment components extend through small gears and are connected as one unit. This makes the adjustment process more stable and synchronized.

[0039] In another technical solution, the all-in-one computer includes a data acquisition module, a calculation and analysis module, a visual calibration and deviation calculation module, a control module, a display module, and a conversion module. The data acquisition module acquires data from the angle sensor and camera image data and transmits them to the visual calibration and deviation calculation module and the control module. The visual calibration and deviation calculation module establishes a proportional relationship between the difference in image pixels and the change in camera tilt angle through calibration results under two different conditions. Combined with the input actual turntable diameter value, it further calculates the conversion relationship between pixels and physical length (mm). Then, based on the above two relationships... The system obtains the horizontal offset distance between the tooling center and the turntable center in two directions within the same plane. The control module controls the X-axis adjustment knob and Y-axis adjustment knob to adjust the camera tilt angle based on angle sensor data and camera image data so that the camera's field of view covers the predetermined working area. The data acquisition module acquires image data from the two cameras and converts it into the same coordinate system through the conversion module. The display module is used to display the tooling and turntable images displayed by the two cameras in the same coordinate system. The calculation and analysis module automatically calculates the offset between the center of the tooling and the center of the turntable and adjusts the position and lifting height of the derrick legs.

[0040] The present invention also provides a method for centering using a drilling rig wellhead centering measuring device, comprising the following steps: Step 1: Place the entire centering measuring device directly above the turntable using the bracket, adjust it so that the camera is basically directly facing the center of the turntable, and then fix the bracket. Step 2: Adjust the camera lens focal length and aperture until the image displayed in the software module is clear and the brightness is appropriate; Step 3: First, in the first camera tilt state ("Calibration 1"), identify the positions of the turntable center and the fixture center, and record the current camera tilt angle. Then, fine-tune the camera tilt angle using the X-axis and Y-axis adjustment knobs, and perform "Calibration 2" again in the second camera tilt state to identify the current positions of the turntable center and the fixture center, and record the new camera tilt angle. Through the results of these two calibrations, a proportional relationship between pixel difference and camera tilt angle change can be established. Combined with the actual input turntable diameter value, the conversion relationship between pixels and physical length (mm) can be further calculated. Based on these two relationships, the horizontal offset distances in two directions between the fixture center and the turntable center in the same plane are obtained. Specific example: For instance, from two calibration operations, we can see that if the tilt angle decreases by 1 degree in one direction, the center point of the camera image will shift by 10 pixels in that direction. So, during the "test", based on the difference between the current tilt angle and the 90-degree horizontal angle, and based on the above relationship of 'tilt angle-pixel', we correct the deviation caused by the viewing angle, and finally obtain the correct horizontal distance between the two through the 'pixel-millimeters' conversion relationship. Step 4: Based on the established mathematical model of the derrick, construct the functional mapping relationship between the lifting amount of the derrick outriggers and the displacement of the tooling center; obtain the derrick structural parameters and measured offsets and input them into the calculation and analysis module; calculate the position and lifting height of the derrick outriggers to be adjusted through a preset algorithm, and adjust and center them as follows.

[0041] like Figure 5 As shown, the derrick has four outriggers, corresponding to four points A, B, C, and D in the plane. Point M is the projection of the tooling center onto the horizontal plane, and point N is the projection of the turntable center onto the horizontal plane. These correspond to the four regions defined by the rectangle formed by the four points A, B, C, and D of the support legs, with the center of the turntable as the center.

[0042] like Figure 6 As shown, These correspond to the two horizontal offset distances between the tooling center and the turntable center, respectively, where D is the derrick height h. The formula for solving the corresponding region is as follows: (1) When point M falls in the region middle; Increase in height at point A: ; Increase at point B: ; (2) When point M falls in the region middle; Increase at point B: ; Increase in height at point A: ; (3) When point M falls in the region middle; Increase at point C: ; Increase at point D: ; (4) When point M falls in the region middle; Increase at point D: ; Increase at point C: .

[0043] During the measurement process, first unfold the tripod and place it in the center of the turntable, extend it to the appropriate height, and fix the three legs. Secure the centering measuring device to the tripod using the locking knob. Turn on the all-in-one computer and adjust the camera's focus and aperture until the image in the software is clear and the brightness is appropriate. If the image is too dark, increase the camera gain in the settings to improve brightness. Observe the angle sensor parameters in the lower right corner of the software screen. If the camera tilt angle is too large, adjust it appropriately using the XY axis angle adjustment knob until the camera is level or the angle sensor data is within the error range. Click "Calibration 1" in the upper right corner of the software. Green areas will appear in the upper and lower camera screens, respectively covering the turntable circle and the fixture circle. After successful calibration 1, it changes to the "Calibration 2" button. Adjust the XY axis angle of the camera appropriately, as the angle will be different from the previous one. After adjustment, click "Calibration 2," and the software will re-identify the images of the turntable circle and the fixture circle. After successful calibration 2, it changes to the "Measurement" button. Click "Measurement" in the upper right corner. The result image shown on the screen displays the horizontal distance relationship between the center of the fixture circle and the center of the turntable circle in the same plane. Finally, by clicking the offset diagram in the upper right corner of the software to open the built-in calculation interface, input the derrick data and derrick height according to the simplified diagram, and obtain the offset data, click Calculate, and the software will use the built-in formula to determine the two support points of the derrick that need to be raised and their specific height values.

[0044] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention, and other modifications can be easily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A drilling rig wellhead centering measuring device, characterized in that, The system includes a bracket, a housing fixedly mounted on top of the bracket, and upper and lower high-definition cameras respectively positioned in the upper and lower parts of the housing. The bracket provides stable support to the ground, enabling the upper and lower high-definition cameras to photograph the upper fixture and the lower turntable. A computer is mounted on the surface of the housing. The fixture, employing a cap-shaped ring structure, is suspended from the center of the traveling crane hook and is configured to simulate the center of the overhead crane. The upper and lower high-definition cameras are connected as a single unit via a connector, with their optical axes coinciding. The upper high-definition camera is equipped with a dual-axis angle sensor, which monitors angle changes and transmits the data to the computer. The computer also acquires images from both cameras. A bidirectional adjustment mechanism is provided on the connector to adjust the angles of the upper and lower cameras so that their field of view covers the predetermined work area.

2. The drilling rig wellhead alignment measuring device as described in claim 1, characterized in that, A coaxial telephoto lens is fixedly installed above the upper high-definition camera, and a coaxial telephoto lens is also fixedly installed below the lower high-definition camera.

3. The drilling rig wellhead alignment measuring device as described in claim 2, characterized in that, The connector includes a connecting block and a fixed box arranged symmetrically on the upper and lower sides. The fixed box has a hollow structure and a protective layer on its inner wall. The upper high-definition camera and the lower high-definition camera and their telephoto lenses are all located inside the fixed box. The fixed box has an aperture corresponding to the lens position. A bidirectional adjustment mechanism is located on the connecting block.

4. The drilling rig wellhead alignment measuring device as described in claim 3, characterized in that, The connecting block has elastic blocks fixedly mounted on its top and bottom surfaces, and sliding plates fixedly mounted on the surfaces of the elastic blocks. Symmetrically arranged fixed boxes slide linearly along the Y-axis to their corresponding sliding plates. The bidirectional adjustment mechanism includes an X-axis adjustment component and a Y-axis adjustment component. The X-axis adjustment component includes an adjustment gear and an X-axis adjustment knob. The adjustment gear is an annular internal gear fixed to the inside of the connecting block via a shaft. One end of the X-axis adjustment knob is used for operation rotation, and the other end has a small gear fixedly mounted thereon, which meshes with the adjustment gear. Rotation of the X-axis adjustment knob drives the adjustment gear to rotate the connecting block as a whole along the X-axis, thereby causing the two cameras to rotate along the X-axis. The Y-axis adjustment component includes a connecting plate, a fixed block, and a mounting plate... The fixed block contains a slider and a Y-axis adjustment knob. The connecting plate is a U-shaped plate, with both ends fixedly connected to the upper and lower fixed boxes. The center of the U-shaped plate is hinged to the center of the side plate of the connecting block. Two springs are symmetrically arranged above and below the hinge point of the U-shaped plate, with their ends fixed to the U-shaped plate and the connecting block respectively. The fixed block is fixed inside the housing. The slider is slidably arranged inside the fixed block along the Y-axis. A rack is arranged on the top surface of the slider along its length. One end of the Y-axis adjustment knob is used for operation and rotation, and the other end is fixedly equipped with a drive gear, which meshes with the rack to realize that the slider moves linearly through the rotation of the drive gear, thereby pushing the connecting plate to drive the two cameras to rotate along the Y-axis; thus adjusting the tilt angle of the two cameras.

5. The drilling rig wellhead alignment measuring device as described in claim 4, characterized in that, The upper and lower high-definition cameras are symmetrically arranged along the horizontal axis of the connecting block. The optical axes of the upper and lower high-definition cameras coincide with the vertical axis of the connecting block. Two X-axis adjustment components are symmetrically arranged along the axis of the connecting block, and the ends of the X-axis adjustment knobs corresponding to the two X-axis adjustment components extend through small gears and are connected as one unit.

6. The drilling rig wellhead alignment measuring device as described in claim 1, characterized in that, The all-in-one computer includes a data acquisition module, a calculation and analysis module, a visual calibration and deviation calculation module, a control module, a display module, and a conversion module. The data acquisition module acquires data from the angle sensor and camera image data and transmits them to the visual calibration and deviation calculation module and the control module. The visual calibration and deviation calculation module establishes a proportional relationship between the difference in image pixels and the change in camera tilt angle through calibration results under two different conditions. Combined with the input actual turntable diameter value, it further calculates the conversion relationship between pixels and physical length. Then, based on the above two relationships, it obtains the horizontal offset distance between the tooling center and the turntable center in two directions within the same plane. The control module controls the X-axis adjustment knob and Y-axis adjustment knob to adjust the camera tilt angle based on the angle sensor data and camera image data so that the camera's field of view covers the predetermined working area. The data acquisition module acquires image data from the two cameras and converts it into the same coordinate system through the conversion module. The display module displays the tooling and turntable images shown by the two cameras in the same coordinate system. The calculation and analysis module automatically calculates the offset between the center of the tooling and the center of the turntable and adjusts the position and lifting height of the derrick legs.

7. A method for centering adjustment using the drilling rig wellhead centering measuring device as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: Place the entire centering measuring device directly above the turntable using the bracket, adjust it so that the camera is basically directly facing the center of the turntable, and then fix the bracket. Step 2: Adjust the camera lens focal length and aperture until the image displayed in the software module is clear and the brightness is appropriate; Step 3: In the first camera tilt angle state, identify the positions of the turntable center and the tooling center, and record the current camera tilt angle; then, fine-tune the camera tilt angle using the X-axis and Y-axis adjustment knobs to form the second camera tilt angle state, identify the current positions of the turntable center and the tooling center, and record the new camera tilt angle; through the two tilt angle calibration results, establish the proportional relationship between pixel difference and camera tilt angle change; then, combined with the input actual turntable diameter value, further calculate the conversion relationship between pixel and physical length; based on the above two relationships, obtain the horizontal offset distance in two directions between the tooling center and the turntable center in the same plane; Step 4: Based on the established mathematical model of the derrick and the obtained parameter values ​​of the derrick, and combined with the horizontal offset distances in the two directions calculated above, calculate the position and lifting height of the outriggers to be adjusted on the derrick, and then adjust and center them.

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