Drilling parameter acquisition system
By automatically calculating drilling parameters through video acquisition and image processing technology, the inaccuracies caused by manual acceptance are solved, enabling accurate determination of drilling parameters and safe and efficient acceptance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-16
- Publication Date
- 2026-04-14
AI Technical Summary
In existing technologies, the determination of drilling parameters relies on manual acceptance, which leads to inaccurate results due to inconsistent experience and human influence.
Video data during the drilling process is acquired using video acquisition equipment. The two-dimensional skeleton coordinates of the drill rod and the coordinates of the hole center are extracted using image processing technology. Drilling parameters, including the opening position, azimuth angle, and inclination angle, are automatically calculated. Target detection and image segmentation models are used for accurate analysis to reduce human error.
It improved the accuracy of drilling parameters, reduced labor costs and time, increased work efficiency, reduced safety risks, and enabled automated acceptance of drilling parameters.
Smart Images
Figure CN121854017A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of borehole acceptance technology, and in particular to a borehole parameter acquisition system. Background Technology
[0002] In China's energy industry, coal will remain the primary energy source for some time to come. Currently, coal reserves are mainly obtained through underground mining. Before formally mining a coal-bearing mine, it is necessary to drill boreholes to obtain geological samples, analyze the ore body's occurrence, calculate resource reserves, and assess the economic viability of mining. Since assessing the mine through drilling is an essential step before mining, the boreholes need to be inspected to verify that the drilling parameters (opening position, azimuth, dip angle, etc.) are consistent with the design and to ensure that the borehole trajectory accurately reaches the target stratum. However, in existing technologies, borehole inspection is usually conducted manually. During this process, the experience level of the inspectors varies, and human factors can influence the inspection process, easily leading to inaccurate results for the determined borehole parameters. Summary of the Invention
[0003] In view of this, the purpose of the present invention is to provide a drilling parameter acquisition system that can solve the technical problem of inaccurate results when drilling parameters are manually determined in the prior art.
[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a borehole parameter acquisition system, comprising: Video acquisition module: used to acquire drilling video data during the drilling process of the drilling rig in the mine based on video acquisition equipment; Parameter acquisition module: used to acquire drilling video frame images based on the drilling video data, and determine the drilling parameters corresponding to the drilling based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional hole center coordinates corresponding to the hole center; wherein, the two-dimensional skeleton coordinates and the two-dimensional hole center coordinates are both located in the image coordinate system; the drilling parameters include the opening position, azimuth angle and inclination angle.
[0005] Furthermore, this embodiment of the invention provides a first possible implementation of the first aspect, wherein acquiring drilling video data during the drilling process of a mine using a video acquisition device includes: The drilling video data is converted into continuous raw drilling video frame images by the decoding device, and the raw drilling video frame image corresponding to the drilling rig after drilling is completed is extracted as the drilling video frame image.
[0006] Furthermore, this embodiment of the invention provides a second possible implementation of the first aspect, wherein determining the drilling parameters corresponding to the drilling based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional center coordinates corresponding to the center of the drilling hole includes: Determine the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image, and determine the azimuth and inclination angle of the borehole based on the diameter of the drill rod, the two-dimensional skeleton coordinates, and the intrinsic parameter matrix of the video acquisition device; Determine the two-dimensional coordinates of the borehole center in the borehole video frame image, and determine the opening position of the borehole based on the two-dimensional coordinates.
[0007] Furthermore, this embodiment of the invention provides a third possible implementation of the first aspect, wherein determining the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image, and determining the azimuth and inclination angle of the borehole based on the diameter of the drill rod, the two-dimensional skeleton coordinates, and the intrinsic parameter matrix of the video acquisition device, includes: The bounding box corresponding to the drill rod in the drilling video frame image is determined based on the target detection model, and the drill rod in the bounding box is segmented based on the image segmentation basic model to obtain the segmented drill rod image; The segmented drill rod image is skeletonized to obtain the skeleton line corresponding to the drill rod. Determine the diameter of the drill rod of the drilling rig, determine the pixel width corresponding to the image of the drill rod, and determine the three-dimensional distance between the drill rod and the video acquisition device based on the diameter of the drill rod and the pixel width; The three-dimensional skeleton coordinates corresponding to the skeleton line are determined based on the two-dimensional skeleton coordinates, the three-dimensional distance, and the intrinsic parameter matrix of the video acquisition device; wherein, the three-dimensional skeleton coordinates are located in the camera coordinate system; The three-dimensional geographic direction vector corresponding to the drill pipe is determined based on the three-dimensional skeleton coordinates corresponding to the skeleton line; wherein, the three-dimensional geographic direction vector is located in the mine geographic coordinate system; The azimuth and dip angle of the borehole are determined based on the three-dimensional geographic direction vector.
[0008] Furthermore, this embodiment of the invention provides a fourth possible implementation of the first aspect, wherein determining the azimuth and dip angle of the borehole based on the three-dimensional geographic direction vector includes: The inclination angle of the borehole is determined based on the vertical axis direction vector of the mine's geographic coordinate system and the three-dimensional geographic direction vector. The three-dimensional geographic direction vector is projected onto the horizontal and vertical planes of the mine geographic coordinate system to obtain a two-dimensional projection vector; the azimuth angle of the borehole is determined based on the two-dimensional projection vector.
[0009] Furthermore, this embodiment of the invention provides a fifth possible implementation of the first aspect, wherein determining the opening position of the borehole based on the two-dimensional borehole center coordinates includes: The two-dimensional hole center coordinates corresponding to the hole center are transformed into normalized hole center coordinates; wherein, the normalized hole center coordinates are located in the camera coordinate system; Obtain the plane equation of the roadway wall corresponding to the roadway wall in the mine; wherein, the plane equation of the roadway wall is located in the mine coordinate system; The three-dimensional center coordinates of the borehole are determined based on the normalized center coordinates and the roadway wall plane equation; wherein the three-dimensional center coordinates are located in the mine geographic coordinate system. The opening position of the borehole is determined based on the three-dimensional borehole center coordinates.
[0010] Furthermore, this embodiment of the invention provides a sixth possible implementation of the first aspect, wherein the drilling parameter acquisition system further includes: a drilling acceptance module. The borehole acceptance module is used to determine whether the borehole is qualified based on the inclination angle, the azimuth angle, and the borehole position.
[0011] Furthermore, this embodiment of the invention provides a seventh possible implementation of the first aspect, wherein the drilling parameter acquisition system further includes: a hole sealing acceptance module; The hole sealing acceptance module is used to determine whether the sealed hole is qualified based on the drilling video data.
[0012] Furthermore, this embodiment of the invention provides an eighth possible implementation of the first aspect, wherein the drilling parameter acquisition system further includes: a parameter monitoring module; The parameter monitoring module is used to acquire the video data of the control panel of the drilling rig, and to monitor the working parameters of the drilling rig in real time based on the video data of the control panel; wherein, the working parameters include drilling depth, drilling speed, rotation speed, torque, motor current, motor voltage, hydraulic system pressure, lubricating oil pressure and water supply pressure.
[0013] Furthermore, this embodiment of the invention provides a ninth possible implementation of the first aspect, wherein acquiring the operator console video data of the drilling rig's control panel and monitoring the drilling rig's operating parameters in real time based on the operator console video data includes: The LCD screen area and dial area of the control panel in the control panel video data are determined based on the target detection algorithm. The drilling depth, drilling speed, rotational speed, torque, motor current, motor voltage, and hydraulic system pressure in the LCD screen area are determined based on optical character recognition. The pointer position in the dial area is extracted based on Hough line detection, and the lubricating oil pressure and the water supply pressure are determined based on the pointer position.
[0014] This invention provides a drilling parameter acquisition system, comprising: a video acquisition module for acquiring drilling video data during the drilling process of a drilling rig in a mine using a video acquisition device; and a parameter acquisition module for acquiring drilling video frame images based on the drilling video data, and determining drilling parameters corresponding to the drilling based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional hole center coordinates corresponding to the hole center; wherein the two-dimensional skeleton coordinates and the two-dimensional hole center coordinates are both located in an image coordinate system; the drilling parameters include the opening position, azimuth angle, and dip angle. This invention acquires drilling video data during the drilling process of a drilling rig in a mine, extracts drilling video frame images from the drilling video data, determines two-dimensional skeleton coordinates and two-dimensional borehole center coordinates, and determines the corresponding drilling parameters (including opening position, azimuth angle, and dip angle) based on the two-dimensional skeleton coordinates and two-dimensional borehole center coordinates. The drilling video data is directly analyzed by the parameter acquisition module to automatically determine the corresponding opening position, azimuth angle, and dip angle, avoiding the human influence caused by inconsistent personnel experience and improving the accuracy of determining drilling parameters (including opening position, azimuth angle, and dip angle).
[0015] Other features and advantages of the embodiments of the present invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above in the embodiments of the present invention.
[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 This diagram shows the main modules of a borehole parameter acquisition system provided in an embodiment of the present invention. Figure 2A schematic diagram of the complete modules of a borehole parameter acquisition system provided in an embodiment of the present invention is shown. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.
[0020] This embodiment provides a drilling parameter acquisition system; for details, see [link to documentation]. Figure 1 The diagram shows the main modules of a drilling parameter acquisition system, which mainly includes: a video acquisition module 11 and a parameter determination module 12. Video acquisition module 11: used to acquire drilling video data during the drilling process of the drilling rig in the mine based on video acquisition equipment; Because mines contain flammable and explosive gases such as methane and coal dust, any electrical sparks or high temperatures generated by electrical equipment could lead to disaster. Therefore, video acquisition equipment must be explosion-proof. Explosion-proof high-definition panoramic cameras are typically chosen as video acquisition devices. Furthermore, the mine environment is harsh, filled with dust, moisture, and other impurities, and the drilling rig generates severe vibrations during drilling. Therefore, the explosion-proof high-definition panoramic camera needs a high-protection-level (usually IPX7) housing. Vibration-resistant connectors are used to prevent the internal electronic components from loosening or detaching due to continuous vibration. The treated explosion-proof high-definition panoramic camera is placed near the borehole opening so that the panoramic view covers the entire working face, capturing drilling video data during the drilling process.
[0021] Parameter acquisition module 12: used to acquire drilling video frame images based on drilling video data, and determine the drilling parameters corresponding to the drilling based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional hole center coordinates corresponding to the hole center; wherein, the two-dimensional skeleton coordinates and the two-dimensional hole center coordinates are both located in the image coordinate system; the drilling parameters include the opening position, azimuth angle and dip angle; Existing technologies rely on manual determination of drilling parameters (including opening position, azimuth, and inclination). The drilling acceptance module 13, however, analyzes drilling video data using a unified standard to determine drilling parameters, completely eliminating subjective judgment differences and accidental errors caused by factors such as worker experience. Simultaneously, it continuously monitors and records the drilling process using drilling video data, enabling automatic calculation of drilling parameters, reducing labor costs and time consumption, and improving work efficiency. Using the pixel at the top left corner of the drilling video frame as the origin, an image coordinate system is obtained based on the origin, the horizontal x-axis, and the vertical y-axis. The pixel corresponding to the drill rod skeleton line in the drilling video frame is determined, and its two-dimensional coordinates in the image coordinate system are obtained, resulting in two-dimensional skeleton coordinates. Similarly, the pixel corresponding to the borehole center is determined, and its two-dimensional coordinates in the image coordinate system are obtained, resulting in two-dimensional borehole center coordinates. Based on the two-dimensional skeleton coordinates and the two-dimensional borehole center coordinates, the corresponding drilling parameters are further determined.
[0022] The drilling acceptance system provided by this invention acquires drilling video data during the drilling process of a drilling rig in a mine, extracts drilling video frame images from the drilling video data, determines two-dimensional skeleton coordinates and two-dimensional borehole center coordinates, and determines the corresponding drilling parameters (including opening position, azimuth angle, and dip angle) based on the two-dimensional skeleton coordinates and two-dimensional borehole center coordinates. The system directly analyzes the drilling video data through the parameter acquisition module to automatically determine the corresponding opening position, azimuth angle, and dip angle of the borehole, avoiding the human influence caused by the uneven experience of personnel and improving the accuracy of determining drilling parameters (including opening position, azimuth angle, and dip angle).
[0023] In one embodiment, this embodiment provides a specific implementation method for obtaining borehole video frame images based on borehole video data, including: Based on the decoding equipment, the drilling video data is converted into continuous raw drilling video frame images, and the raw drilling video frame images corresponding to the drilling rig after drilling are extracted as drilling video frame images. The aforementioned decoding equipment includes a dedicated server equipped with a multi-channel video decoding card (such as an NVIDIA T4 or higher-level GPU). The decoding equipment converts the drilling video data into raw drilling video frame images (i.e., the raw RGB frame sequence). The raw drilling video frame image corresponding to the moment when the drill rig completes drilling (i.e. when the drill rod of the drill rig begins to withdraw from the drilling hole) is used as the drilling video frame image, which can be used to confirm the drilling.
[0024] In one embodiment, this embodiment provides a specific implementation method for determining the drilling parameters corresponding to the drilling based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional hole center coordinates corresponding to the hole center, including: Determine the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image, and determine the azimuth and inclination angle of the borehole based on the diameter of the drill rod, the two-dimensional skeleton coordinates, and the intrinsic parameter matrix of the video acquisition device; By performing skeletonization processing on the drill rod in the drilling video frame image, the skeleton line corresponding to the drill rod is determined, the two-dimensional coordinates of the skeleton line in the image coordinate system are obtained, the two-dimensional skeleton coordinates are obtained, the diameter of the drill rod (actual physical diameter) and the intrinsic parameter matrix of the video acquisition device (explosion-proof high-definition panoramic camera) are obtained, and the azimuth and inclination angle of the drilling are determined.
[0025] Determine the two-dimensional coordinates of the borehole center in the borehole video frame image, and determine the opening position of the borehole based on the two-dimensional coordinates of the borehole center. Assuming the borehole in the borehole video frame image is approximately circular, determine the pixel point corresponding to the center of the borehole (i.e., the center of the circle) in the borehole video frame image, fit the two-dimensional coordinates of the borehole center to obtain the two-dimensional coordinates of the borehole center, and determine the opening position of the borehole based on the two-dimensional coordinates of the borehole center.
[0026] In one embodiment, this embodiment provides a specific implementation method for determining the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in a drilling video frame image, and determining the azimuth and inclination angle of the borehole based on the diameter of the drill rod, the two-dimensional skeleton coordinates, and the intrinsic parameter matrix of the video acquisition device, including: The bounding box corresponding to the drill rod in the drilling video frame image is determined based on the target detection model. The drill rod in the bounding box is segmented based on the image segmentation basic model to obtain the segmented drill rod image. Based on the object detection model (including the YOLOv8 model), the bounding box corresponding to the drill rod image in the drilling video frame is determined, and other irrelevant images other than the bounding box are quickly removed from the drilling video frame image; based on the image segmentation basic model (including the Segment Anything Model (SAM)), the drill rod in the bounding box image is segmented (i.e., pixel-level segmentation) to obtain the segmented drill rod image.
[0027] The segmented drill pipe image is skeletonized to obtain the corresponding skeleton lines of the drill pipe. Obtain the binary mask image corresponding to the drill pipe image, perform skeletonization processing on the binary mask image to obtain multiple central skeleton points corresponding to the drill pipe, and fit each central skeleton point to a straight line based on the least squares method to obtain the skeleton line.
[0028] Determine the diameter of the drill rod of the drilling rig, determine the pixel width corresponding to the drill rod image, and determine the three-dimensional distance between the drill rod and the video acquisition device based on the diameter and pixel width of the drill rod; Determine the diameter (actual physical diameter) of the drill rod for the drilling rig. Determine the pixel width corresponding to the drill rod image (i.e., the pixel width of the side of the drill rod closest to the video acquisition device in the drill rod image). The three-dimensional distance between the drill rod and the video acquisition device (i.e., the depth of the plane where the drill rod is located relative to the video acquisition device) is determined based on the focal length (in pixels) of the video acquisition device, the diameter of the drill rod, and the pixel width. ; in, The three-dimensional distance between the drill pipe and the video acquisition device; The focal length (in pixels) of the video capture device. The diameter of the drill pipe; This represents the pixel width corresponding to the drill pipe image.
[0029] The 3D skeleton coordinates corresponding to the skeleton line are determined based on the 2D skeleton coordinates, 3D distance, and intrinsic parameter matrix of the video acquisition device; wherein, the 3D skeleton coordinates are located in the camera coordinate system; Based on the two-dimensional skeleton coordinates corresponding to the skeleton line, the two-dimensional skeleton coordinates corresponding to each skeleton point in the skeleton line are determined as follows: ; in, Let be the two-dimensional skeleton coordinates corresponding to the i-th skeleton point in the skeleton line; Let x be the x-coordinate of the i-th skeleton point in the skeleton line in the image coordinate system; Let be the vertical coordinate of the i-th skeleton point in the skeleton line in the image coordinate system; A three-dimensional camera coordinate system is established using the optical center of the video acquisition device as the origin. The three-dimensional skeleton coordinates corresponding to each skeleton point in the skeleton line are determined based on the two-dimensional skeleton coordinates, three-dimensional distance, and intrinsic parameter matrix of the video acquisition device. ; in, Let be the 3D skeleton coordinates corresponding to the i-th skeleton point in the skeleton line; This is the intrinsic parameter matrix of the video acquisition device; Let x be the x-coordinate of the i-th skeleton point in the skeleton line in the camera coordinate system; Let be the vertical coordinate of the i-th skeleton point in the skeleton line in the camera coordinate system; The ordinate of the i-th skeleton point in the skeleton line in the camera coordinate system; The 3D skeleton coordinates corresponding to the skeleton lines are determined based on the 3D skeleton coordinates corresponding to each skeleton point.
[0030] The three-dimensional geographic direction vector corresponding to the drill pipe is determined based on the three-dimensional skeleton coordinates corresponding to the skeleton line; wherein, the three-dimensional geographic direction vector is located in the mine geographic coordinate system; Spatial straight line fitting is performed on the 3D skeleton coordinates corresponding to the skeleton lines to determine the 3D camera direction vector corresponding to the drill pipe (i.e., the drill pipe axis) in the camera coordinate system: ; in, This is the 3D camera orientation vector of the drill rod in the camera coordinate system; Obtain the rotation matrix when transforming from the camera coordinate system to the mine coordinate system. and the rotation matrix when transforming from the mine coordinate system to the mine geographic coordinate system Among them, the mine coordinate system is a coordinate system with the drilling rig rotation center as the origin, the horizontal direction of the drilling rig as the x-axis, the drilling rig forward direction as the y-axis, and the vertical upward direction as the z-axis; the mine geographic coordinate system is a coordinate system with the mine measurement control point as the origin, the east direction as the x-axis, the north direction as the y-axis, and the sky direction as the z-axis. Based on rotation matrix and rotation matrix Transform the 3D camera orientation vector into a 3D geographic orientation vector:
[0031] in, This is the three-dimensional geographic direction vector corresponding to the drill pipe.
[0032] The azimuth and dip angle of the borehole are determined based on the three-dimensional geographic direction vector; The azimuth of a borehole in a mine refers to the angle between the borehole axis, starting from due north and moving clockwise to the borehole axis, and its projection onto the horizontal plane; the angle between the tangent of a point on the borehole axis along the direction of the axis extension and its horizontal projection; the direction of the drill rod can be approximated as the direction of the borehole. Therefore, the azimuth and dip angle of the borehole can be determined based on the three-dimensional geographic direction vector corresponding to the borehole.
[0033] In one embodiment, this embodiment provides a specific implementation method for determining the azimuth and dip angle of a borehole based on a three-dimensional geographic direction vector, including: The borehole inclination angle is determined based on the vertical axis direction vector and the three-dimensional geographic direction vector of the mine geographic coordinate system. The borehole inclination angle is determined based on the vertical axis direction vector and the three-dimensional geographic direction vector of the mine geographic coordinate system. ; in, The borehole inclination angle; It is the vertical axis direction vector of the mine's geographical coordinate system (i.e., the vector in the zenith direction of the mine's geographical coordinate system), specifically [0,0,1].
[0034] The three-dimensional geographic direction vector is projected onto the horizontal and vertical planes of the mine geographic coordinate system to obtain a two-dimensional projection vector; the azimuth of the borehole is determined based on the two-dimensional projection vector. Projecting the three-dimensional geographic direction vector onto the horizontal and vertical planes of the mine's geographic coordinate system yields a two-dimensional projection vector: ; in, It is a two-dimensional projection vector; This is the projection in the due east direction; This is the projection in the due north direction; Determining the borehole azimuth based on two-dimensional projection vectors: ; in, The azimuth angle for drilling.
[0035] In one embodiment, this embodiment provides a specific implementation method for determining the borehole opening position based on two-dimensional borehole center coordinates, including: The two-dimensional hole center coordinates corresponding to the hole center are transformed into normalized hole center coordinates; where the normalized hole center coordinates are located in the camera coordinate system; Based on the intrinsic parameter matrix of the video acquisition device, the corresponding two-dimensional hole center coordinates are transformed into normalized hole center coordinates: ; in, This represents the x-coordinate of the borehole center in the image coordinate system. This represents the vertical coordinate of the borehole center in the image coordinate system. The normalized x-coordinate of the borehole center in the camera coordinate system; The normalized ordinate of the borehole center in the camera coordinate system.
[0036] Obtain the plane equation of the roadway wall corresponding to the roadway wall in the mine; wherein, the plane equation of the roadway wall is located in the mine coordinate system; Obtain the plane equation of the roadway wall in the mine (in point normal form): ; Where n is the normal vector corresponding to the wall surface of the tunnel; The three-dimensional coordinates of any point on the tunnel wall in the drilling rig coordinate system can be introduced; d is a constant.
[0037] The three-dimensional coordinates of the borehole center are determined based on the normalized borehole center coordinates and the roadway wall plane equation; wherein, the three-dimensional borehole center coordinates are located in the mine geographic coordinate system; The borehole opening position is determined based on the three-dimensional borehole center coordinates; Construct a ray between the optical center and the aperture center based on the normalized aperture center coordinates in the camera coordinate system and the optical center coordinates of the video acquisition device: ; in, The ray between the optical center and the aperture center; This represents the distance parameter along the ray; Transform the ray between the optical center and the borehole center into the drilling rig coordinate system: ; in, The ray between the optical center and the borehole center in the drilling rig coordinate system; This is the rotation matrix when transforming the camera coordinate system to the mine coordinate system; This is the translation vector when transforming the camera coordinate system to the mine coordinate system; Based on the equation of the tunnel wall and the ray solution between the optical center and the borehole center in the drilling rig coordinate system : ; Then the solution Substituting the ray between the optical center and the borehole center in the drilling rig coordinate system, we obtain the three-dimensional coordinates of the borehole center in the drilling rig coordinate system. : =( ); Convert the three-dimensional coordinates of the borehole center in the drilling rig coordinate system to the three-dimensional coordinates of the borehole center in the mine geographic coordinate system. : =( ); The drilling location is determined based on the three-dimensional coordinates of the borehole center in the mine's geographical coordinate system.
[0038] In one embodiment, see Figure 2 The diagram shows a complete module of a drilling parameter acquisition system. The drilling parameter acquisition system provided in this embodiment also includes: a drilling acceptance module 13. Drilling acceptance module 13 is used to determine whether a drill hole is qualified based on its inclination angle, azimuth angle, and drilling location. The drilling acceptance module 13 obtains the design inclination angle, design azimuth angle, and design drilling position corresponding to the design drilling, calculates the absolute value of the difference between the design inclination angle and the inclination angle to obtain the first absolute value; calculates the absolute value of the difference between the design azimuth angle and the azimuth angle to obtain the second absolute value; and calculates the absolute value of the difference between the design drilling position and the drilling position to obtain the third absolute value. If the first absolute value is less than the first absolute value threshold, the second absolute value is less than the second absolute value threshold, and the third absolute value is less than the third absolute value threshold, then the borehole is deemed qualified. This avoids the need for inspection personnel to frequently enter and exit the underground working face during the borehole inspection process, reducing the risk of dangerous accidents such as roof collapse and gas outbursts caused by borehole inspection.
[0039] In one embodiment, such as Figure 2 As shown, the drilling parameter acquisition system provided in this embodiment also includes: a hole sealing acceptance module 14; The borehole sealing acceptance module 14 is used to determine whether the sealed borehole is qualified based on the borehole video data; The borehole sealing acceptance module 14 is used to identify the borehole opening area based on image segmentation technology, check for obvious cracks or gaps, and compare the images of the borehole opening area before and after sealing based on the borehole video data to ensure that the sealing material completely covers the borehole. If the sealing material completely covers the borehole, the sealed borehole is deemed qualified.
[0040] In one embodiment, such as Figure 2 As shown, the drilling parameter acquisition system provided in this embodiment also includes: a parameter monitoring module 15; The parameter monitoring module 15 is used to acquire the video data of the drilling rig's control panel and monitor the drilling rig's working parameters in real time based on the video data. The working parameters include drilling depth, drilling speed, rotation speed, torque, motor current, motor voltage, hydraulic system pressure, lubricating oil pressure, and water supply pressure. The video data of the drilling rig's control panel is acquired using video acquisition equipment (explosion-proof high-definition panoramic camera). Since the control panel displays various working parameters of the drilling rig during operation, the working parameters of the drilling rig can be monitored in real time by identifying the content in the control panel video data.
[0041] In one embodiment, this embodiment provides a specific implementation method for acquiring the operator console video data of the drilling rig and monitoring the drilling rig's operating parameters in real time based on the operator console video data, including: The LCD screen area and dial area of the control panel in the control panel video data are determined based on the target detection algorithm. Based on target detection algorithms (such as YOLO, SSD, etc.), target detection is performed on the console video data to determine the LCD screen area (used to directly display working parameters) and the dial area (used to read working parameters through pointers) of the console video data.
[0042] Based on optical character recognition, the drilling depth, drilling speed, rotation speed, torque, motor current, motor voltage, and hydraulic system pressure in the LCD screen area are determined. The pointer position in the dial area is extracted based on Hough linear detection, and the lubricating oil pressure and water supply pressure are determined based on the pointer position. The drilling rig determines the drilling depth, drilling speed, rotational speed, torque, motor current, motor voltage, and hydraulic system pressure by using an optical character recognition (OCR) engine to identify the numbers and units in the LCD screen area.
[0043] The pointer position in the dial area is extracted based on Hough linear detection, and the lubricating oil pressure and water supply pressure of the drilling rig are determined based on the angle between the pointer and the 0 mark of the dial.
[0044] In one embodiment, such as Figure 2 As shown, the borehole parameter acquisition system provided in this embodiment also includes: a log storage module 16 and a downhole notification module 17; The log saving module 16 is used to save borehole video data, control panel video data, borehole parameters and working parameters in the form of logs, as a basis for subsequent geological analysis; The downhole notification module 17 is used to dynamically manage on-site personnel involved in downhole drilling operations through downhole audio equipment, and has a broadcasting function.
[0045] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.
[0046] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0047] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0048] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A drilling parameter acquisition system, characterized in that, include: Video acquisition module: used to acquire drilling video data during the drilling process of the drilling rig in the mine based on video acquisition equipment; Parameter acquisition module: used to acquire drilling video frame images based on the drilling video data, and determine the drilling parameters corresponding to the drilling based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional hole center coordinates corresponding to the hole center; wherein, the two-dimensional skeleton coordinates and the two-dimensional hole center coordinates are both located in the image coordinate system; the drilling parameters include the opening position, azimuth angle and inclination angle.
2. The drilling parameter acquisition system according to claim 1, characterized in that, The method of acquiring drilling video data during the drilling process of the mine using video acquisition equipment includes: The drilling video data is converted into continuous raw drilling video frame images by the decoding device, and the raw drilling video frame image corresponding to the drilling rig after drilling is completed is extracted as the drilling video frame image.
3. The drilling parameter acquisition system according to claim 1, characterized in that, The step of determining the drilling parameters corresponding to the borehole based on the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image and the two-dimensional center coordinates corresponding to the center of the borehole includes: Determine the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image, and determine the azimuth and inclination angle of the borehole based on the diameter of the drill rod, the two-dimensional skeleton coordinates, and the intrinsic parameter matrix of the video acquisition device; Determine the two-dimensional coordinates of the borehole center in the borehole video frame image, and determine the opening position of the borehole based on the two-dimensional coordinates.
4. The drilling parameter acquisition system according to claim 3, characterized in that, The step of determining the two-dimensional skeleton coordinates corresponding to the skeleton line of the drill rod in the drilling video frame image, and determining the azimuth and inclination angle of the borehole based on the diameter of the drill rod, the two-dimensional skeleton coordinates, and the intrinsic parameter matrix of the video acquisition device, includes: The bounding box corresponding to the drill rod in the drilling video frame image is determined based on the target detection model, and the drill rod in the bounding box is segmented based on the image segmentation basic model to obtain the segmented drill rod image; The segmented drill rod image is skeletonized to obtain the skeleton line corresponding to the drill rod. Determine the diameter of the drill rod of the drilling rig, determine the pixel width corresponding to the image of the drill rod, and determine the three-dimensional distance between the drill rod and the video acquisition device based on the diameter of the drill rod and the pixel width; The three-dimensional skeleton coordinates corresponding to the skeleton line are determined based on the two-dimensional skeleton coordinates, the three-dimensional distance, and the intrinsic parameter matrix of the video acquisition device; wherein, the three-dimensional skeleton coordinates are located in the camera coordinate system; The three-dimensional geographic direction vector corresponding to the drill pipe is determined based on the three-dimensional skeleton coordinates corresponding to the skeleton line; wherein, the three-dimensional geographic direction vector is located in the mine geographic coordinate system; The azimuth and dip angle of the borehole are determined based on the three-dimensional geographic direction vector.
5. The drilling parameter acquisition system according to claim 4, characterized in that, Determining the azimuth and dip angle of the borehole based on the three-dimensional geographic direction vector includes: The inclination angle of the borehole is determined based on the vertical axis direction vector of the mine's geographic coordinate system and the three-dimensional geographic direction vector. The three-dimensional geographic direction vector is projected onto the horizontal and vertical planes of the mine geographic coordinate system to obtain a two-dimensional projection vector; the azimuth angle of the borehole is determined based on the two-dimensional projection vector.
6. The drilling parameter acquisition system according to claim 4, characterized in that, Determining the opening position of the borehole based on the two-dimensional borehole center coordinates includes: The two-dimensional hole center coordinates corresponding to the hole center are transformed into normalized hole center coordinates; wherein, the normalized hole center coordinates are located in the camera coordinate system; Obtain the plane equation of the roadway wall corresponding to the roadway wall in the mine; wherein, the plane equation of the roadway wall is located in the mine coordinate system; The three-dimensional center coordinates of the borehole are determined based on the normalized center coordinates and the roadway wall plane equation; wherein the three-dimensional center coordinates are located in the mine geographic coordinate system. The opening position of the borehole is determined based on the three-dimensional borehole center coordinates.
7. The drilling parameter acquisition system according to claim 1, characterized in that, Also includes: Drilling Acceptance Module: The borehole acceptance module is used to determine whether the borehole is qualified based on the inclination angle, the azimuth angle, and the borehole position.
8. The drilling parameter acquisition system according to claim 1, characterized in that, Also includes: Sealing and acceptance module; The hole sealing acceptance module is used to determine whether the sealed hole is qualified based on the drilling video data.
9. The drilling parameter acquisition system according to claim 1, characterized in that, Also includes: Parameter monitoring module; The parameter monitoring module is used to acquire the video data of the control panel of the drilling rig, and to monitor the working parameters of the drilling rig in real time based on the video data of the control panel; wherein, the working parameters include drilling depth, drilling speed, rotation speed, torque, motor current, motor voltage, hydraulic system pressure, lubricating oil pressure and water supply pressure.
10. The drilling parameter acquisition system according to claim 9, characterized in that, The step of acquiring the video data of the drilling rig's control panel and monitoring the drilling rig's operating parameters in real time based on the video data includes: The LCD screen area and dial area of the control panel in the control panel video data are determined based on the target detection algorithm. The drilling depth, drilling speed, rotational speed, torque, motor current, motor voltage, and hydraulic system pressure in the LCD screen area are determined based on optical character recognition. The pointer position in the dial area is extracted based on Hough line detection, and the lubricating oil pressure and the water supply pressure are determined based on the pointer position.