阅读说明：本技术 一种基于视觉的钻井平台管柱转运实时监测方法和系统 (Drilling platform pipe column transfer real-time monitoring method and system based on vision ) 是由 胡忠民 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种基于视觉的钻井平台管柱转运实时监测方法和系统,包括提供了一种基于视觉的钻井平台管柱转运实时监测方法,包括通过视觉传感设备采集监测管柱的实时图像,服务器组对数字图像信息进行处理和分析得到目标管柱的位姿特征和几何特征数据,并发送给控制器组,控制器组向智能机械臂发出转运动作指令完成转运管柱的动作,监测系统包括至少一个视觉传感设备、至少一个智能机械臂、控制器组和服务器组,该系统以控制器组为中枢,根据视觉传感设备采集到的图像和服务器组处理得到的数据引导智能机械臂自主转运管柱,实现钻井平台上管柱转运的自动化,提升钻井平台作业效率。(The invention discloses a drilling platform pipe column transport real-time monitoring method and system based on vision, which comprises the steps of acquiring real-time images of a monitoring pipe column through a vision sensing device, processing and analyzing digital image information by a server group to obtain pose characteristic and geometric characteristic data of a target pipe column, sending the pose characteristic and the geometric characteristic data to a controller group, sending a transport action instruction to an intelligent mechanical arm by the controller group to complete the motion of the transport pipe column, wherein the monitoring system comprises at least one vision sensing device, at least one intelligent mechanical arm, the controller group and a server group, the system takes the controller group as a central center, and guides the intelligent mechanical arm to automatically transport the pipe column according to the images acquired by the vision sensing device and the data processed by the server group to realize the automation of pipe column transport on a drilling platform, the operation efficiency of the drilling platform is improved.)

1. The utility model provides a drilling platform tubular column transports real-time supervision method based on vision, its characterized in that, include through the real-time image information of visual sensing equipment collection drilling platform tubular column in the region of awaiting measuring, and convert into the digital image that server group can read, server group handles the back to digital image information, feeds back to controller group, and controller group sends the transport action instruction to intelligent arm through logic judgement, guides intelligent arm automatic transportation tubular column, wherein:

the server group comprises an image data processing function module, a transfer path planning function module, a transfer operation monitoring function module, a data storage function module, a man-machine interaction function module, an alarm function module, a data communication function module and a data visualization function module, wherein the image data processing function module is connected with other modules, and all the modules are matched to operate to process and analyze images acquired by the vision sensing equipment;

the controller group arranges an operation sequence according to the transfer condition of the pipe column on the drilling platform, sends a transfer action instruction to the intelligent mechanical arm to control the intelligent mechanical arm to complete an actual transfer action, indirectly controls the monitoring of the vision sensing equipment on the area to be detected of the drilling platform through the server group, and interacts with the system of the whole drilling platform.

2. The vision-based drilling platform tubular column transportation real-time monitoring method as claimed in claim 1, wherein the image data processing function module of the server group further performs data processing on tubular column digital image information acquired by the vision sensing equipment to obtain tubular column pose characteristics and geometric characteristic parameters for subsequent guidance of path planning of an intelligent mechanical arm transportation tubular column.

3. The vision-based drilling platform pipe column transportation real-time monitoring method as claimed in claim 1, wherein a transportation path planning function module in the server group can optimize and adjust the path of the intelligent mechanical arm according to the geometric characteristics, pose characteristics, transportation operation requirements and actual operation scene conditions of the required transportation pipe column to plan the transportation path of the intelligent mechanical arm.

4. The vision-based drilling platform pipe string transportation real-time monitoring method as claimed in claim 1, wherein the transportation operation monitoring function module in the server group can monitor operation scenes in real time, track the transportation condition of the pipe string and feed back the transportation condition to the controller group during the process of transporting the pipe string by the intelligent mechanical arm, and the controller group updates the operation requirement of the drilling platform in real time.

5. The vision-based real-time monitoring method for the pipe string transportation of the drilling platform of claim 1, wherein the data storage function module in the server group is used for storing and summarizing the drilling platform data in real time and counting the pipe string logistics.

6. The vision-based real-time monitoring method for the pipe column transportation of the drilling platform of the claim 1, wherein the man-machine interaction functional module in the server group can manually regulate and control system equipment to manually intervene in the pipe column transportation process for system debugging, fault handling and system maintenance.

7. The vision-based drilling platform pipe string transportation real-time monitoring method as claimed in claim 1, wherein the alarm function module in the server group can analyze and judge fault conditions according to transportation operation conditions, alarm in time, and select a processing mode preset by a system, wherein:

when the pose of the target tubular column deviates from the reasonable range set by the server group in the transferring operation process, the alarm function module judges that equipment failure occurs and adopts a transferring operation stopping processing mode;

when the deviation between the tubular column pose and the target pose is within the allowable range set by the server group after the transfer is finished, the alarm function module judges that random deviation occurs, and a transfer path replanning processing mode is adopted;

when the deviation between the pose of the tubular column and the pose of the target exceeds the allowable range set by the server group after the transfer is finished, the alarm function module judges that the transfer error occurs, and adopts a processing mode of stopping the transfer operation or replanning the transfer path;

when the pose of the tubular column is greatly changed in the transferring process, the alarm function module judges that the target sliding is possible to occur, and a transferring operation stopping processing mode is adopted;

when the tubular column is too close to the object on the platform in the transferring process, the alarm function module judges that collision is possible, and a processing mode of stopping transferring operation or replanning a transferring path is adopted.

8. The utility model provides a drilling platform tubular column transports real-time monitoring system based on vision, a serial communication port, including at least one vision sensing equipment, at least one intelligent mechanical arm, controller group and server group, this system uses the controller group as the maincenter, and the server group obtains tubular column geometric features and position appearance characteristics according to the drilling platform region real-time image that awaits measuring that vision sensing equipment gathered to feed back monitoring data to the controller group, the controller group guides intelligent mechanical arm to accomplish the tubular column according to monitoring data and transports, wherein:

the vision sensing equipment is connected with the server group and transmits the acquired real-time image to the server group;

the server group is connected with the controller group, acquires monitoring data through processing of each module and transmits the monitoring data to the controller group, and provides an interface for indirectly controlling the visual sensing equipment for the controller group, so that the controller indirectly controls the visual sensing equipment to monitor a region to be detected of the drilling platform;

the controller group is connected with the intelligent mechanical arm, determines the transfer operation requirement according to the transfer condition of a pipe column on the drilling platform, controls the intelligent mechanical arm to complete the actual transfer task, and is connected with a control system of the whole drilling platform to realize cooperative work;

the controller group and the server group are arranged in a non-operation area of the drilling platform.

9. The vision-based real-time monitoring system for the pipe string transportation of the drilling platform of the claims 1-8, wherein the vision sensing device is arranged at the edge of the drilling platform and is used for monitoring the change condition of the pipe string in real time, and the vision sensing device is used for completely monitoring the transportation condition of all the pipe strings on the drilling platform.

10. The vision-based real-time monitoring system for the pipe string transfer of the drilling platform as claimed in claims 1 to 8, wherein the drilling platform is provided with a motion guide rail of an intelligent mechanical arm, and the intelligent mechanical arm is matched with the motion guide rail to complete the pipe string transfer operation.

Technical Field

The invention relates to the field of automatic operation of oil drilling platforms, in particular to a drilling platform pipe column transport real-time monitoring method and system based on vision.

Background

With the continuous development of the petroleum industry, the quality and quantity of petroleum are required to be higher. Accordingly, in the field of oil drilling, higher efficiency and more stable quality are required accordingly, so that automation of oil drilling work becomes a necessary trend for development. In order to realize the automation of the drilling platform, various special devices are used for different operation links, manual operation is replaced, and the operation efficiency is improved.

However, for the transfer operation of the tubular column, due to the particularity of the operation content, the transfer operation of the tubular column between different ring sections needs to be realized, and the automation of the tubular column between different ring sections is difficult to realize through the traditional single special equipment, so that the tubular column transfer operation still needs to be completed through manual operation at present. The operation of transferring the pipe column occupies a large proportion in the whole operation, so that the efficiency of transferring the pipe column has great influence on the efficiency of drilling operation. Therefore, the manual operation mode can greatly limit the further improvement of the drilling operation efficiency. Meanwhile, the labor intensity of manual cooperation for transferring the tubular column is high, the operation environment is severe, and the safety risk is high, so that the development of an unmanned autonomous tubular column transferring mode becomes inevitable.

To realize the unmanned autonomous transfer of the tubular column, the full monitoring of the tubular column transfer process needs to be realized at first. Because each link operation process is different, consequently solve general transportation process automatic monitoring problem, be the key ring of realizing independently tubular column transportation.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides a visual-based drilling platform tubular column transportation real-time monitoring method and system, aiming at realizing the full automation of a tubular column transportation link on a drilling platform and improving the operation efficiency of the drilling platform by automatically monitoring the intelligent mechanical arm transportation operation and guiding the intelligent mechanical arm to automatically transport the tubular column through vision, thereby solving the technical problem of unmanned automatic tubular column transportation.

In order to achieve the above object, according to one aspect of the present invention, a drilling platform tubular column transportation real-time monitoring method based on vision is provided, including acquiring real-time image information of a tubular column in a region to be detected of a drilling platform through a vision sensing device, and converting the real-time image information into a digital image which can be read by a server group, processing the digital image information by the server group, and feeding back the processed digital image information to a controller group, and sending a transportation action instruction to an intelligent mechanical arm through logic judgment by the controller group to guide the intelligent mechanical arm to autonomously transport the tubular column, wherein:

the server group comprises an image data processing function module, a transfer path planning function module, a transfer operation monitoring function module, a data storage function module, a man-machine interaction function module, an alarm function module, a data communication function module and a data visualization function module, wherein the image data processing function module is connected with other modules, and the modules are matched with one another to operate and process and analyze images collected by the vision sensing equipment.

The controller group arranges an operation sequence according to the transfer condition of the pipe column on the drilling platform, sends a transfer action instruction to the intelligent mechanical arm to control the intelligent mechanical arm to complete an actual transfer action, indirectly controls the monitoring of the vision sensing equipment on the area to be detected of the drilling platform through the server group, and interacts with the system of the whole drilling platform.

Preferably, the image data processing function module of the server group further performs data processing on the digital image information of the tubular column acquired by the visual sensing equipment to obtain tubular column pose characteristics and geometric characteristic parameters, and the tubular column pose characteristics and the geometric characteristic parameters are used for subsequently guiding the intelligent mechanical arm to carry out path planning on the tubular column.

Preferably, the transfer path planning function module in the server group can optimize and adjust the path of the intelligent mechanical arm according to the geometric characteristics, pose characteristics, transfer operation requirements and actual operation scene conditions of the required transfer pipe column, and plan the transfer path of the intelligent mechanical arm.

Preferably, the operation monitoring function module of transporting in the server group can be in the process of intelligent arm transportation tubular column, and real-time supervision operation scene tracks the transportation condition of tubular column and feeds back to the controller group, the operation demand of drilling platform is updated in real time to the controller group.

Preferably, the data storage function module in the server group stores and summarizes the drilling platform data in real time, and the pipe column logistics situation is counted.

Preferably, the human-computer interaction function module in the server group can manually regulate and control system equipment, manually intervenes in the transfer process of the tubular column, and is used for carrying out system debugging, fault treatment and system maintenance work.

Preferably, the alarm function module in the server group can analyze and judge the fault condition according to the transfer operation condition, alarm in time, and select the processing mode preset by the system, wherein:

when the pose of the target tubular column deviates from the reasonable range set by the server group in the transferring operation process, the alarm function module judges that equipment failure occurs and adopts a transferring operation stopping processing mode;

when the deviation between the tubular column pose and the target pose is within the allowable range set by the server group after the transfer is finished, the alarm function module judges that random deviation occurs, and a transfer path replanning processing mode is adopted;

when the deviation between the pose of the tubular column and the pose of the target exceeds the allowable range set by the server group after the transfer is finished, the alarm function module judges that the transfer error occurs, and adopts a processing mode of stopping the transfer operation or replanning the transfer path;

when the pose of the tubular column is greatly changed in the transferring process, the alarm function module judges that the target sliding is possible to occur, and a transferring operation stopping processing mode is adopted;

when the tubular column is too close to the object on the platform in the transferring process, the alarm function module judges that collision is possible, and a processing mode of stopping transferring operation or replanning a transferring path is adopted.

According to another aspect of the invention, a drilling platform pipe column transfer real-time monitoring system based on vision is provided, which comprises at least one vision sensing device, at least one intelligent mechanical arm, a controller group and a server group, wherein the system takes the controller group as a central center, the server group obtains pipe column geometric characteristics and pose characteristics according to a real-time image of a drilling platform area to be measured acquired by the vision sensing device and feeds monitoring data back to the controller group, and the controller group guides the intelligent mechanical arm to complete pipe column transfer according to the monitoring data, wherein:

the vision sensing equipment is connected with the server group and transmits the acquired real-time image to the server group;

the server group is connected with the controller group, acquires monitoring data through processing of each module and transmits the monitoring data to the controller group, and provides an interface for indirectly controlling the visual sensing equipment for the controller group, so that the controller indirectly controls the visual sensing equipment to monitor a region to be detected of the drilling platform;

the controller group is connected with the intelligent mechanical arm, determines the transfer operation requirement according to the transfer condition of a pipe column on the drilling platform, controls the intelligent mechanical arm to complete the actual transfer task, and is connected with a control system of the whole drilling platform to realize cooperative work;

the controller group and the server group are arranged in a non-operation area of the drilling platform.

Preferably, the visual sensing equipment is arranged at the edge of the drilling platform to monitor the change condition of the pipe column in real time, and the visual sensing equipment completely covers and monitors the transfer condition of all pipe columns on the drilling platform.

Preferably, a moving guide rail of the intelligent mechanical arm is arranged on the drilling platform, and the intelligent mechanical arm executes the transporting action command on the moving guide rail after receiving the transporting action command sent by the server group.

Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects: the requirement of flexible monitoring in the tubular column transfer process is met by using a visual monitoring mode, the intelligent mechanical arm technology is combined, the monitored image data of the drilling platform is used for guiding the automatic transfer operation of the mechanical arm, the automation and the intellectualization of the tubular column transfer operation on the drilling platform are realized, and the automation degree and the operation efficiency of the drilling platform are further improved.

Drawings

FIG. 1 is a layout of an automatic pipe string monitoring and transferring system of an oil drilling platform based on vision provided by an embodiment of the invention;

FIG. 2 is a system framework of an automatic pipe string monitoring and transferring system of an oil drilling platform based on vision provided by an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a transfer robot of an oil drilling platform provided by an embodiment of the invention;

FIG. 4 is a flow chart of a visual monitoring mode of the pose of the target tubular column according to the embodiment of the present invention;

FIG. 5 is a schematic diagram of a desired transfer tubing string in an embodiment of the present invention;

FIG. 6 is a schematic structural view of a power catwalk in an embodiment of the invention;

fig. 7 is a schematic structural diagram of a drill rod box in an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.