基于自适应分层匹配的铁钻工旋转角度识别方法

打开文本图片集

关键词：铁钻工；模板匹配；自适应分层；角度识别；鲁棒性；计算机视觉中图分类号：TE923文献标识码：A DOI：10.12473/CPM.202409009

Rotation AngleIdentification Method ofIron Roughneck Based on Adaptive Hierarchical Matching

Fang Xin 1，2 Yan Shaobo1.²Lu Fangxing 2，3 （1.SchoolofComputerScience，Xi'anShou Univesity;2.Xi'nKeyLaboratoryofIntellgentEqupmentDevelopmentforOil， GasandRenewable Energy；3.SchoolofElectronicEngineering，Xi'anShiyou University）

Abstract：A hierarchical rotating template matching method with adaptive precision was proposed for rotation angle identification of iron roughnecks.First，theRGB color spaceconversion，color threshold masking，Gaussian blur and Canny edge detection in computer vision were used to conduct image preprocesing.Second，in the specific implementation process，the improved template matching method combined adaptive and hierarchical strategiestoautomaticallyset the numberofmatchinglayersbasedonidentificationaccuracy.Finally，throughhierarchical matching，the matching angle range was gradually narrowed down until the iteration wascompleted，significantly improvingthe algorithm's identification eficiency and accuracy.The study results show thatthe method performs best under the conditions of shooting distance of 0.5m and illumination intensity of 400lx ，and the identification angle error is kept within 0.3∘ ，meeting the engineering requirements and having good robustness and noise resistance.Theidentificationrateof this methodisalways maintainedatabout56Oms，which is1Otimes higher thanthatof single-layer rotating template，and itis helpful toimprove thereal-time response abilityof iron roughneck.The maximum errr of the method for identifying the rotation angle of theironroughneck is only （20 5.47% ，meeting the accuracy requirements of actual iron roughneck angle identification. The conclusions drawn provide effctive technical solutions for improving the safetyof drillpipe connection and the automation of drilling operation.

Keywords： iron roughneck；template matching；adaptive layering；angle identification；robustness； computervision

0 引言

作为自动化程度最高的钻杆连接设备，铁钻工能够替代传统液压大钳精确、智能地完成钻杆的上卸扣，其对实现自动化钻井技术的智能化具有重要意义[]。（剩余9844字）