Research And Application Of Visual Positioning Method For Oilfield Water Discharging Manipulator

Oilfield water injection technology is the main technology to improve the level of oilfield development,maintain reservoir energy and stable oil production,and has been widely used at home and abroad.At present,Xinjiang petroleum service enterprises mainly carry water through tankers in vast and scattered oil production stations,and complete water injection operation by injecting water into wellhead of oilfield.This traditional way is inefficient and does not conform to the current promotion of Xinjiang oilfield digital system.Therefore,in order to realize the automation improvement of tank car unloading process and save manpower and material resources,a new type of crane-like pipe tank car unloading manipulator arm is proposed,and the identification and positioning of tank car filling port is studied,that is,the identification and positioning technology of space circle in oil production site.In the field environment of oil field,there is much interference information in the way of directly recognizing the circle.Therefore,this paper proposes a compound positioning method for obtaining the coordinate information of the filling orifice's circle center,which includes the identification of the filling orifice and the positioning of the central coordinate of the filling orifice.In the recognition of circular filling port,the phase-related template matching method based on FFT and the detection method based on cascade classifier are used respectively.The least square circle location method based on statistical principle is used in the coordinate location of filling port's center.Finally,through the experimental verification,this method of rough positioning recognition and precise positioning is applied to the identification and positioning of circular filling mouth,and good positioning effect is achieved.Then,according to the principle of parallel binocular stereo vision model and the coordinate information of filling orifice circle measured in binocular images,the three-dimensional position information of filling orifice is calculated to provide parameters for the lower computer to control the movement of mechanical structure.At the end of the paper,the simulation software and hardware platform involved in the subject is designed,and the experimental verification of the identification method and the experimental results of the location method are analyzed.The results show that the identification and location method involved in this topic has a good positioning effect in a certain range near the focal length of the camera,and has a certain practical and guiding significance for the automation improvement of the water injection process.Finally,the software system of the water unloading manipulator is developed and the approach control method based on PID is studied.