基于视觉的铁铭工控制系统的设计

铁钻工广泛应用于海洋、陆地钻井、修井作业时上卸钻杆丝扣，是液压大钳的升级产品。本文主要在铁钻工中引入视觉伺服系统，对钻杆自动定位，为进一步实现井口无人化操作做准备。介绍了铁钻工的自动控制原理，在控制系统中引入视觉，构建手眼局部视觉伺服系统，并利用视觉反馈和超声波传感器进行钻杆定位。在Matlab／simulink的基础上对系统进行仿真分析，将手一眼视觉与超声波测距传感器相结合，融合二维图像信息与距离信息初步实现了对钻杆的识别与定位。

Design of Control System for Iron Roughneck based on Vision

Iron roughneck is widely used in marine, land drilling, and the unloading of drill pipe threaded on the workover operations, and it is an upgrade production of hydraulic large tongs. In this paper, the visual servo system was introduced in iron roughneck for the automatic positioning of drill pipe, and this system can make preparations for the achievement of unmanned operation on the wellhead. After that the automatic control theory of the iron roughneck was introduced. The visual system was introduced in the control system, and the local visual servo system of hand--eye was built. And then the drill pipe was located by using of visual feedback and ultrasonic sensors. Finally, the system was analyzed on the basis of Matlab/simulink system, and the hand--eye visual and ultrasonic distance measurement sensor were combined, the identification and location of the drill pipe were realized basically by two--dimensional image fusion of information and distance information.