CN110136381A - A kind of well drilling operation site personnel standing monitoring and warning system - Google Patents
A kind of well drilling operation site personnel standing monitoring and warning system Download PDFInfo
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- CN110136381A CN110136381A CN201810120230.XA CN201810120230A CN110136381A CN 110136381 A CN110136381 A CN 110136381A CN 201810120230 A CN201810120230 A CN 201810120230A CN 110136381 A CN110136381 A CN 110136381A
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- 238000005553 drilling Methods 0.000 title claims abstract description 42
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000000605 extraction Methods 0.000 claims abstract description 23
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- 238000001514 detection method Methods 0.000 claims description 8
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The present invention provides a kind of well drilling operation site personnel standing monitoring and warning systems, including video acquisition part, main control section and alarm portion, main control section includes parameter input unit, drillng operation type library unit, drillng operation image procossing rule library unit, image extraction unit, activity image detecting element and early warning judging unit, parameter input unit is connected with drillng operation type library unit, drillng operation type library unit is connected with drillng operation image procossing rule library unit, drillng operation image procossing rule library unit is connected with early warning judging unit；Image extraction unit is connected with activity image detecting element, and activity image detecting element is connected with early warning judging unit.Video acquisition part is connected with image extraction unit, and early warning judging unit is connected with alarm portion.The system realizes the abnormal autonomous judgement of personnel's erect-position based on video analysis and intelligent early-warning.
Description
Technical field
The present invention relates to drillng operation security monitoring fields, and in particular to a kind of well drilling operation site personnel standing monitoring is pre-
Alert system.
Background technique
Drilling well is the important link during Oil And Gas Exploration And Development, and drillng operation had both been related to high-pressure fluid and the works such as has been pumped into
Skill operation further relates to make a trip, the construction operations such as upper button, has high risk.Accident statistics are found in recent years, drillng operation
Accident events are high-incidence, take place frequently for mechanical wounding, object strike and high-pressure jet impact etc. in the process, and analysis shows, live people
Member arbitrarily enters danger zone or erect-position is abnormal, is one of the key reason of initiation accident.Therefore, specification well drilling operation site people
Member's erect-position, early warning control timely for abnormal erect-position are the effective means that control accident occurs.
The monitoring of personnel's erect-position or personnel positioning technology are usually used in the places such as underground coal mine, substation at present.Publication No.
The Chinese patent application of CN201278022Y, discloses a kind of substation for detecting position of coal mine underground person, including with low frequency signal
Transmitting module and central processing unit, the memory etc. of the connection of low frequency signal receiving module, using RFID technique, it can be achieved that administrator
Reliable grasp of the member to down-hole miner.The Chinese patent application of Publication No. CN202544928U discloses a kind of personnel in the pit
Position detection and management system, using wireless radio-frequency, data processing technique, data communication technology and GIS-Geographic Information System,
Combining wireless network transmission technology Zigbee realizes personnel in the pit's accurate positioning, can set from ground real-time monitoring personnel in the pit
Standby position, provides basis for accident prevention and emergency management and rescue.Publication No. CN203630373U Chinese patent application, discloses one
Kind substation personnel location monitor realizes personnel positions positioning in switch room using pressure and weight sensor.But it is above-mentioned
Patent is only able to achieve personnel positioning function, and early warning and alarm still rely upon artificial realization, and data processing has uncertain and lag
Property, it is not possible to realize the automatic early-warning function of efficiently and accurately, while above-mentioned patent working process more relies on fixed device and builds
If more liquid drillng operation can not be suitable for.
Summary of the invention
Existing for the existing erect-position early warning system can not efficiently and accurately automatic alarm aiming at the problem that, the present invention provides
A kind of well drilling operation site personnel standing monitoring and warning system.
The following technical solution is employed by the present invention:
A kind of well drilling operation site personnel standing monitoring and warning system, including video acquisition part, main control section and report
Alert part, video acquisition part are connected with main control section, and main control section is connected with alarm portion；
The main control section includes parameter input unit, drillng operation type library unit, drillng operation image procossing rule
Then library unit, image extraction unit, activity image detecting element and early warning judging unit, parameter input unit and drilling well are made
Industry type library unit is connected, and drillng operation type library unit is connected with drillng operation image procossing rule library unit, drillng operation
Image procossing rule library unit is connected with early warning judging unit；Image extraction unit is connected with activity image detecting element,
Activity image detecting element is connected with early warning judging unit；
The interior equipment being related to there are many operation type and each operation type of the drillng operation type library unit, utensil letter
Breath；
There is image procossing regular in the drillng operation image procossing rule library unit；
The video acquisition part is connected with image extraction unit, and early warning judging unit is connected with alarm portion；
The video acquisition part includes rotatable camera and liftable support, and rotatable camera is fixed on liftable
On bracket；
The alarm portion includes combined aural and visual alarm, and combined aural and visual alarm is fixed on liftable support.
Preferably, the parameter input unit includes mouse and keyboard, and parameter input unit can input job parameter, operation
Parameter includes operation type, derrick type, on-site personnel number and calibration ratio.
Preferably, the operation type includes round trip, casing job, well cementing operation, drilling operation and rushes mouse
Hole operation.
Preferably, described image processing rule includes that tong operates erect-position, well head erect-position, valve operation erect-position, higher-pressure region
Domain erect-position；Operation type in the drillng operation type library unit and the equipment being related to, utensil can be with image procossing rules
Match.
Preferably, described image extraction unit is connected with rotatable camera, and image extraction unit can extract video acquisition
The image of part shooting, and give to activity image detecting element.
Preferably, the activity image detecting element can identify operating personnel in image, drilling rod, high pressure line, set
Pipe, valve and hydraulic tongs, and extract respective coordinates data.
Preferably, whether in violation of rules and regulations the early warning judging unit judges personnel's erect-position, and alarm signal can occur to alarm portion
Number.
Preferably, the liftable support is automatic lifting bracket.
Preferably, the liftable support includes pedestal, and the inside middle of pedestal is provided with hollow groove, grafting in hollow groove
There is elevating lever, a column threaded hole is provided on elevating lever, offers thread circle hole on the top of hollow groove, thread circle hole is provided with
Positioning knob, positioning knob realize the lifting of elevating lever by the way that thread circle hole is connected with the threaded hole of different height.
Preferably, the alarm portion further includes explosion-resistant enclosure and signal receiver, signal receiver and combined aural and visual alarm
It is connected, signal receiver and combined aural and visual alarm are respectively positioned in explosion-resistant enclosure.
The invention has the advantages that:
The present invention has been built including drillng operation type library unit and drillng operation image procossing rule library unit
Personnel's erect-position monitoring and warning system especially establishes match contacts between the two, while being based on SSD target detection frame, leads to
Picture pixel analyses and comparison are crossed, different drillng operation activity staff erect-position image procossing rules is established, is compared by picture pixel
The real-time automatic early-warning of Field Force's erect-position exception under different work, and the video acquisition part in the system are realized in analysis
With alarm portion it is easy to disassemble, implement, the strong feature of the mobility of field drillng operation can be effectively applicable to.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of well drilling operation site personnel standing monitoring and warning system.
Fig. 2 is the flow chart of well drilling operation site personnel standing monitoring and warning system.
Fig. 3 is the schematic diagram of video acquisition part and alarm portion.
Fig. 4 is the structural schematic diagram of liftable support.
Specific embodiment
A specific embodiment of the invention is described further in the following with reference to the drawings and specific embodiments:
In conjunction with Fig. 1 to 4, a kind of well drilling operation site personnel standing monitoring and warning system, including video acquisition part, master control
System part and alarm portion, video acquisition part are connected with main control section, and main control section is connected with alarm portion.
Main control section includes parameter input unit, drillng operation type library unit, drillng operation image procossing rule base
Unit, image extraction unit, activity image detecting element and early warning judging unit.
Parameter input unit is connected with drillng operation type library unit, drillng operation type library unit and drillng operation image
It handles regular library unit to be connected, drillng operation image procossing rule library unit is connected with early warning judging unit；Image extraction unit
It is connected with activity image detecting element, activity image detecting element is connected with early warning judging unit.
Wherein, the interior equipment being related to there are many operation type and each operation type of drillng operation type library unit, utensil
Information, operation type include round trip, casing job, well cementing operation, drilling operation and rush rat hole operation etc..
Drillng operation image procossing rule library unit, it is practical according to drillng operation and accident, extract tong operation erect-position,
Well head erect-position, valve operation erect-position, four class image procossing rule of high-pressure area erect-position.It is compared and is analyzed by picture pixel, established
Hazardous equipment, facility, tool and personnel's range estimation method, based on the different work type in drillng operation type library unit
Demand calls a variety of image procossing rules matching.
Parameter input unit includes the input equipments such as mouse and keyboard, and parameter input unit can input job parameter, operation
Parameter includes operation type, derrick type, on-site personnel number and calibration ratio etc..Calibration ratio is K, and K=1/a, a are real
The distance between two points that border distance 1m is indicated in video pixel.
Video acquisition part is connected with image extraction unit, and early warning judging unit is connected with alarm portion.
Video acquisition part includes rotatable camera 1 and liftable support, and rotatable camera 1 is fixed on liftable branch
On frame.
Alarm portion includes combined aural and visual alarm 2, and combined aural and visual alarm is fixed on liftable support.
Image extraction unit is connected with rotatable camera, can extract the image of video acquisition part shooting, and send to work
Industry live image detection unit.
The image of rotatable camera shooting should be able to range involved in overwrite job personnel's erect-position, at least covering is entire
Rig floor.
Activity image detecting element can identify operating personnel in image, drilling rod, high pressure line, casing, valve and liquid
Tong etc. is pressed, and extracts respective coordinates data.
Activity image detecting element should be detected according to the homework type in drillng operation kind class libraries using multi-class targets
Technology is trained target detection frame by great amount of images, target detection frame is enable to mention from image zooming-out module
The pixel coordinate of target object is identified in the picture taken.
Whether in violation of rules and regulations early warning judging unit judges personnel's erect-position, and alarm signal can occur to alarm portion.
Liftable support can be automatic lifting bracket.
Liftable support also may include pedestal 3, and the inside middle of pedestal is provided with hollow groove, liter is plugged in hollow groove
Bar 4 is dropped, is provided with a column threaded hole 5 on elevating lever, offers thread circle hole on the top of hollow groove, thread circle hole is provided with fixed
Position knob 6, positioning knob realize the lifting of elevating lever by the way that thread circle hole is connected with the threaded hole of different height.
Alarm portion further includes explosion-resistant enclosure and signal receiver, and signal receiver is connected with combined aural and visual alarm, and signal connects
It receives device and combined aural and visual alarm is respectively positioned in explosion-resistant enclosure.
In image extraction unit, extraction video image pixel is enabled to be set as X*Y, and demarcates actual range 1m table within the pixel
Being shown as distance between two points is a.
In drillng operation image procossing rule library unit, tong active station bit image processing rule are as follows:
Step 1: pixel coverage is identification drilling rod in video
{(Xg,Yg)|(Xg1<Xg<Xg2, Yg1<Yg<Yg2)}；
Step 2: pixel coverage is identification hydraulic tongs in video
{(Xq,Yq)|(Xq1<Xq<Xq2, Yq1<Yq<Yq2)}；
Step 3: the pixel coverage of identification personnel in video is
{(Xri,Yri)|(Xri1<Xri<Xri2, Yri1<Yri<Yri2)}；
I=(1 ... n), n are to detect operating personnel's number in range of video.
Step 4: early warning rule:
If Xq2<Xg1, then as (Yri1+Yri2)/2>Yq1, Xq2<(Xri1+Xri2)/2<Xg1When, it alarms；
If Xq2>Xg1, then as (Yri1+Yri2)/2>Yq1, Xg1<(Xri1+Xri2)/2<Xq2When, it alarms.
Well head erect-position image procossing rule are as follows:
Step 1: pixel coverage is in video for identification casing (drilling rod)
{(Xs,Ys)|(Xs1<Xs<Xs2, Ys1<Ys<Ys2)}；
Step 2: calculating casing (drilling rod) center point coordinate is (Xsm,Ysm)
Xsm=(Xs1+Xs2)/2；Ysm=(Ys1+Ys2)/2；
Step 3: the pixel coverage of identification personnel in video is
{(Xri,Yri)|(Xri1<Xri<Xri2, Yri1<Yri<Yri2)}；
I=(1 ... n), n are to detect operating personnel's number in range of video.
Step 4: judging casing (drilling rod) state
It reads the t1 moment, casing pixel coverage central point is (Xsmt1,Ysmt1)
It reads the t2 moment, casing pixel coverage central point is (Xsmt2,Ysmt2)
If | Ysmt2-Ysmt1| ≠ 0 shows that casing is in and above proposes or transfer state.
Step 5: early warning rule:
Ysq=(Yri1+Yri2When)/2, if | Xrim-Xsq|≤Ca, then alarm；
XrimCentral point for personnel i in X axis coordinate, Xrim=(Xri1+Xri2)/2。
C is distance of the well head to rig floor side.
(Xsq,Ysq) be in casing (drilling rod) video pixel range it is random a bit.
Valve operation erect-position image procossing rule are as follows:
Step 1: the pixel coverage of identification valve in video is
{(Xv,Yv)|(Xv1<Xv<Xv2, Yv1<Yv<Yv2)}；
Step 2: the pixel coverage of identification personnel in video is
{(Xr,Yr)|(Xr1<Xr<Xr2, Yr1<Yr<Yr2)}；
Step 3: early warning rule:
If (Yv1+Yv2)/2-Ka<(Yri1+Yri2)/2<(Yv1+Yv2)/2+Ka, and Xv1<(Xri1+Xri2)/2<Xv2, then carry out
Alarm.
K is the basic parameter set based on operating personnel's situation, generally 0.3.
High-pressure area erect-position image procossing rule are as follows:
Step 1: the pixel coverage of identification high pressure line (red) in video is
{(Xt,Yt)|(Xt1<Xt<Xt2, Yt1<Yt<Yt2)}；
Step 2: the pixel coverage of identification personnel in video is
{(Xri,Yri)|(Xri1<Xri<Xri2, Yri1<Yri<Yri2)}；
I=(1 ... n), n are to detect operating personnel's number in range of video.
Then personnel's central point is (X in pixelrim,Yrim)
Xrim=(Xri1+Xri2)/2；Yrim=(Yri1+Yri2)/2
Enable Ytp=YrimIf | Xrim-Xtp|≤0.5a, then alarm；
Enable Xtp=XrimIf | Yrim-Ytp|≤0.5a, then alarm.
(Xtp,Ytp) be in high pressure line video pixel range it is random a bit.
The substantially implementation process of well drilling operation site personnel's standing monitoring and warning system are as follows:
Work team group leader has inputted job parameter by parameter input unit, including selects operation type, derrick type, shows
Field operating personnel's number, calibration ratio etc..Based on selected parameter, operation type information is transferred from drillng operation type library unit,
Determination is related to equipment utensil；After operation type is clear, the calling rule from drillng operation image procossing rule library unit, and upload
To prewarning unit；After operation starts, rotatable camera shooting video, the image extraction unit extraction every frame picture of video, and on
Activity image detecting element is reached, activity image detecting element identifies personnel, Work tool and the facility in picture, and
Respective coordinates data are extracted, prewarning unit is uploaded to.Prewarning unit is based on image procossing rule, judges whether coordinate data is closing
Range is managed, if personnel's erect-position is unreasonable, controls combined aural and visual alarm alarm.
Embodiment 1
By taking certain round trip of certain drilling team as an example
Corresponding job parameter is inputted, homework type is round trip, and derrick type is 40 derrick of A type.Operation number is 4
People, calibration ratio are 100, then it is 0.01 that actual range 1m is expressed as distance between two points within the pixel.
Round trip is selected in drillng operation type library unit, is called in drillng operation image procossing rule library unit
Tong operates erect-position and well head erect-position image procossing rule.
Activity image detecting element is trained using SSD target detection frame, enable target detection frame from
The pixel coordinate of target object is identified in the picture extracted in image extraction unit.Image includes operating personnel, drilling rod, high pressure
Pipeline (red), casing, valve, hydraulic tongs.
It is compared and is analyzed by picture pixel, establish hazardous equipment, facility, tool and personnel's range estimation method.
According to device model, in the image zooming-out module 5, extraction video image pixel is enabled to be set as 352*288.
Tong active station bit image processing rule are as follows:
Step 1: pixel coverage is identification drilling rod in video
Step 1: pixel coverage is identification drilling rod in video
{(Xg,Yg)|(Xg1<Xg<Xg2, Yg1<Yg<Yg2)}；
Step 2: pixel coverage is identification hydraulic tongs in video
{(Xq,Yq)|(Xq1<Xq<Xq2, Yq1<Yq<Yq2)}；
Step 3: the pixel coverage of identification personnel in video is
{(Xri,Yri)|(Xri1<Xri<Xri2, Yri1<Yri<Yri2)}；
I=(1 ... n), n are to detect operating personnel's number, n≤4 in range of video.
Step 4: early warning rule:
If Xq2<Xg1, as (Yri1+Yri2)/2>Yq1, Xq2<(Xri1+Xri2)/2<Xg1, alarm；
If Xq2>Xg1, as (Yri1+Yri2)/2>Yq1, Xg1<(Xri1+Xri2)/2<Xq2, alarm.
Well head erect-position image procossing rule are as follows:
Step 1: pixel coverage is in video for identification casing (drilling rod)
{(Xs,Ys)|(Xs1<Xs<Xs2, Ys1<Ys<Ys2)}；
Step 2: calculating casing (drilling rod) center point coordinate is (Xsm,Ysm)
Xsm=(Xs1+Xs2)/2；Ysm=(Ys1+Ys2)/2；
Step 3: the pixel coverage of identification personnel in video is
{(Xri,Yri)|(Xri1<Xri<Xri2, Yri1<Yri<Yri2)}；
I=(1 ... n), n are to detect operating personnel's number in range of video.
Step 4: judging casing (drilling rod) state
It reads the t1 moment, casing pixel coverage central point is (Xsmt1,Ysmt1)
It reads the t2 moment, casing pixel coverage central point is (Xsmt2,Ysmt2)
If | Ysmt2-Ysmt1| ≠ 0 shows that casing is in and above proposes or transfer state.
Step 5: early warning rule:
By derrick parameter setting it is found that C=2.
Ysq=(Yri1+Yri2When)/2, if | Xrim-Xsq|≤Ca, then alarm；
XrimCentral point for personnel i in X axis coordinate, Xrim=(Xri1+Xri2)/2。
(Xsq,Ysq) be in casing (drilling rod) video pixel range it is random a bit.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (10)
1. a kind of well drilling operation site personnel standing monitoring and warning system, which is characterized in that including video acquisition part, main control
Part and alarm portion, video acquisition part are connected with main control section, and main control section is connected with alarm portion；
The main control section includes parameter input unit, drillng operation type library unit, drillng operation image procossing rule base
Unit, image extraction unit, activity image detecting element and early warning judging unit, parameter input unit and drillng operation kind
Class library unit is connected, and drillng operation type library unit is connected with drillng operation image procossing rule library unit, drillng operation image
Regular library unit is handled to be connected with early warning judging unit；Image extraction unit is connected with activity image detecting element, operation
Live image detection unit is connected with early warning judging unit；
The interior equipment being related to there are many operation type and each operation type of the drillng operation type library unit, instrument information；
There is image procossing regular in the drillng operation image procossing rule library unit；
The video acquisition part is connected with image extraction unit, and early warning judging unit is connected with alarm portion；
The video acquisition part includes rotatable camera and liftable support, and rotatable camera is fixed on liftable support
On；
The alarm portion includes combined aural and visual alarm, and combined aural and visual alarm is fixed on liftable support.
2. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Parameter input unit includes mouse and keyboard, and parameter input unit can input job parameter, and job parameter includes operation type, well
Frame type, on-site personnel number and calibration ratio.
3. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Operation type includes round trip, casing job, well cementing operation, drilling operation and rushes rat hole operation.
4. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Image procossing rule includes tong operation erect-position, well head erect-position, valve operation erect-position, high-pressure area erect-position；The drillng operation
Operation type in type library unit and the equipment being related to, utensil can match with image procossing rule.
5. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Image extraction unit is connected with rotatable camera, and image extraction unit can extract the image of video acquisition part shooting, and send
To activity image detecting element.
6. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Activity image detecting element can identify operating personnel in image, drilling rod, high pressure line, casing, valve and hydraulic tongs, and
Extract respective coordinates data.
7. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Whether in violation of rules and regulations early warning judging unit judges personnel's erect-position, and alarm signal can occur to alarm portion.
8. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Liftable support is automatic lifting bracket.
9. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that described
Liftable support includes pedestal, and the inside middle of pedestal is provided with hollow groove, and elevating lever is plugged in hollow groove, is set on elevating lever
It is equipped with a column threaded hole, offers thread circle hole on the top of hollow groove, thread circle hole is provided with positioning knob, and positioning knob is logical
It crosses and thread circle hole is connected with the threaded hole of different height, realize the lifting of elevating lever.
10. a kind of well drilling operation site personnel standing monitoring and warning system according to claim 1, which is characterized in that institute
Stating alarm portion further includes explosion-resistant enclosure and signal receiver, and signal receiver is connected with combined aural and visual alarm, signal receiver and
Combined aural and visual alarm is respectively positioned in explosion-resistant enclosure.
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| CN201810120230.XA CN110136381B (en) | 2018-02-07 | 2018-02-07 | On-spot personnel of drilling operation monitoring early warning system that stands |
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|---|---|---|---|
| CN201810120230.XA CN110136381B (en) | 2018-02-07 | 2018-02-07 | On-spot personnel of drilling operation monitoring early warning system that stands |
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Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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