AU2015395790B2 - System and method for monitoring motion state of bucket of construction vertical shaft - Google Patents

System and method for monitoring motion state of bucket of construction vertical shaft Download PDF

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Publication number
AU2015395790B2
AU2015395790B2 AU2015395790A AU2015395790A AU2015395790B2 AU 2015395790 B2 AU2015395790 B2 AU 2015395790B2 AU 2015395790 A AU2015395790 A AU 2015395790A AU 2015395790 A AU2015395790 A AU 2015395790A AU 2015395790 B2 AU2015395790 B2 AU 2015395790B2
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Prior art keywords
bucket
vertical shaft
construction vertical
industrial cameras
sliding frame
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AU2015395790A1 (en
Inventor
Guohua Cao
Shanzeng LIU
Yanjun NIU
Weihong Peng
Gang Shen
Jinjie WANG
Naige WANG
Yandong Wang
Ji Zhang
Zhencai Zhu
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China University of Mining and Technology
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China University of Mining and Technology
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Application filed by China University of Mining and Technology filed Critical China University of Mining and Technology
Priority to PCT/CN2015/098165 priority patent/WO2016206330A1/en
Publication of AU2015395790A1 publication Critical patent/AU2015395790A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006Monitoring devices or performance analysers
    • B66B5/0018Devices monitoring the operating condition of the elevator system
    • B66B5/0031Devices monitoring the operating condition of the elevator system for safety reasons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00Mining-hoist operation
    • B66B19/06Applications of signalling devices

Abstract

A system and method for monitoring a motion state of a bucket of a construction vertical shaft, belonging to systems and methods for monitoring a bucket of a construction vertical shaft. The system includes a dynamic signal collecting and emitting system 5 mounted on a sliding frame, a wireless signal transmission system mounted on a shaft wall, and a computer centralized control center mounted in a control computer room. The dynamic signal collecting and emitting system includes a laser displacement sensor, industrial cameras, light sources and a terminal collecting and emitting controller. The wireless signal transmission system includes a plurality of wireless mesh nodes distributed 10 on a constructed shaft wall. The computer centralized control center includes a control host computer and a wireless signal collector. A bucket state monitoring method includes camera calibration, image collection, image data uploading, bucket position analysis, dynamic measurement and data storage, monitoring display, and data study judgment and alarming. The advantages are as follows: the system and the method can monitor a motion 15 state of a bucket of a construction vertical shaft in real time, and give an alarm automatically over an abnormal state, thus ensuring safe operation of the bucket of the construction vertical shaft.

Description

Technical Field

The present invention relates to a vertical shaft bucket monitoring system and method, and in particular to a system and method for monitoring a motion state of a bucket of a construction vertical shaft.

Related Art

A bucket is a transporter frequently used in vertical shaft construction, which is mainly used for transporting people and materials among the ground, a hanging scaffold and a shaft bottom. Because of roundness errors of a hoisting sheave, wind loads in a shaft and the like, the bucket will deflect during operation. This deflection will be a serious threat to operation safety of the bucket, thus threatening people safety and device safety in a vertical shaft construction process. However, an effective method for monitoring the deflection of the bucket in real time does not exist yet at present, thereby bringing hidden troubles to safety production in vertical shaft construction.

SUMMARY

The present invention is intended to provide a system and method for monitoring a motion state of a bucket of a construction vertical shaft, capable of solving the problem of incapability of monitoring a motion state of a bucket in an operation process of the bucket of a construction vertical shaft. The motion state of the bucket of the construction vertical shaft can be monitored visually in real time, and a dangerous state of the bucket can be judged automatically.

To this end, the present invention provides a system for monitoring a motion state of a bucket of a construction vertical shaft. The system includes a dynamic signal collecting and emitting system mounted on a sliding frame, a wireless signal transmission system mounted on a shaft wall, and a computer centralized control center mounted in a control computer room.

The dynamic signal collecting and emitting system includes: a laser displacement sensor mounted on the sliding frame, two industrial cameras mounted on two sides of the sliding frame, light sources configured to supplement light, and a terminal collecting and emitting controller placed on the sliding frame, the terminal collecting and emitting controller being connected to the industrial cameras, the light sources and the laser displacement sensor.

There are totally two laser displacement sensors which are horizontally disposed on the sliding frame, measurement directions of the two laser displacement sensors are mutually perpendicular, and distances of the sliding frame relative to a shaft wall of a construction vertical shaft in the two mutually perpendicular directions are measured respectively.

The terminal collecting and emitting controller is wirelessly connected to wireless mesh nodes of the wireless signal transmission system.

The terminal collecting and emitting controller is composed of a battery pack, a single-chip computer microcontroller, a video capture card and a mesh network client. The battery pack is responsible for supplying power to the whole terminal collecting and emitting controller, the laser displacement sensor mounted on the sliding frame, the industrial cameras mounted on the two sides of the sliding frame, and the light sources. The single-chip microcomputer controller controls, according to a set program, coordination of all parts of the terminal collecting and emitting controller, and is responsible for directly communicating with the laser displacement sensor. The video capture card converts analog signals collected by the industrial cameras into digital formats, and transmits same to the mesh network client. The mesh network client communicates with an upper computer by means of a mesh network.

Image data generated by the industrial cameras and distance data generated by the laser displacement sensor are uploaded to a control host computer by means of the terminal collecting and emitting controller. The terminal collecting and emitting controller is capable of identifying whether images collected by the industrial cameras are in a stationary state for a long time, and suspending, when it is determined that the images collected by the industrial cameras are in the stationary state for a long time, transmission of image signals so as to save electric energy.

The wireless signal transmission system includes the plurality of wireless mesh nodes distributed on a construction shaft wall, the wireless mesh nodes being wirelessly connected to the terminal collecting and emitting controller. The wireless mesh nodes are configured to transmit information collected by the industrial cameras and the laser displacement sensor to the computer centralized control center, and transmit control signals to the dynamic signal collecting and emitting system.

The computer centralized control center includes the control host computer and a wireless signal collector. The control host computer and the wireless signal collector are connected to each other. The wireless signal collector uploads a wirelessly received data signal to the control host computer.

A method for monitoring a motion state of a bucket of a construction vertical shaft is provided. A control host computer of a terminal collecting and emitting controller of the method comprehensively analyzes bucket image signals collected by two industrial cameras, restores, by means of parameters obtained by calibrating the two industrial cameras in advance, three-dimensional coordinate parameters of a bucket relative to coordinates of the industrial cameras, calculates, according to position data obtained by a laser displacement sensor, a coordinate of a sliding frame relative to a construction vertical shaft, and comprehensively calculates a position coordinate of the bucket relative to the construction vertical shaft finally.

The method includes the following steps:

1) camera calibration: accurately calibrating the two industrial cameras using a checkerboard-shaped standard calibration object respectively, so as to obtain internal parameter matrices and external parameter matrices of the industrial cameras and an eigenmatrix and a basic matrix between the two industrial cameras;

2) data collection: sending, by the control host computer, signals to control the two industrial cameras to collect continuous motion images of a bucket of a construction vertical shaft, and meanwhile collecting, by the laser displacement sensor, position data of a sliding frame relative to a shaft wall of the construction vertical shaft;

3) data uploading: uploading, by a terminal controller, wireless mesh nodes and a wireless signal collector, image data, collected by the industrial cameras, of the bucket and the position data, collected by the laser displacement sensor, of the sliding frame relative to the construction vertical shaft into the control host computer;

4) bucket position analysis: determining, by a Mean-Shift tracking model, the position of the bucket in the image obtained in Step 2, identifying, according to inherent edge-corner characteristics of the bucket, the attitude of the bucket, calculating, according to calibration parameters of the industrial cameras obtained in Step 1, a spatial three-dimensional coordinate of the bucket, calculating, according to position data obtained by the laser displacement sensor, a coordinate of the sliding frame relative to the construction vertical shaft, and comprehensively calculating a position coordinate of the bucket relative to the construction vertical shaft finally;

5) dynamic measurement and data storage: continuously analyzing the image obtained in Step 2 in accordance with Step 4 to obtain spatial position information about the bucket at different moments, so as to obtain a motion situation of the bucket, acquiring motion parameters such as motion speed, accelerated speed and deflection frequency of the bucket by analyzing the motion situation of the bucket, and storing obtained data in the control host computer;

6) monitoring display: displaying, by the control host computer, the image of the bucket obtained in Step 2 and the motion parameters of the bucket obtained in Step 5 on a screen of the control host computer in order to monitor the motion situation of the bucket; and

7) data study judgment and alarming: judging, according to the motion parameters of the bucket obtained in Step 6, whether the bucket is in a normal motion state, and starting, once it is discovered that the swing amplitude of the bucket exceeds a set threshold, an alarming program to give an alarm.

In a specific method for calculating the position coordinate of the bucket, when the position of the bucket relative to the coordinates of the industrial cameras is ? , the coordinate position of the sliding frame relative to the construction vertical shaft is and a transformation matrix from an industrial camera coordinate system to a construction vertical shaft coordinate system is T, since the industrial cameras are fixed to the sliding frame, the position coordinate of the bucket relative to the construction vertical shaft is:

P(v,y)=[P'(v,y,z),l]T

0 0 1 0 0 0 0 + 2(uy)

The beneficial effects are as follows: due to adoption of the technical solution, a construction vertical shaft equipped with the system for monitoring the motion state of the bucket of the construction vertical shaft can monitor, in real time, and record the motion state of the bucket in an operation process of the bucket, and can give an alarm timely in the case of over-large swing amplitude of the bucket, thereby monitoring the motion state of the bucket of the construction vertical shaft visually, automatically and intelligently.

The advantages are as follows: the system and method for monitoring a motion state of a bucket of a construction vertical shaft are high in reliability and degree of automation. Meanwhile, the position of the bucket of the construction vertical shaft is judged using a machine vision technology. Monitoring images are quickly uploaded to a control host computer in real time by means of wireless mesh nodes, and the real-time performance of the system is guaranteed. The whole system can monitor the motion state of the bucket of the construction vertical shaft in real time, and give an alarm automatically over an abnormal state, thus ensuring safe operation of the bucket of the construction vertical shaft.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is an arrangement diagram of a system for monitoring a motion state of a bucket of a construction vertical shaft according to the present invention;

Fig. 2 is a schematic block diagram of a method for monitoring a motion state of a bucket of a construction vertical shaft according to the present invention; and

Fig. 3 is a constitutional diagram of a terminal collecting controller according to the present invention.

In the drawings, 1 represents a sliding frame; 2 represents an industrial camera; 3 represents a light source; 4 represents a terminal collecting and emitting controller; 5 represents a wireless mesh node; 6 represents a control host computer; 7 represents a wireless signal collector; 8 represents a bucket; and 9 represents a laser displacement sensor.

DETAILED DESCRIPTION

A system and method for monitoring a motion state of a bucket of a construction vertical shaft of the present invention will be specifically elaborated in conjunction with the drawings and specific examples.

Embodiment: Fig. 1 is an arrangement diagram of a system for monitoring a motion state of a bucket of a construction vertical shaft. The system includes a dynamic signal collecting and emitting system mounted on a sliding frame 1, a wireless signal transmission system mounted on a shaft wall, and a computer centralized control center mounted in a control computer room.

The dynamic signal collecting and emitting system includes a laser displacement sensor 9 mounted on the sliding frame 1, two industrial cameras 2 mounted on two sides of the sliding frame, two light sources 3 configured to supplement light, and a terminal collecting and emitting controller 4 placed on the sliding frame 1, the terminal collecting and emitting controller 4 being connected to the industrial cameras 2, the light sources 3 and the laser displacement sensor 9.

There are totally two laser displacement sensors 9. The two laser displacement sensors 9 are horizontally disposed on the sliding frame, measurement directions of the two laser displacement sensors 9 are mutually perpendicular, and distances of the sliding frame 1 relative to a shaft wall of a construction vertical shaft in the two mutually perpendicular directions are measured respectively.

The terminal collecting and emitting controller 4 is composed of a battery pack, a single-chip microcomputer controller, a video capture card and a mesh network client. The battery pack is responsible for supplying power to the whole terminal collecting and emitting controller, the laser displacement sensor mounted on the sliding frame, the industrial cameras mounted on the two sides of the sliding frame, and the light sources. The single-chip microcomputer controller controls, according to a set program, coordination of all parts of the terminal collecting and emitting controller, and is responsible for directly communicating with the laser displacement sensor. The video capture card converts analog signals collected by the industrial cameras into digital formats, and transmits same to the mesh network client. The mesh network client communicates with an upper computer by means of a mesh network.

Image data generated by the industrial cameras 2 and distance data generated by the laser displacement sensor 9 are uploaded to a control host computer 6 by means of the terminal collecting and emitting controller 4. The terminal collecting and emitting controller 4 is capable of identifying whether images collected by the industrial cameras 2 are in a stationary state for a long time, and suspending, when it is determined that the images collected by the industrial cameras 2 are in the stationary state for a long time, transmission of image signals so as to save electric energy. The terminal collecting and emitting controller 4 is powered by a battery. When the terminal controller 4 is in a low battery state, the terminal controller 4 sends a battery replacement request. When the sliding frame 1 rises to the ground, the battery of the terminal controller 4 is replaced.

The wireless signal transmission system includes a plurality of wireless mesh nodes 5 distributed on a construction shaft wall. The wireless mesh nodes 5 are configured to transmit information collected by an image collection system to the computer centralized control center, and transmit control signals to the image collection system.

The computer centralized control center includes the control host computer 6 and a wireless signal collector 7. The wireless signal collector 7 uploads a wirelessly received data signal to the control host computer 6.

A method for monitoring a motion state of a bucket of a construction vertical shaft is provided. A control host computer 6 of a terminal collecting and emitting controller comprehensively analyzes bucket image signals collected by two industrial cameras 2, restores, by means of parameters obtained by calibrating the two industrial cameras 2 in advance, three-dimensional coordinate parameters of a bucket 8 relative to coordinates of the industrial cameras 2, calculates, according to position data obtained by a laser displacement sensor 9, a coordinate of a sliding frame 1 relative to a construction vertical shaft, and comprehensively calculates a position coordinate of the bucket 8 relative to the construction vertical shaft finally. The control host computer 6 also has functions of data storage, fault alarming and the like.

After the system is completely mounted, the method for monitoring the motion state of the bucket of the construction vertical shaft can be implemented according to Fig. 2. The method mainly includes the following steps:

1) camera calibration: accurately calibrating the two industrial cameras 2 using a checkerboard-shaped standard calibration object respectively, so as to obtain internal parameter matrices and external parameter matrices of the industrial cameras 2 and an eigenmatrix and a basic matrix between the two industrial cameras 2;

2) data collection: sending, by the control host computer 6, signals to control the two industrial cameras 2 to collect continuous motion images of the bucket 8 of the construction vertical shaft, and collecting, by the laser displacement sensor, position data of the sliding frame 1 relative to a shaft wall of the construction vertical shaft;

3) data uploading: uploading, by the terminal controller 4, the wireless mesh nodes 5 and the wireless signal collector 7, image data, collected by the industrial cameras 2, of the bucket 8 and the position data, collected by the laser displacement sensor, of the sliding frame relative to the construction vertical shaft into the control host computer 6;

4) bucket position analysis: determining, by a Mean-Shift tracking model, the position of the bucket 8 in the image obtained in Step 2, identifying, according to inherent edge characteristics of the bucket 8, the attitude of the bucket 8, calculating, according to calibration parameters of the industrial cameras 2 obtained in Step 1, three-dimensional coordinate parameters of the bucket 8 relative to coordinates of the industrial cameras 2, calculating, according to position data obtained by the laser displacement sensor, a coordinate of the sliding frame 1 relative to the construction vertical shaft, and comprehensively calculating a position coordinate of the bucket 8 relative to the construction vertical shaft finally;

5) dynamic measurement and data storage: continuously analyzing the image obtained in Step 2 in accordance with Step 4 to obtain spatial position information about the bucket 8 at different moments, so as to obtain a motion situation of the bucket 8, acquiring motion parameters such as motion speed, accelerated speed and deflection frequency of the bucket 8 by analyzing the motion situation of the bucket 8, and storing obtained data in the control host computer 6;

6) monitoring display: displaying, by the control host computer 6, the image of the bucket 8 obtained in Step 2 and the motion parameters of the bucket 8 obtained in Step 5 on a screen of the control host computer 6 in order to monitor the motion situation of the bucket 8; and

7) data study judgment and alarming: judging, according to the motion parameters of the bucket 8 obtained in Step 6, whether the bucket 8 is in a normal motion state, and starting, once it is discovered that the swing amplitude of the bucket 8 exceeds a set threshold, an alarming program to give an alarm.

A specific method for calculating the position coordinate of the bucket is as follows: when the position of the bucket relative to the coordinates of the industrial cameras is P (t, y, z), q-,θ coordinate position of the sliding frame relative to the construction vertical shaft is and a transformation matrix from an industrial camera coordinate system to a construction vertical shaft coordinate system is T, since the industrial cameras are fixed to the sliding frame, the position coordinate of the bucket relative to the construction vertical shaft is:

2015395790 27 Nov 2017

P(x, y)=[P'(x, j,z),l]T +Q(x,y)

In an image collection process, the terminal controller 4 decides, according to a scene illumination situation, whether to start the illumination light sources 3, in order to save electric energy when illumination is not needed.

In a working process of the system, the terminal controller 4 monitors the electric quantity of the terminal controller 4 in real time, when the capacity of a battery is lower than a set value, a signal is sent to the control host computer 6, and after the sliding frame 1 rises to the ground, the battery is replaced.

A detailed description of one or more preferred embodiments of the invention is 10 provided above along with accompanying figures that illustrate by way of example the principles of the invention. While the invention is described in connection with such embodiments, it should be understood that the invention is not limited to any embodiment. On the contrary, the scope of the invention is limited only by the appended claims and the invention encompasses numerous alternatives, modifications, and equivalents. For the purpose of example, numerous specific details are set forth in the description above in order to provide a thorough understanding of the present invention. The present invention may be practised according to the claims without some or all of these specific details. For the purpose of clarity, technical material that is known in the technical fields related to the invention has not been described in detail so that the present invention is not unnecessarily obscured.

Throughout this specification and the claims that follow unless the context requires otherwise, the words 'comprise' and 'include' and variations such as 'comprising' and 'including' will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers.

The reference to any prior art in this specification is not, and should not be taken as, an acknowledgment or any form of suggestion that such prior art forms part of the common general knowledge of the technical field.

2015395790 09 Feb 2018

Claims (7)

CLAIMS What is claimed is:
1) camera calibration: accurately calibrating the two industrial cameras (2) using a checkerboard-shaped standard calibration object respectively, so as to obtain internal parameter matrices and external parameter matrices of the industrial cameras (2) and an eigenmatrix and a basic matrix between the two industrial cameras (2);
1. A system for monitoring a motion state of a bucket of a construction vertical shaft, comprising a dynamic signal collecting and emitting system mounted on a sliding frame (1), a wireless signal transmission system mounted on a shaft wall, and a computer centralized control center mounted in a control computer room;
wherein a control host computer (6) of a terminal collecting and emitting controller analyzes bucket image signals collected by two industrial cameras, restores, by means of parameters obtained by calibrating the two industrial cameras in advance, three-dimensional coordinate parameters of a bucket relative to coordinates of the industrial cameras, calculates, according to position data obtained by a laser displacement sensor, a coordinate of a sliding frame relative to a construction vertical shaft, and calculates a position coordinate of the bucket relative to the construction vertical shaft finally; and wherein the system performs the following steps:
2. The system for monitoring a motion state of a bucket of a construction vertical shaft according to claim 1, wherein light sources (3) is configured to supplement light, and the terminal collecting and emitting controller (4) being connected to the light sources (3).
2) data collection: sending, by the control host computer (6), signals to control the two industrial cameras (2) to collect continuous motion images of a bucket (8) of a construction vertical shaft, and meanwhile collecting, by a laser displacement sensor (9), position data of the sliding frame (1) relative to the construction vertical shaft;
3. The system for monitoring a motion state of a bucket of a construction vertical shaft according to claim 2, wherein there are two laser displacement sensors which are horizontally disposed on the sliding frame, measurement directions of the two laser displacement sensors are mutually perpendicular, and distances of the sliding frames relative to a shaft wall of a construction vertical shaft in the two mutually perpendicular directions are measured respectively.
2015395790 09 Feb 2018
3) data uploading: uploading, by a terminal collecting and emitting controller (4) of the dynamic signal collecting and emitting system, wireless mesh nodes (5) and a wireless signal collector (7), image data, collected by the industrial cameras (2), of the bucket (8) and the position data, collected by the laser displacement sensor (9), of the sliding frame (1) relative to the construction vertical shaft into the control host computer (6);
4. The system for monitoring a motion state of a bucket of a construction vertical shaft according to claim 2, wherein the terminal collecting and emitting controller (4) is wirelessly connected to wireless mesh nodes (5) of the wireless signal transmission system.
4) bucket position analysis: determining, by a Mean-Shift tracking model, a position of the bucket (8) in the images obtained in Step 2, identifying, according to inherent edge characteristics of the bucket (8), an attitude of the bucket (8), calculating, according to calibration parameters of the industrial cameras (2) obtained in Step 1, three-dimensional
2015395790 09 Feb 2018 coordinate parameters of the bucket (8) relative to coordinates of the industrial cameras (2), calculating, according to position data obtained by the laser displacement sensor, a coordinate of the sliding frame (1) relative to the construction vertical shaft, and calculating a position coordinate of the bucket (8) relative to the construction vertical shaft finally;
5. The system for monitoring a motion state of a bucket of a construction vertical shaft according to claim 1, wherein the wireless signal transmission system comprises the plurality of wireless mesh nodes (5) distributed on a construction shaft wall, the wireless mesh nodes (5) being wirelessly connected to the terminal collecting and emitting controller (4).
5) dynamic measurement and data storage: continuously analyzing the images obtained in Step 2 in accordance with Step 4 so as to obtain spatial position information about the bucket (8) at different moments, namely a motion situation of the bucket (8), acquiring motion parameters such as motion speed, accelerated speed and deflection frequency of the bucket (8) by analyzing the motion situation of the bucket (8), and storing obtained data in the control host computer (6);
6. The system for monitoring a motion state of a bucket of a construction vertical shaft according to claim 1, wherein the control host computer (6) and the wireless signal collector (7) being connected to each other; and the wireless signal collector uploads a wirelessly received data signal to the control host computer (6).
6) monitoring display: displaying, by the control host computer (6), the image of the bucket (8) obtained in Step 2 and the motion parameters of the bucket (8) obtained in Step 5 on a screen of the control host computer (6) in order to monitor the motion situation of the bucket (8); and
7) data study judgment and alarming: judging, according to the motion parameters of the bucket (8) obtained in Step 6, whether the bucket (8) is in a normal motion state, and starting, once it is discovered that a swing amplitude of the bucket (8) exceeds a set threshold, an alarming program to give an alarm; and wherein the laser displacement sensor (9) is mounted on the sliding frame (1), the industrial cameras (2) are mounted on two sides of the sliding frame (1), the terminal collecting and emitting controller (4) is placed on the sliding frame (1), the terminal collecting and emitting controller (4) being connected to the industrial cameras (2) and the laser displacement sensor (9).
7. The system for monitoring a motion state of a bucket of a construction vertical shaft according to claim 1, wherein when the position of the bucket relative to the coordinates of the industrial cameras is (x’ , the coordinate position of the sliding frame relative to the construction vertical shaft is v) and a transformation matrix from an industrial camera coordinate system to a construction vertical shaft coordinate system is T , since the industrial cameras are fixed to the sliding frame, the position coordinate of the bucket relative to the construction vertical shaft is calculated using:
P(x,y)=[P'(x,y,z),l]T + Q(x,y)
FIG.2 r
FIG. 3
AU2015395790A 2015-06-26 2015-12-22 System and method for monitoring motion state of bucket of construction vertical shaft Active AU2015395790B2 (en)

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CN201510363260.XA CN104973479B (en) 2015-06-26 2015-06-26 One kind construction vertical well-bucket motion state monitoring system and method
PCT/CN2015/098165 WO2016206330A1 (en) 2015-06-26 2015-12-22 System and method for monitoring motion status of bucket in construction vertical shaft

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