AU2018353927A1 - Displacement monitoring system and method for mine hoisting device - Google Patents
Displacement monitoring system and method for mine hoisting device Download PDFInfo
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- AU2018353927A1 AU2018353927A1 AU2018353927A AU2018353927A AU2018353927A1 AU 2018353927 A1 AU2018353927 A1 AU 2018353927A1 AU 2018353927 A AU2018353927 A AU 2018353927A AU 2018353927 A AU2018353927 A AU 2018353927A AU 2018353927 A1 AU2018353927 A1 AU 2018353927A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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Abstract
A displacement monitoring system and method for a mine hoisting device are 5 provided. The system includes an image processing device, a laser scanner and at least two image acquiring devices. The image processing device is electrically connected with the laser scanner and the image acquiring devices. The at least two image acquiring devices are arranged at different positions, and may shoot a to-be detected part of the mine hoisting device in a hoisting process of the mine hoisting 10 device. The image processing device determines position information of the to-be detected part based on contour data of the to-be-detected part obtained by scanning of the laser scanner and images containing the to-be-detected part shot by the image acquiring devices, and determines a displacement of the to-be-detected part based on the position information at different time points.
Description
DISPLACEMENT MONITORING SYSTEM AND METHOD FOR MINE HOISTING DEVICE
CROSS-REFERENCE TO RELATED APPLICATIONS
The present application is based on Chinese Patent Application No. 201810623820.4, filed on June 15, 2018, and claims priority to Chinese Patent Application No. 201810623820.4, filed on June 15, 2018, the contents of which are hereby incorporated by reference in its entirety.
TECHNICAL FIELD
The disclosure relates to a mine hoisting system, and particularly to a displacement monitoring system and method for a mine hoisting device.
BACKGROUND
Mine hoisters, as a critical device for mine transportation, are generally used for implementing tasks of hoisting coal and ores, lifting personnel and transporting materials and devices, and are an important device for linking an underground mine with the ground. A steel wire rope, as an important stressed member of the hoister, may directly affect stability of a hoisting process and fatigue life of the steel wire rope due to vibration. The steel wire rope may cause contact-type interference with a surrounding mine hoisting device due to an excessive vibration displacement, which seriously affects safety in a hoisting process.
SUMMARY
In view of this, a displacement monitoring system and method for a mine hoisting device are provided according to the embodiments of the disclosure, which can monitor a displacement generated due to vibration of a steel wire rope in real time, thereby improving safety of the mine hoisting device.
In order to realize the above objective, the technical solutions of the disclosure are implemented as follows.
A displacement monitoring system for a mine hoisting device is provided according to an embodiment of the disclosure, which includes an image processing device, a laser scanner and at least two image acquiring devices. The image processing device is electrically connected with the laser scanner and the image acquiring devices, and the at least two image acquiring devices are arranged at different positions, and each of the at least two image acquiring devices is configured to shoot a to-be-detected part of the mine hoisting device in a hoisting process of the mine hoisting device.
The image processing device is configured to send a scanning instruction to the laser scanner. The laser scanner is configured to scan the to-be-detected part of the mine hoisting device in response to the scanning instruction and send contour data of the to-be-detected part to the image processing device.
When a first monitoring period comes, the image processing device is configured to send a first shooting instruction to each of the at least two image acquiring devices.
Each of the at least two image acquiring devices is configured to shoot a first image for the to-be-detected part of the mine hoisting device in response to the first shooting instruction, and send the shot first image containing the to-be-detected part to the image processing device.
The image processing device is configured to determine a feature part of the to-be-detected part in each of the first images based on the contour data of the to-bedetected part sent by the laser scanner and the first images, acquire pixel attribute information of the feature part in each of the first images, and calculate first position information of the to-be-detected part based on the pixel attribute information of the feature parts, position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the first image.
When a second monitoring period comes, the image processing device is configured to send a second shooting instruction to each of the at least two image acquiring devices.
Each of the at least two image acquiring devices is configured to shoot a second image for the to-be-detected part of the mine hoisting device in response to the second shooting instruction, and send the shot second image containing the to-bedetected part to the image processing device.
The image processing device is configured to determine a feature part of the to-be-detected part in each of the second images based on the contour data of the tobe-detected part sent by the laser scanner and the second images, acquire pixel attribute information of the feature part in each of the second images, and calculate second position information of the to-be-detected part based on the pixel attribute information of the feature parts, the position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the second image.
The image processing device is configured to determine a displacement of the to-be-detected part during a time duration between the first monitoring period and the second monitoring period based on the first position information and the second position information. The first monitoring period and the second monitoring period are adjacent or nonadjacent monitoring periods.
In the above solution, the feature part may include a part having scale invariance, translation invariance, rotation invariance and illumination invariance.
In the above solution, the feature part may include a point of the to-bedetected part having scaling invariance, translation invariance, rotation invariance and illumination invariance.
In the above solution, the feature part may include a part on which image classification, image retrieval and wide-baseline matching are capable of being performed.
In the above solution, the system may further include a display configured to display the image acquired by the image acquiring devices or data obtained after the image processing device processes the image.
A displacement monitoring method for a mine hoisting device is further provided according to an embodiment of the disclosure, which include the following operations.
A scanning instruction is sent to a laser scanner. The laser scanner scans a tobe-detected part of the mine hoisting device in response to the scanning instruction and sends contour data of the to-be-detected part to an image processing device.
When a first monitoring period comes, a first shooting instruction is sent to each of at least two image acquiring devices.
A first image containing the to-be-detected part of the mine hoisting device shot by each of the at least two image acquiring devices in response to the first shooting instruction is acquired.
A feature part of the to-be-detected part in each of the first images is determined based on the contour data of the to-be-detected part sent by the laser scanner and the first images, pixel attribute information of the feature part in each of the first images is acquired, and first position information of the to-be-detected part is calculated based on the pixel attribute information of the feature parts, position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the first image.
When a second monitoring period comes, a second shooting instruction is sent to each of the at least two image acquiring devices.
A second image containing the to-be-detected part shot by each of the at least two image acquiring devices in response to the second shooting instruction is acquired.
A feature part of the to-be-detected part in each of the second images is determined based on the contour data of the to-be-detected part sent by the laser scanner and the second images, pixel attribute information of the feature part in each of the second images is acquired, and second position information of the to-bedetected part is calculated based on the pixel attribute information of the feature parts, the position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the second image.
A displacement of the to-be-detected part during a time duration between the first monitoring period and the second monitoring period is determined based on the first position information and the second position information. The first monitoring period and the second monitoring period are adjacent or nonadjacent monitoring periods.
In the above solution, before the operation that the first shooting instruction is sent to each of the at least two image acquiring devices, the method may further include the following operations.
Camera calibration is performed on the image acquiring devices.
A static symbol is acquired before the mine hoisting device operates, to acquire a reference object of the to-be-detected part.
In the above solution, the operation that the first image containing the to-bedetected part of the mine hoisting device shot by each of the at least two image acquiring devices in response to the first shooting instruction is acquired or the operation that the second image containing the to-be-detected part shot by each of the at least two image acquiring devices in response to the second shooting instruction is acquired may include the following operation.
A single-frame image with a preset sequence number in each of the first images or the second images is acquired.
In the above solution, before the operation that the pixel attribute information of the feature part in each of the first images is acquired or the operation that the pixel attribute information of the feature part in each of the second images is acquired, the method may further include the following operation.
Preprocessing for reducing processing amount is performed on the singleframe image obtained from each of the first images or each of the second images.
In the above solution, the operation that preprocessing for reducing the processing amount is performed on the single-frame image obtained from each of the first images or each of the second images may include the following operations.
Gray-scale processing is performed on the single-frame image.
Noise-reduction processing is performed on an image obtained after the grayscale processing.
The displacement monitoring system and method for the mine hoisting device according to the embodiments of the disclosure includes the image processing device and the at least two image acquiring devices. The at least two image acquiring devices are electrically connected with the image processing device. The at least two image acquiring device are arranged at different positions and may shoot a to-be-detected part of the mine hoisting device in the hoisting process of the mine hoisting device. The image processing device acquire position information of the to-be-detected part based on the images containing the to-be-detected part shot by the image acquiring devices and determines a displacement of the to-be-detected part during a preset time duration based on the position information. It can be seen that, with the displacement monitoring system and method for the mine hoisting device according to the embodiments of the disclosure, a displacement caused by vibration of the mine hoisting device can be monitored in real time, an operation state of the mine hoisting device can be obtained, thereby improving a safety degree of an operation process.
Other beneficial effects of the embodiments of the disclosure are further described in an embodiment in combination with a technical solution.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a flowchart of a displacement monitoring method for a mine hoisting device according to an embodiment of the disclosure.
FIG. 2 is a schematic diagram showing a binocular imaging principle in a displacement monitoring system for a mine hoisting device according to an embodiment of the disclosure.
FIG. 3 is a schematic diagram showing an image coordinate transformation principle in a displacement monitoring system for a mine hoisting device according to an embodiment of the disclosure.
FIG. 4 is a schematic diagram showing a displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to a first embodiment of the disclosure.
FIG. 5 is a schematic diagram showing an image acquiring device in the displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to the first embodiment of the disclosure.
FIG. 6 is a schematic diagram showing a control cabinet in the displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to the first embodiment of the disclosure.
FIG. 7 is a schematic structural diagram of the displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to the first embodiment of the disclosure.
FIG. 8 is a schematic diagram showing frequency hopping setting for a wireless transmission device in the displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to the first embodiment of the disclosure.
FIG. 9 is a flowchart of a displacement monitoring method for a steel wire rope of a mine hoisting device according to a second embodiment of the disclosure.
FIG. 10 is a schematic diagram showing a displacement monitoring system for a head sheave of a mine multi-rope friction hoister according to a third embodiment of the disclosure.
FIG. 11 is a schematic structural diagram of the displacement monitoring system for a head sheave of a mine multi-rope friction hoister according to the third embodiment of the disclosure.
FIG. 12 is a schematic diagram showing a stereo target for calibrating an image acquiring device in the displacement monitoring system for a head sheave of a mine multi-rope friction hoister according to the third embodiment of the disclosure.
DETAILED DESCRIPTION
A displacement monitoring system for a mine hoisting device is provided according to the embodiments of the disclosure, which may include an image processing device, a laser scanner and at least two image acquiring devices. The image processing device is electrically connected with the laser scanner and the image acquiring devices. The at least two image acquiring devices are arranged at different positions, and may shoot a to-be-detected part of the mine hoisting device in a hoisting process of the mine hoisting device.
The image processing device sends a scanning instruction to the laser scanner. The laser scanner scans the to-be-detected part of the mine hoisting device in response to the scanning instruction, and sends contour data of the to-be-detected part to the image processing device.
When a first monitoring period comes, the image processing device sends a first shooting instruction to each of the at least two image acquiring devices.
Each of the at least two image acquiring devices shoots a first image for the to-be-detected part of the mine hoisting device in response to the first shooting instruction, and sends the shot first image containing the to-be-detected part to the image processing device.
The image processing device may determine a feature part of the to-bedetected part in each of the first images based on the contour data of the to-be7 detected part sent by the laser scanner and the first images, acquire pixel attribute information of the feature part in each of the first images, and calculate first position information of the to-be-detected part based on the pixel attribute information of the feature parts, position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the first image.
When a second monitoring period comes, the image processing device sends a second shooting instruction to each of the at least two image acquiring devices.
Each of the image acquiring devices shoots a second image for the to-bedetected part of the mine hoisting device in response to the second shooting instruction, and sends the shot second image containing the to-be-detected part to the image processing device.
The image processing device may determine a feature part of the to-bedetected part in each of the second images based on the contour data of the to-bedetected part sent by the laser scanner and the second images, acquire pixel attribute information of the feature part in each of the second images, and calculate second position information of the to-be-detected part based on the pixel attribute information of the feature parts, the position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the second image.
The image processing device determines a displacement of the to-be-detected part during a time duration between the first monitoring period and the second monitoring period based on the first position information and the second position information. The first monitoring period and the second monitoring period are adjacent or nonadjacent monitoring periods.
The pixel attribute information may include a size, a color, a color depth and the like of a pixel. The imaging parameter may include a focal length, the area of a photosensitive element and the like.
In this way, the displacement monitoring system for the mine hoisting device according to the embodiments of the disclosure may monitor a displacement generated due to vibration of the mine hoisting device, obtain an operation state of the mine hoisting device, thereby improving a safety degree of an operation process. The image processing device can rapidly determine the feature part of the to-be-detected part in each image by means of the laser scanner without any additional background screen or short-distance image acquisition.
As an implementation, the feature part includes a part having scale invariance, translation invariance, rotation invariance and illumination invariance.
As an implementation, the feature part includes a point of the to-be-detected part having scale invariance, translation invariance, rotation invariance and illumination invariance.
As an implementation, the feature part includes a part on which image classification, image retrieval and wide-baseline matching is capable of being performed.
As an implementation, the image acquiring device may be a camera, and the image processing device is a computer provided with an image processing application. More specifically, the image acquiring device may be an industrial camera.
As an implementation, the system may further include an image acquiring apparatus. The image acquiring apparatus is connected with the image acquiring devices and the image processing device, and is configured to acquire an image from the image acquiring device and send the image to the image processing device.
The image acquiring apparatus may be configured with a specified image acquiring card. An image transmission interface between the image acquiring apparatus and the image acquiring device or the image processing device includes a composite video interface such as an AV interface or a video interface, an S video interface and the like, and supports Phase Alternating Line (PAL) and National Television System Committee (NTSC) standards. An image acquiring mode of the image acquiring apparatus includes acquiring a gray-scale and a color image.
As an implementation, the image acquiring apparatus may be a multi-channel synchronous acquiring apparatus, to synchronously acquire images from multiple image acquiring devices such as cameras. For example, a shooting signal is sent to two cameras at the same time, and the left and right cameras can implement synchronous imaging at a same frequency.
As an implementation, the system may further include a display, and the display is configured to display the image acquired by the image acquiring devices or data obtained after the image processing device processes the image.
As an implementation, the system may further include a first data transmission device, and the first data transmission device is connected with the image acquiring apparatus and the image processing device. The first data transmission device transmits the images acquired by the image acquiring apparatus to the image processing device and the display. For facilitating processing the data, the image processing device is usually mounted in a machine room which is far away from the spot, that is, which has a long distance such as several kilometers at farthest away from the image acquiring apparatus. For ensuring transmission quality and efficiency, the images are transmitted through the first data transmission device. The first data transmission device may perform wired transmission, and may also perform wireless transmission.
As an implementation, the system may further include a second data transmission device, and the second data transmission device is connected with the image processing device and the display. The second data transmission device transmits the data obtained after the image processing device processes the image to the display. In some cases, the display is far away from the image processing device. For ensuring transmission quality and efficiency, the data may be transmitted through the second data transmission device. The second data transmission device may perform wired transmission and may also perform wireless transmission.
In a case that the first data transmission device and the second data transmission device perform wireless transmission, point-to-point wireless bridge transmission and a digital microwave signal may be used, thereby improving transmission efficiency and anti-interference capability.
A displacement monitoring method for a mine hoisting device is further provided according to an embodiment of the disclosure. The method may be implemented by a computer provided with a scanner application and an image processing application which is an image processing device in the embodiment. FIG. 1 is a flowchart of a displacement monitoring method for a mine hoisting device according to an embodiment of the disclosure. As shown in FIG. 1, the method includes the following steps.
In 201, a scanning instruction is sent to a laser scanner, and the laser scanner scans a to-be-detected part of the mine hoisting device in response to the scanning instruction and sends contour data of the to-be-detected part to an image processing device.
The laser scanner is a three-dimensional laser scanner. The laser scanner is configured to determine a position of the to-be-detected part in a complicated operation environment, which facilitates extraction of the image processing device for a feature part on the to-be-detected part and further image processing. Therefore, the image processing device can rapidly determine a feature part of the to-be-detected part in each of the images without any additional background screen or short-distance image acquisition.
The laser scanner usually includes three parts including a scanner, a controller and a power supply system. The controller may be a computer installed with a scanner application. Hardware of the computer may be integrated with hardware of a computer of the image processing device, and may also be independently arranged. If the hardware of the computer of the laser scanner is independently arranged, the computer of the laser scanner establishes a communication connection with the computer for image processing. In the embodiment, the laser scanner and the image processing device share the computer.
The laser scanner is further integrated with a Charge Coupled Device (CCD) image sensor which can record an image of the to-be-detected part. A scanning process is described as follows. In the scanner, the controller sequentially scans the to-be-detected part using laser pulses emitted by a laser pulse emitter in a case of rapid and sequential rotation of two synchronous reflecting mirrors, and measures a time duration elapsing from a time when each of the laser pulses is emitted to a time when the laser pulse returns to the laser scanner via the to-be-detected part, and calculates a distance based on the time duration. Also, the controller controls and measures an angle of each of laser pulses, calculates three-dimensional coordinates of a laser point on the to-be-detected part, obtains the contour data of the to-be-detected part based on the time when the laser pulse returns to the laser scanner and records the contour data on the CCD.
The image processing device sends the scanning instruction to the laser scanner through a connection wire or wireless communication. The laser scanner scans the to-be-detected part of the mine hoisting device in response to the scanning instruction to obtain the contour data of the to-be-detected part, records the contour data on the CCD and sends the contour data to the image processing device.
In 202, when a first monitoring period comes, a first shooting instruction is sent to each of at least two image acquiring devices.
A first image containing the to-be-detected part of the mine hoisting device shot by each of the image acquiring devices in response to the first shooting instruction is acquired.
A feature part of the to-be-detected part in each of the first images is determined based on the contour data of the to-be-detected part sent by the laser scanner and the first images. Pixel attribute information of the feature part in each of the first images is acquired. First position information of the to-be-detected part is calculated based on the pixel attribute information of the feature parts, position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the first image.
Herein, the image acquiring device is an industrial camera, the first monitoring period may be within an operation time of the mine hoisting device, and the to-bedetected part of the mine hoisting device may periodically vibrate within the operation time of the mine hoisting device and is displaced due to the vibration. Therefore, the first monitoring period is less than a vibration period of the to-be-detected part.
Before the operation that the first shooting instruction is sent to each of the at least two image acquiring devices, the method further includes the following operations.
The image processing device performs camera calibration on the image acquiring devices.
Before the mine hoisting device operates, the image processing device acquires a static symbol to acquire a reference object of the to-be-detected part.
In an image measurement process and a machine vision application, in order for determining a relation between a three-dimensional geometric position of a spatial point on a surface of the mine hoisting device and a point in an image corresponding to the point on the surface, a geometric model for camera imaging is established, and parameters of the geometric model are camera parameters. In most cases, the parameters may be obtained based on experiments and calculation, and a process of obtaining the parameters is called as camera calibration. Camera parameter calibration is a key process whether in image measurement or the machine vision application, and accuracy of a calibration result and stability of the algorithm directly affects accuracy of a result obtained during operation of the camera.
After performing camera calibration on the image acquiring devices, the image processing device also acquires a static symbol before the mine hoisting device operates, to acquire a proper reference object of the to-be-detected part.
Acquisition of the static symbol may be understood as regulation of a shooting range, so that a to-be-shot first image contains the to-be-detected part of the mine hoisting device and a proper background reference object.
Furthermore, the operation that the first image containing the to-be-detected part of the mine hoisting device shot by each of the image acquiring devices in response to the first shooting instruction is acquired or the operation that the second image containing the to-be-detected part shot by each of the image acquiring devices in response to the second shooting instruction is acquired includes the following operation.
Each of the image processing devices acquires a single-frame image with a preset sequence number in each of the first images or each of the second images.
A single-frame image is a still picture and continuous frames form an animation. That is, the image acquiring device acquires the first image or the second image with a video shooting method, and the image processing device performs processing on a still picture. In order for obtaining a more stable picture and reducing processing workload, the single-frame image with the preset sequence number rather than all single-frame images are acquired and processed. How to acquire the singleframe image with the preset sequence number may be determined based on different shooting conditions. The preset sequence numbers corresponding to different shooting conditions may be determined based on multiple times of testing, and may also be regulated based on a practical processing effect.
Furthermore, before the operation that the pixel attribute information of the feature part in each of the first images is acquired or the operation that the pixel attribute information of the feature part in each of the second images is acquired, the method further includes the following operation.
The image processing device performs preprocessing for reducing processing amount on the single-frame image obtained from each of the first images or each of the second images.
The operation that preprocessing for reducing the processing amount is performed on the single-frame images obtained from each of the first images or each of the second images includes the following operations.
The image processing device performs gray-scale processing on the singleframe image.
The image processing device performs noise-reduction processing on the image obtained after the gray-scale processing.
The image processing device performs gray-scale processing and noisereduction processing on the single-frame image, to remove a factor unrelated to acquisition of a displacement of the mine hoisting device for post-processing.
The operation that the image processing device calculates the first position information of the to-be-detected part includes that: stereo visual matching and depth calculation are performed on the preprocessed single-frame image. That is, the first position information of the to-be-detected part is calculated according to a binocular imaging principle. Referring to FIG. 2, the image acquiring device consists of left and right cameras. In FIG, 2, parameters of the left and right cameras are denoted with subscripts 1 and r respectively. Image points of an object point A (X, Y, Z) in a world coordinate space on imaging planes C; and C of the left and right cameras are denoted as a, (u,, y) and ar (ur, y.) respectively. The two image points are images of the same object point A in the world coordinate space, and are referred as conjugate points. After the two conjugate image points are obtained, the conjugate image points are respectively connected to optical centers O, and Or of the cameras, to form projection lines a, O, and ar Or. An intersection point of the projection lines a, O, and ar Or is the object point A (X, Y, Z) in the world coordinate space.
FIG. 3 is a schematic diagram showing an image coordinate transformation principle for a displacement monitoring system for a mine hoisting device according to an embodiment of the disclosure. As shown in FIG. 3, a depth of an object point in the world coordinate space may be obtained by performing coordinate transformation based on a correspondence between a world coordinate system and a camera coordinate system, i.e., a left camera coordinate system and a right camera coordinate system. A process of obtaining the depth is described as follows. For example, taking only one camera as an example, 'd Γ1/Α zf v = 0 _!J [ 0
u01 f v0 0
0
0 0 f 0 0
1 0
f / dx o f / dy
0
= ABM = PM (1) where [u, v,l]T denotes homogeneous coordinates of an image point m of a spatial point M in the camera coordinate system, A denotes an internal parameter matrix of the camera, B denotes an external parameter matrix of the camera, and P is a a 3 X 4 matrix, M denotes a projection matrix, and represents a homogeneous coordinate of M in the world coordinate system. In this way, a depth coordinate Zc of the spatial point in the camera coordinate system can be calculated, and the depth of the object point in the world coordinate space can be calculated in combination with a coordinate system of a binocular stereo vision system. (u0, v0) denotes coordinates of an origin of the camera coordinate system in the world coordinate system, f(x, y) denotes a focal length in units of pixels, and (xw, yw, zw) denotes a three-dimensional coordinates of a pixel point in the world coordinate system.
FIG. 3 and Expression (1) both shows universal principles for the binocular imaging principle and are not be described in detail anymore.
In 203, when a second monitoring period comes, the image processing device sends a second shooting instruction to each of the at least two image acquiring devices.
Each of the image acquiring devices shoots a second image for the to-bedetected part of the mine hoisting device in response to the second shooting instruction, and sends the shot second image containing the to-be-detected part to the image processing device.
A feature part of the to-be-detected part in each of the second images is determined based on the contour data of the to-be-detected part sent by the laser scanner and the second images, pixel attribute information of the feature part in each of the second images is acquired, and second position information of the to-bedetected part is calculated based on the pixel attribute information of the feature parts, the position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the second image.
The operation that the image processing device calculates the second position information of the to-be-detected part is the same as 202, and is not described in detail anymore.
In 204, a displacement of the to-be-detected part during a time duration between the first monitoring period and the second monitoring period is determined based on the first position information and the second position information. The first monitoring period and the second monitoring period are adjacent or nonadjacent monitoring periods.
The image processing device determines the displacement of the to-bedetected part during a time duration between the first monitoring period and the second monitoring period based on the first position information and the second position information, and the displacement is a result obtained by the displacement monitoring method for the mine hoisting device.
If more than two monitoring periods are set in a preset time duration by the displacement monitoring system for the mine hoisting device, multiple displacements may be determined, and a displacement within the preset time duration may be considered to be the largest displacement.
The disclosure is further described below in combination with an embodiment in detail. It should be understood that the embodiment described herein are only used to explain the disclosure rather than limiting the disclosure.
First Embodiment
FIG. 4 is a schematic diagram showing a displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to a first embodiment of the disclosure. As shown in FIG. 4, the displacement monitoring system for the steel wire rope of the mine multi-rope friction hoister includes a laser scanner 15, an image acquiring device, an image acquiring apparatus 5, a power supply box 6, a signal transmitter 7, a signal receiver 8, a monitoring display 11 and an industrial control cabinet 9.
The displacement monitoring system for the steel wire rope of the mine multirope friction hoister is configured to monitor the steel wire rope 16 of the mine multirope friction hoister. One end of the steel wire rope 16 is fixed at a head sheave of the hoister, and the other end is loaded with a hoisting container 17. The hoisting container 17 moves up and down in a mine 18, and is configured to transport goods or miners. For avoiding influence on operation of the mine multi-rope friction hoister, the displacement monitoring system may be arranged far away from the mine 18 by a preset distance, which may be more than 100 meters at farthest.
By the laser scanner 15, an image processing device may rapidly determine a feature part of a to-be-detected part in each of images without any additional background screen or short-distance image acquisition.
As shown in FIG. 5, the image acquiring device includes: two industrial cameras including a left camera 2 and a right camera 4; a Light-Emitting Diode (LED) light source 1; and a camera frame 3. As shown in FIG. 6, the industrial control cabinet 9 includes a cabinet 10. The monitoring display 11 and an industrial computer 13 are both mounted in the cabinet 10. The industrial computer 13 is further provided with an input device, i.e., a keyboard 12 and a mouse (not shown in FIG. 6). An audible and visual alarm device 14 is further arranged in the cabinet 10, and the audible and visual alarm device 14 is electrically connected with the industrial computer 13.
The laser scanner 15 is configured to scan a contour of the steel wire rope 16 to obtain contour data of the steel wire rope 16. In this way, short-distance image acquisition of the image acquiring device is avoided.
The left camera 2 and the right camera 4 are configured to shoot an operation video of the steel wire rope 16 to obtain video information of the steel wire rope 16.
The LED light source 1 is configured to improve brightness of a surface of the steel wire rope 16, so that the industrial cameras can shoot a clear image.
The camera frame 3 is configured to fix the left camera 2 and the right camera 4.
The image acquiring apparatus 5 is configured to acquire the video information obtained by the left camera 2 and the right camera 4. The image acquiring apparatus 5 is a multi-channel synchronous acquiring apparatus.
The signal transmitter 7 is configured to send the video information acquired by the image acquiring apparatus 5 to the industrial computer 13.
The signal receiver 8 is configured to receive the video information sent by the signal transmitter 7 and transmit the video information to the industrial computer 13.
The industrial computer 13 is configured to process the contour data of the steel wire rope 16 and the video information of the steel wire rope 16 based on the contour data and the video information, to obtain displacement data of the steel wire rope 16. The industrial computer 13 may be an industrial integrated computer provided with monitoring and analysis software.
The monitoring display 11 is configured to display the video information and the displacement data of the steel wire rope of the hoister.
The audible and visual alarm device 14 is configured to give an alarm in a case that vibration amplitude of the steel wire rope 16 changes greatly within a short time or in a case of another abnormal condition.
The power supply box 6 is configured to supply electric energy to the left camera 2, the right camera 4, the LED light source 1, the signal transmitter 7 and the signal receiver 8. Since the steel wire rope of the mine multi-rope friction hoister according to the embodiment is usually applied in a flammable mine such as a coal mine, a flame-proof and intrinsically safe power supply box is used as the power supply box 6. The flame-proof and intrinsically safe power box has a rated voltage of 24V and capacity of 1536Wh.
Similarly, the industrial control cabinet 9 is a flame-proof control cabinet.
An operation process of the displacement monitoring system for the steel wire rope of the mine multi-rope friction hoister is described as follows. The image acquiring apparatus 5 acquires contour data on a contour of the steel wire rope 16 scanned by the laser scanner 15, and sends the contour data to the industrial computer 13 through the signal transmitter 7. The image acquiring apparatus 5 acquires video information obtained by the left camera 2 and the right camera 4, and sends the video information to the industrial computer 13 through the signal transmitter 7. The industrial computer 13 processes the contour data and the video information to obtain displacement data of the steel wire rope of the hoister, determines an operation state of the steel wire rope of the hoister based on the displacement data, and triggers the audible and visual alarm device 14 to give an alarm if the operation state is abnormal,.
FIG. 7 is a schematic structural diagram of a displacement monitoring system for a steel wire rope of a mine multi-rope friction hoister according to a first embodiment of the disclosure. As shown in FIG. 7, the displacement monitoring system for vibration of the steel wire rope of the hoister includes a laser scanner 30, a left camera 31, a right camera 32, an image acquiring apparatus 33, a data transmission device 34, an industrial control cabinet 35, an industrial computer 36, a monitoring display 37 and an audible and visual alarm device 38.
The laser scanner 30 is configured to scan a contour of the steel wire rope of the hoister to obtain contour data of the steel wire rope of the hoister, and send the contour data to the industrial computer 36.
The left camera 31 and the right camera 32 are configured to shoot an operation video of the steel wire rope of the hoister.
The image acquiring apparatus 33 is configured to acquire video information obtained by the left camera 31 and the right camera 32.
The data transmission device 34 is configured to send the video information acquired by the image acquiring apparatus 33 to the industrial computer 13. That is, the data transmission device 34 corresponds to the first data transmission device described above.
The industrial control cabinet 35 is configured to mount the industrial computer 36 and protect the industrial computer 36.
The industrial computer 36 is configured to process the video information based on the contour data of the steel wire rope of the hoister obtained by the laser scanner 30 and the video information obtained by the left camera 31 and the right camera 32, to obtain displacement data of the steel wire rope of the hoister.
The monitoring display 37 is configured to display the video information and the displacement data of the steel wire rope of the hoister.
The audible and visual alarm device 38 is configured to give an alarm in a case that vibration amplitude of the steel wire rope of the hoister changes greatly within a short time or in a case of another abnormal condition.
FIG. 8 is a schematic diagram showing frequency-hopping setting for a wireless transmission device in the displacement monitoring system for a steel wire rope of a mine hoister according to the first embodiment of the disclosure. As shown in FIG. 8, at a transmitter, baseband modulation which is generally Frequency-Shift Keying (FSK) modulation is performed on an inputted signal, and frequency mixing or frequency conversion is performed on the modulated signal and a local oscillation signal generated by a frequency synthesizer under control of a Pseudorandom Noise (PN) code, to obtain a pseudo-random hopping radio-frequency signal. The local oscillation signal is a radio frequency carrier obtained by inputting a PN code into the frequency synthesizer and performing variable frequency synthesis on the PN code. At a receiver, frequency mixing is performed on a received signal and a signal of the local frequency synthesizer under control of a same PN code as the transmitter, to obtain a baseband modulated signal, and baseband demodulation is performed to recover the signal. According to the principle, it can be seen that frequency hopping communication is instantaneous narrowband communication, and a channel bandwidth occupied within a residence time for each frequency is small. Because of a high rate of frequency hopping, a frequency hopping system is macroscopically a wideband system, that is, a spectrum is extended. An anti-interference capability of wireless signal transmission can be improved greatly through the frequency hopping setting.
The wireless transmission device is the above data transmission device using a wireless transmission technology, and the wireless transmission device may be used in a case that the image acquiring apparatus is far away from the industrial computer or a wired connection is unsuitable. In addition, the wireless transmission device may also be configured for data transmission between the industrial computer and the monitoring display, that is, the wireless transmission device corresponds to the second data transmission device described above.
Second Embodiment
FIG. 9 is a flowchart of a displacement monitoring method for a steel wire rope of a mine hoisting device according to a second embodiment of the disclosure. As shown in FIG. 9, the displacement monitoring method for the steel wire rope of the mine hoisting device includes the following steps.
In 500, camera calibration and correction are performed.
Before images are acquired, left and right cameras are calibrated and corrected to eliminate image distortion brought by the cameras.
In 501, a static symbol is acquired.
Before the steel wire rope operates, the static symbol is shot to acquire a reference.
In 502, laser scanning is performed.
A contour of the steel wire rope of the hoisting device is scanned to obtain contour data of the steel wire rope of the hoisting device.
In 503, a video stream is shot and transmitted.
After monitoring is started, an operation video of the steel wire rope of the hoisting device is shot and transmitted to an industrial control cabinet. The video is transmitted to an industrial computer. The video or a processing result of the industrial computer is displayed on a monitoring display.
In 504, a single-frame image is extracted.
The single-frame images of the left and right cameras are acquired by an image processing application of the industrial computer..
In 505, gray-scale processing is performed on the image.
The image processing application of the industrial computer performs grayscale processing on the single-frame images.
In 506, noise-reduction and filtering are performed on the image.
The image processing application of the industrial computer performs noisereduction and filtering processing on the images obtained after the gray-scale processing.
In 507, stereo matching is performed.
The image processing application of the industrial computer performs stereo matching on the images obtained after noise-reduction and filtering.
In 508, three-dimensional depth calculation is performed.
The image processing application of the industrial computer performs threedimensional depth calculation on the images obtained after the stereo matching.
In 509, a displacement is acquired.
After the three-dimensional depth calculation is performed, the image processing application of the industrial computer acquires transverse vibration amplitude and longitudinal vibration amplitude of the mine hoisting device, that is, a transverse displacement and a longitudinal displacement of the mine hoisting device.
In 510, data is stored.
The industrial computer stores data on the acquired transverse displacement and the acquired longitudinal displacement of the mine hoisting device for calling. The industrial computer may further construct a transverse vibration curve and a longitudinal vibration curve of the mine hoisting device based on a monitoring result. In the transverse vibration curve, the abscissa denotes a monitoring time, and the ordinate denotes a transverse vibration displacement as a default. It is determined as a default that rightward displacement of the steel wire rope is forward displacement, and a movement direction of the mine hoisting device may be defined by a user.
In addition, the industrial computer may preliminarily determine a health degree of the steel wire rope of the mine hoisting device by monitoring the steel wire rope in a hoisting process, and generate a daily sheet. The sheet may be directly printed, and may also be stored.
In 511, an abnormality alarm is given.
In a case that vibration amplitude of the steel wire rope of the hoisting device changes greatly within a short time, the industrial computer determines that an abnormality occurs and triggers an audible and visible alarming device to given an alarm. In addition, abnormal vibration or a sudden vibration change can be found timely by analyzing a change in the vibration displacement curve, and in this case, the audible and visible alarm device may also be triggered to give an alarm.
Third Embodiment
FIG. 10 is a schematic diagram showing a displacement monitoring system for a head sheave of a mine multi-rope friction hoister according to a third embodiment of the disclosure. As shown in FIG. 10, the displacement monitoring system for the head sheave of the mine multi-rope friction hoister includes an image acquiring device, an industrial computer 67, a signal transmitter 68, a signal receiver 69, a monitoring host 70, an audible and visible alarm 71 and a printer 72.
Herein, the image acquiring device includes a laser scanner 60, an industrial camera, an LED illuminating lamp 65 and a stereo target 66. The industrial camera includes a first camera 61, a second camera 62, a third camera 63 and a fourth camera 64.
The laser scanner 60 is configured to scan a contour of the head sheave to obtain contour data of the head sheave.
The first camera 61, the second camera 62, the third camera 63 and the fourth camera 64 are configured to shoot an operation video of the head sheave to obtain video information.
The LED illuminating lamp 65 is configured to improve brightness of a surface of the head sheave, so that a clear image can be shot by the industrial camera.
The stereo target 66 is configured to calibrate and correct the industrial camera to eliminate image distortion brought by the industrial camera.
The industrial computer 67 is configured to process the contour data and the video information to obtain displacement data of the head sheave.
The signal transmitter 68 is configured to send the displacement data of the head sheave obtained by the industrial computer 67 to the monitoring display 70.
The signal receiver 69 is configured to receive the displacement data of the head sheave sent by the signal transmitter 68, and transmit the displacement data to the monitoring display 70.
The monitoring host 70 is configured to display the displacement data of the head sheave received by the signal receiver 69,
The audible and visible alarm 71 is configured to give an alarm in a case that vibration amplitude of the head sheave changes greatly within a short time or in a case of another abnormal condition.
The printer 72 is configured to print the displacement data of the head sheave.
FIG. 11 is a schematic structural diagram of the displacement monitoring system for a head sheave of a mine multi-rope friction hoister according to the third embodiment of the disclosure. As shown in FIG. 11, the displacement monitoring system for the head sheave of the mine multi-rope friction hoister includes a stereo vision acquiring system, an image processing system, a data transmission system and a displaying and operating system.
The stereo vision acquiring system includes a laser scanner, an LED illuminating lamp, a CCD camera, a stereo target and a multi-channel synchronous acquiring device. The laser scanner is configured to scan a contour of the head sheave to obtain contour data of the head sheave. The LED illuminating lamp is configured to improve brightness of a surface of the head sheave, so that a clear image can be shot by the CCD camera. The CCD camera is configured to shoot an operation video of the head sheave to obtain video information. The stereo target is configured to calibrate and correct the CCD camera to eliminate image distortion brought by the CCD camera. The multi-channel synchronous acquiring device is configured to acquire the contour data scanned by the laser scanner and the video information shot by the CCD camera, and send the contour data and the video information to the image processing system.
The image processing system includes a protection shell, an industrial integrated computer and a memory. The protection shell is mounted on an outer surface of the industrial integrated computer to protect the industrial integrated computer. The industrial integrated computer is provided with image recognizing and processing software, and is configured to receive the contour data and the video information transmitted by the multi-channel synchronous acquiring device, and process the contour data and the video information to obtain displacement data of the head sheave. The memory is configured to store the contour data and video information transmitted by the multi-channel synchronous acquiring device and a processing result, i.e., the displacement data of the head sheave, of the industrial integrated computer.
The data transmission system includes a wireless transmitting device and a wireless receiving device. The wireless transmitting device is configured to send the processing result of the industrial integrated computer to the displaying and operating system. The wireless receiving device is configured to receive the processing result sent by the wireless transmitting device and transmit the processing result to the displaying and operating system. In a practical application, a point-to-point wireless bridge device is used in the data transmission system. Referring to FIG. 10, the data transmission system includes the wireless transmitting device 68 and the wireless receiving device 69. The data transmission system has an optimal transmission distance from 0 to 3 kilometers and a maximum transmission rate up to 300Mbps, and is supplied by a Power Over Ethernet (POE) power supply. The wireless transmitting device 68 is connected with the image processing system, and the wireless receiving device 69 is connected to the displaying and operating system.
The displaying and operating system includes a monitoring host, an audible and visible alarm device and a printer. The monitoring host is configured to display the displacement data of the head sheave. The audible and visible alarm device is configured to give an alarm in a case that vibration amplitude of the head sheave changes greatly within a short time or in a case of another abnormal condition. The printer is configured to print the displacement data of the head sheave.
Furthermore, the displacement monitoring system for the head sheave of the mine multi-rope friction hoister further includes a power source electrical system. The power source electrical system includes a flame-proof and intrinsically safe power box and an electrical device. The flame-proof and intrinsically safe power box has a rated voltage of 24V and capacity of 1536Wh.
FIG. 12 is a schematic diagram showing a stereo target for calibrating an image acquiring device in a displacement monitoring system for a head sheave of a mine multi-rope friction hoister according to the third embodiment of the disclosure. As shown in FIG. 12, there are six stereo targets, i.e., Al, A2, A3, A4, A5 and A6 respectively. An operation process is described below. The stereo targets are arranged in a range of a lens of the camera, and left and right cameras are calibrated and corrected with a standard calibration method through a change relation among a camera coordinate system, a world coordinate system and a target coordinate system, to eliminate image distortion brought by the cameras.
In a monitoring process, the displacement monitoring system for the head sheave of the mine multi-rope friction hoister according to the embodiment of the disclosure also executes the steps of the displacement monitoring method for the steel wire rope of the mine multi-rope friction hoister in the abovementioned embodiment, which are not described repeatedly anymore.
The foregoing only describes the preferred embodiment of the disclosure rather than limiting the protection scope of the disclosure. Any modifications, equivalent substitution, improvements and the like made within the spirit and principle of the disclosure should fall within the protection scope of the disclosure.
INDUSTRIAL APPLICABILITY
With the displacement monitoring system and method for the mine hoisting device according to the embodiments of the disclosure, a displacement generated due to vibration of the mine hoisting device can be monitored in real time, an operation state of the mine hoisting device can be obtained, thereby improving a safety degree of the operation process.
Claims (10)
1. A displacement monitoring system for a mine hoisting device, comprising an image processing device, a laser scanner and at least two image acquiring devices, wherein the image processing device is electrically connected with the laser scanner and the at least two image acquiring devices, and the at least two image acquiring devices are arranged at different positions, and are configured to shoot a to-bedetected part of the mine hoisting device in a hoisting process of the mine hoisting device, wherein the image processing device is configured to send a scanning instruction to the laser scanner; the laser scanner is configured to scan the to-be-detected part of the mine hoisting device in response to the scanning instruction, and send contour data of the to-be-detected part to the image processing device;
when a first monitoring period comes, the image processing device is configured to send a first shooting instruction to each of the at least two image acquiring devices;
each of the at least two image acquiring device is configured to shoot a first image for the to-be-detected part of the mine hoisting device in response to the first shooting instruction, and send the shot first image containing the to-be-detected part to the image processing device;
the image processing device is configured to determine a feature part of the tobe-detected part in each of the first images based on the contour data of the to-bedetected part sent by the laser scanner and the first images, acquire pixel attribute information of the feature part in each of the first images, and calculate first position information of the to-be-detected part based on the pixel attribute information of the feature parts, position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the first image;
when a second monitoring period comes, the image processing device is configured to send a second shooting instruction to each of the at least two image acquiring devices;
each of the at least two image acquiring devices is configured to shoot a second image for the to-be-detected part of the mine hoisting device in response to the second shooting instruction, and send the shot second image containing the to-bedetected part to the image processing device;
the image processing device is configured to determine a feature part of the tobe-detected part in each of the second images based on the contour data of the to-bedetected part sent by the laser scanner and the second images, acquire pixel attribute information of the feature part in each of second images, and calculate second position information of the to-be-detected part based on the pixel attribute information of the feature parts, the position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the second image; and the image processing device is configured to determine a displacement of the to-be-detected part during a time duration between the first monitoring period and the second monitoring period based on the first position information and the second position information, wherein the first monitoring period and the second monitoring period are adjacent or nonadjacent monitoring periods.
2. The displacement monitoring system for the mine hoisting device of claim 1, wherein the feature part comprises a part having scale invariance, translation invariance, rotation invariance and illumination invariance.
3. The displacement monitoring system for the mine hoisting device of claim 1, wherein the feature part comprises a point of the to-be-detected part having scale invariance, translation invariance, rotation invariance and illumination invariance.
4. The displacement monitoring system for the mine hoisting device of claim 1, wherein the feature part comprises a part on which image classification, image retrieval and wide-baseline matching are capable of being performed.
5. The displacement monitoring system for the mine hoisting device of any one of claims 1 to 3, further comprising a display, wherein the display is configured to display the image acquired by the image acquiring devices or data obtained after the image processing device processes the image.
6. A displacement monitoring method for a mine hoisting device, comprising:
sending a scanning instruction to a laser scanner; scanning, by the laser scanner, a to-be-detected part of the mine hoisting device in response to the scanning instruction, and sending, by the laser scanner, contour data of the to-be-detected part to an image processing device;
when a first monitoring period comes, sending a first shooting instruction to each of at least two image acquiring devices;
acquiring a first image containing the to-be-detected part of the mine hoisting device shot by each of the at least two image acquiring devices in response to the first shooting instruction;
determining a feature part of the to-be-detected part in each of the first images based on the contour data of the to-be-detected part sent by the laser scanner and the first images, acquiring pixel attribute information of the feature part in each of the first images, and calculating first position information of the to-be-detected part based on the pixel attribute information of the feature parts, position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the first image;
when a second monitoring period comes, sending a second shooting instruction to each of the at least two image acquiring devices;
acquiring a second image containing the to-be-detected part shot by each of the at least two image acquiring devices in response to the second shooting instruction;
determining a feature part of the to-be-detected part in each of the second image according to the contour data of the to-be-detected part sent by the laser scanner and the second images, acquiring pixel attribute information of the feature part in each of the second images, and calculating second position information of the to-be-detected part based on the pixel attribute information of the feature parts, the position information of each of the at least two image acquiring devices and an imaging parameter of each of the at least two image acquiring devices for shooting the second image; and determining a displacement of the to-be-detected part during a time duration between the first monitoring period and the second monitoring period based on the first position information and the second position information, wherein the first monitoring period and the second monitoring period are adjacent or nonadjacent monitoring periods.
7. The method of claim 6, before sending the first shooting instruction to each of the at least two image acquiring devices, further comprising:
performing camera calibration on the at least two image acquiring devices; and acquiring a static symbol before the mine hoisting device operates, to acquire a reference object of the to-be-detected part.
8. The method of claim 6, wherein the acquiring the first image containing the to-bedetected part of the mine hoisting device shot by each of the at least two image acquiring devices in response to the first shooting instruction or the acquiring the second image containing the to-be-detected part shot by each of the at least two image acquiring devices in response to the second shooting instruction comprises:
acquiring a single-frame image with a preset sequence number in each of the first images or each of the second images.
9. The method of claim 6, 7 or 8, before acquiring the pixel attribute information of the feature part in each of the first images or acquiring the pixel attribute information of the feature part in each of the second images, further comprising:
performing preprocessing for reducing processing amount on the single-frame image obtained from each of the first images or each of the second images.
10. The method of claim 9, wherein the performing preprocessing for reducing processing amount on the single-frame image obtained from each of the first images or each of the second images comprises:
performing gray-scale processing on the single-frame image; and performing noise-reduction processing on an image obtained after the grayscale processing.
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| CN201810623820.4A CN108946360B (en) | 2018-06-15 | 2018-06-15 | Displacement monitoring system and method for mine hoisting equipment |
| CN201810623820.4 | 2018-06-15 | ||
| PCT/CN2018/100300 WO2019237490A1 (en) | 2018-06-15 | 2018-08-13 | Displacement monitoring system and method for mine lifting device |
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| CN110617973B (en) * | 2019-04-26 | 2021-08-27 | 深圳市豪视智能科技有限公司 | Vibration detection method and related device |
| CN110642109B (en) * | 2019-04-26 | 2021-03-19 | 深圳市豪视智能科技有限公司 | Vibration detection method and device for lifting equipment, server and storage medium |
| US20200407191A1 (en) * | 2019-06-28 | 2020-12-31 | Otis Elevator Company | Building drift determination based on elevator roping position |
| CN111056404A (en) * | 2019-12-24 | 2020-04-24 | 安徽理工大学 | Mine shaft guide fault positioning system based on binocular vision and laser information fusion |
| US11718501B2 (en) | 2020-04-06 | 2023-08-08 | Otis Elevator Company | Elevator sheave wear detection |
| CN112723079B (en) * | 2020-12-14 | 2023-12-15 | 中铁第四勘察设计院集团有限公司 | Elevator steel wire rope runout monitoring system and method based on Internet of things |
| CN113531018B (en) * | 2021-06-23 | 2022-09-06 | 中国矿业大学 | Mine hoist brake disc fault monitoring system and method based on laser grids |
| CN113569777A (en) * | 2021-08-02 | 2021-10-29 | 中国石油天然气集团有限公司 | Video detection method and device for equipment rotation working state |
| CN113852215A (en) * | 2021-09-22 | 2021-12-28 | 西安天科铭创石油技术服务有限公司 | Device for underground electric energy and signal transmission |
| CN114383482B (en) * | 2021-11-30 | 2024-05-14 | 中建八局第一建设有限公司 | Limiting alarm device with controllable alarm threshold |
| CN114940424B (en) * | 2022-05-30 | 2023-10-03 | 重庆紫光华山智安科技有限公司 | Elevator detection method, system, computer equipment and readable medium |
| CN116735079B (en) * | 2023-08-15 | 2023-11-14 | 山东宇飞传动技术有限公司 | Mining winch balance detection equipment and method |
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| JP5345595B2 (en) * | 2010-09-16 | 2013-11-20 | 株式会社日立ビルシステム | Diagnostic device for elevator drive |
| WO2012117479A1 (en) * | 2011-02-28 | 2012-09-07 | 三菱電機株式会社 | Device for detecting sway of elevator rope |
| JP2015042892A (en) * | 2013-08-26 | 2015-03-05 | 株式会社日立ビルシステム | Abnormality diagnostic device for electromagnetic brake |
| CN104268935A (en) * | 2014-09-18 | 2015-01-07 | 华南理工大学 | Feature-based airborne laser point cloud and image data fusion system and method |
| CN104555636B (en) * | 2014-11-24 | 2017-06-09 | 中国矿业大学 | A kind of swing detecting device of shaft cage guide steel wire rope |
| CN204831194U (en) * | 2015-08-05 | 2015-12-02 | 中国矿业大学 | Head sheave beat detecting system based on machine vision |
| EP3130555B1 (en) * | 2015-08-12 | 2020-11-11 | KONE Corporation | Rope and rope groove monitoring |
| CN106482782B (en) * | 2016-09-26 | 2018-09-14 | 中国矿业大学 | Dynamic radial deformation and dynamic tension monitoring device and the method for the two-fold wire type multi-lay winding steel wire rope of hoist of deep-well |
| CN207258943U (en) * | 2017-09-05 | 2018-04-20 | 新疆维吾尔自治区特种设备检验研究院 | A kind of accidental movement of elevator cage detection device |
| CN108059050A (en) * | 2017-12-29 | 2018-05-22 | 广东省特种设备检测研究院珠海检测院 | A kind of elevator traction sheave race wear condition non-contact detection device and detection method |
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| CN108946360A (en) | 2018-12-07 |
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