CN104477723A - Disorder rope monitoring system for winding reel of mine hoist and disorder rope judging method - Google Patents
Disorder rope monitoring system for winding reel of mine hoist and disorder rope judging method Download PDFInfo
- Publication number
- CN104477723A CN104477723A CN201410826012.XA CN201410826012A CN104477723A CN 104477723 A CN104477723 A CN 104477723A CN 201410826012 A CN201410826012 A CN 201410826012A CN 104477723 A CN104477723 A CN 104477723A
- Authority
- CN
- China
- Prior art keywords
- reel
- rope
- shaft encoder
- steel rope
- disorder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a disorder rope monitoring system for a winding reel of a mine hoist and a disorder rope judging method and belongs to disorder rope monitoring systems and methods for steel wire rope reels. Specifically, the disorder rope monitoring system comprises an industrial camera, a shaft encoder, a data acquisition card and an industrial control computer, wherein the industrial camera is arranged at the upper rear part or lower front part of a middle outlet rope of the reel, the shaft encoder is arranged at a shaft end of the reel and is connected with a shaft, and the data acquisition card and the industrial control computer are sequentially connected with the shaft encoder; the industrial camera is connected with the industrial control computer through a communication cable. The disorder rope judging method comprises the steps of measuring the rotation angle of the reel through the shaft encoder, measuring the rope outlet position of a steel wire rope through the industrial camera, and judging whether the rope is in disorder or not through analyzing the change characteristics of angles and rope outlet positions in a certain period. The monitoring system is convenient in mounting and has no need of modifying the reel, and meanwhile, the safety of operation of a mine hoist system is improved.
Description
Technical field
The present invention relates to a kind of cable drum disorder cable monitoring system and method, specifically a kind of mine hoist is wound around reel disorder cable monitoring system and determination methods, be suitable for single rope or multi-rope winding type reel, be particularly useful for the use of construction vertical or built mine hoist winding reel.
Background technology
Elevator system is the important component part in transport systems, and steel rope is responsible for vital function in elevator system.For single rope or multi-rope winding type reel, be realize up-and-down movement by twining the steel rope unreeled on cylinder by the object promoted.Due to a variety of causes, steel rope twining on reel is let slip likely not in accordance with existing trajectory alignment in journey, namely disorder cable phenomenon occurs.Disorder cable phenomenon is very harmful for steel rope, gently then accelerates steel rope abrasion, heavy then destroy wirerope-winding structure, steel rope unbalance stress can be caused even to cause rope-broken accident especially in many rope winding processes.Steel rope disorder cable has had a strong impact on the safety promoted.Therefore monitor rolling up the running state of letting slip journey steel rope, occur to avoid serious lifting accident the accurate judgement of steel rope disorder cable, tool is of great significance.
Summary of the invention
The object of the invention is to provide a kind of mine hoist to be wound around reel disorder cable monitoring system and determination methods, solve mine hoist to be wound around in reel operational process cannot to steel rope whether disorder cable carry out the problem that judges Yu monitor.Realize mine hoist and be wound around the real time implementation of reel disorder cable monitoring, visual, automation, intellectuality.
For achieving the above object, mine hoist of the present invention is wound around reel disorder cable monitoring system, comprise and be arranged on rear or inferoanterior industrial camera in the middle rope stretching of reel, be arranged on reel axle head and the shaft encoder be connected with axle, the data collecting card be connected successively with shaft encoder and industrial computer; Described industrial camera is connected with industrial computer by communication cable.
Mine hoist of the present invention is wound around reel disorder cable determination methods, comprising:
1) setting judges cycle T, judges the sampling number n that in cycle T, industrial camera is identical with shaft encoder, namely each sampling interval duration Δ t=T/n, and sets with the sampling process different time sections of m Δ t as time gap, the analytical cycle T of same period T
1, T
2, T
3t
z, and preseting length S1 and S2 is the threshold values judging whether disorder cable, wherein m≤n, S2 > S1;
2) industrial camera continuous acquisition reel volume is let slip the image of steel rope in journey and passes to industrial computer;
3) image is carried out gray processing and thresholding process by industrial computer, is separated by steel rope from background;
4) horizon of setting near mandrel surface on image after thresholding process, above this horizon, steel rope region arranges a kind of color A, other region arranges another kind of color B, and above selected level line, the aviation value of the pixel level coordinate figure of color a-quadrant is the rope stretching position of steel rope;
5) set steel rope under different winding layer, reel rope stretching position is Ai, Bi, wherein i=1 at the end position at reel width two ends, 2 ... j is i-th layer of winding layer from inside to outside on reel 1;
6) T of industrial computer analysis successively setting in time
1, T
2, T
3t
zthe reel volume that the reel anglec of rotation that in one-period T, shaft encoder is measured and industrial camera are measured puts the rope stretching position of steel rope:
If a) in one-period T, rope stretching position does not arrive Ai or Bi, then
If the anglec of rotation of the reel that shaft encoder 5 is measured continues change, and the absolute difference of the rope stretching final position of steel rope and reference position be in setting threshold values S1 within the scope of or be more than or equal to threshold values S2, then judge reel winding process generation disorder cable state, and report to the police;
If the anglec of rotation of the reel that shaft encoder is measured continues change, and the absolute difference of the rope stretching final position of steel rope and reference position exceeds the threshold values S1 of setting, and is less than threshold values S2, then judge that disorder cable does not occur reel winding process;
If the anglec of rotation of the reel that shaft encoder is measured exists identical value, then judge that reel stops being wound around.
If b) in one-period T, rope stretching position reaches Ai or Bi, then
If the anglec of rotation of the reel that shaft encoder is measured continues change, and the rope stretching final position of steel rope and reference position be in setting separately with the absolute value sum of Ai or Bi position coordinate difference threshold values S1 within the scope of or be more than or equal to threshold values S2, then judge reel winding process generation disorder cable state, and report to the police;
If the anglec of rotation of the reel that shaft encoder is measured continues change, and the rope stretching final position of steel rope and reference position exceed the threshold values S1 of setting with the absolute value sum of Ai or Bi position coordinate difference separately, and be less than threshold values S2, then judge that disorder cable does not occur reel winding process;
If the anglec of rotation of the reel that shaft encoder is measured exists identical value, then judge that reel stops being wound around.
Beneficial effect, adopts technique scheme, has the following advantages:
1) parts of monitoring system composition are few, without the need to changing the structure of reel, easy for installation, cost is low, less investment;
2) employ machine vision technique and can carry out contactless monitoring to being wound around the running state that reel volume puts steel rope, and the anglec of rotation of combined axis coder measurement reel carries out the warning of disorder cable judgement and disorder cable state, achieve the real time implementation of Mine Elevator Wire Rope reel disorder cable monitoring, visual, automation, intellectuality, ensure that the safe operation of mine hoist winding drum.
Accompanying drawing illustrates:
Fig. 1 is a kind of Mine Elevator Wire Rope reel of the present invention disorder cable monitoring system layout figure.
Fig. 2 is through the steel rope image schematic diagram after gray processing and thresholding process.
Fig. 3 is the end position schematic diagram at reel width two ends.
In figure, 1, reel; 2, industrial camera; 3, shaft encoder; 4, data collecting card; 5, upper computer; 6, steel rope; 7, communication cable; 8, horizon.
Detailed description of the invention
Do to specifically describe in detail to a kind of mine hoist winding reel disorder cable monitoring system of the present invention and determination methods below in conjunction with accompanying drawing and instantiation.
Embodiment: the present invention includes monitoring system and monitoring method.
Fig. 1 is a kind of Mine Elevator Wire Rope reel of the present invention disorder cable monitoring system layout figure.This monitoring system comprises: be arranged on rear or inferoanterior industrial camera 2 in the middle rope stretching of reel 1, is arranged on reel 1 axle head and the shaft encoder 3 be connected with axle, the data collecting card 4 be connected successively with shaft encoder 3 and industrial computer 5; Industrial camera 2 is connected with industrial computer 5 by cable 7.
A kind of Mine Elevator Wire Rope reel disorder cable determination methods is concrete:
1) industrial computer 5 setting judges cycle T, judges the sampling number n that in cycle T, industrial camera 2 is identical with shaft encoder 3, namely each sampling interval duration Δ t=T/n, and set with the sampling process different time sections of m Δ t as time gap, the analytical cycle T of same period T
1, T
2, T
3t
z, and preseting length S1 and S2 is the threshold values judging whether disorder cable, wherein m≤n, S2 > S1;
2) industrial camera 2 is arranged on cable drum 1 back upper place, makes industrial camera 2 can photograph the rope stretching position of steel rope 6 on reel 1 completely; Industrial camera 2 and upper computer 5 is connected with communication cable 7.
3) industrial camera 2 continuous acquisition reel 1 volume is let slip the image of steel rope 6 in journey and passes to industrial computer 5;
4) image is carried out gray processing and thresholding process by industrial computer 5, is separated by steel rope 6 from background;
5) horizon 8 of setting near reel 1 surface on image after thresholding process, above this horizon 8, steel rope region arranges a kind of color A (such as black), other region arranges another kind of color B (such as white), and above selected level line 8, the aviation value of the pixel level coordinate figure of color a-quadrant is the rope stretching position of steel rope 6;
6) industrial computer 5 sets steel rope 6 under different winding layer, and reel 1 rope stretching position is Ai, Bi, wherein i=1 at the end position at reel 1 width two ends, and 2 ... j is i-th layer of winding layer from inside to outside on reel 1;
7) industrial computer 5 analyzes the T of successively setting in time
1, T
2, T
3t
zthe anglec of rotation that in one-period T, shaft encoder 5 is measured and reel 1 volume that industrial camera 2 is measured put the rope stretching position of steel rope 6:
If a) in one-period T, rope stretching position does not arrive Ai or Bi, then
If the anglec of rotation of the reel 1 that shaft encoder 5 is measured continues change, and the absolute difference of the rope stretching final position of steel rope 6 and reference position be in setting threshold values S1 within the scope of or be more than or equal to threshold values S2, then judge reel 1 winding process generation disorder cable state, and report to the police;
If the anglec of rotation of the reel 1 that shaft encoder 5 is measured continues change, and the absolute difference of the rope stretching final position of steel rope 6 and reference position exceeds the threshold values S1 of setting, and is less than threshold values S2, then judge that disorder cable does not occur reel 1 winding process;
If the anglec of rotation of the reel 1 that shaft encoder 5 is measured exists identical value, then judge that reel 1 stops being wound around.
If b) in one-period T, rope stretching position reaches Ai or Bi, then
If the anglec of rotation of the reel 1 that shaft encoder 5 is measured continues change, and the rope stretching final position of steel rope 6 and reference position be in setting separately with the absolute value sum of Ai or Bi position coordinate difference threshold values S1 within the scope of or be more than or equal to threshold values S2, then judge reel 1 winding process generation disorder cable state, and report to the police;
If the anglec of rotation of the reel 1 that shaft encoder 5 is measured continues change, and the rope stretching final position of steel rope 6 and reference position exceed the threshold values S1 of setting with the absolute value sum of Ai or Bi position coordinate difference separately, and be less than threshold values S2, then judge that disorder cable does not occur reel 1 winding process;
If the anglec of rotation of the reel 1 that shaft encoder 5 is measured exists identical value, then judge that reel 1 stops being wound around.
Claims (2)
1. a mine hoist is wound around reel disorder cable monitoring system, it is characterized in that: comprise and be arranged on rear or inferoanterior industrial camera in the middle rope stretching of reel, be arranged on reel axle head and the shaft encoder be connected with axle, the data collecting card be connected successively with shaft encoder and industrial computer; Described industrial camera is connected with industrial computer by communication cable.
2. mine hoist is wound around a reel disorder cable determination methods, it is characterized in that:
1) setting judges cycle T, judges the sampling number n that in cycle T, industrial camera is identical with shaft encoder, namely each sampling interval duration Δ
t=T/n, and setting is with m Δ
tfor the sampling process different time sections of time gap, the analytical cycle T of same period T
1, T
2, T
3t
z, and preseting length S1 and S2 is the threshold values judging whether disorder cable, wherein m≤n, S2 > S1;
2) industrial camera continuous acquisition reel volume is let slip the image of steel rope in journey and passes to industrial computer;
3) image is carried out gray processing and thresholding process by industrial computer, is separated by steel rope from background;
4) horizon of setting near mandrel surface on image after thresholding process, above this horizon, steel rope region arranges a kind of color A, other region arranges another kind of color B, and above selected level line, the aviation value of the pixel level coordinate figure of color a-quadrant is the rope stretching position of steel rope;
5) set steel rope under different winding layer, reel rope stretching position is A at the end position at reel width two ends
i, B
i, wherein i=1,2 ... j is i-th layer of winding layer from inside to outside on reel;
6) T of industrial computer analysis successively setting in time
1, T
2, T
3t
zthe reel volume that the reel anglec of rotation that in one-period T, shaft encoder is measured and industrial camera are measured puts the rope stretching position of steel rope:
If a) in one-period T, rope stretching position does not arrive A
ior B
i, then
If the anglec of rotation of the reel that shaft encoder is measured continues change, and the absolute difference of the rope stretching final position of steel rope and reference position be in setting threshold values S1 within the scope of or be more than or equal to threshold values S2, then judge reel winding process generation disorder cable state, and report to the police;
If the anglec of rotation of the reel that shaft encoder is measured continues change, and the absolute difference of the rope stretching final position of steel rope and reference position exceeds the threshold values S1 of setting, and is less than threshold values S2, then judge that disorder cable does not occur reel winding process;
If the anglec of rotation of the reel that shaft encoder is measured exists identical value, then judge that reel stops being wound around;
If b) in one-period T, rope stretching position reaches A
ior B
i, then
If the anglec of rotation of reel that shaft encoder is measured continues change, and the rope stretching final position of steel rope and reference position are separately and A
ior B
iwithin the scope of the threshold values S1 that the absolute value sum of position coordinate difference is in setting or be more than or equal to threshold values S2, then judge reel winding process generation disorder cable state, and report to the police;
If the anglec of rotation of reel that shaft encoder is measured continues change, and the rope stretching final position of steel rope and reference position are separately and A
ior B
ithe absolute value sum of position coordinate difference exceeds the threshold values S1 of setting, and is less than threshold values S2, then judge that disorder cable does not occur reel winding process;
If the anglec of rotation of the reel that shaft encoder is measured exists identical value, then judge that reel stops being wound around.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826012.XA CN104477723B (en) | 2014-12-25 | 2014-12-25 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
| PCT/CN2015/078848 WO2016101500A1 (en) | 2014-12-25 | 2015-05-13 | Disorder rope monitoring system and judging method for winding reel of mine hoist |
| AU2015372216A AU2015372216B2 (en) | 2014-12-25 | 2015-05-13 | Disorder rope monitoring system and judging method for winding reel of mine hoist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826012.XA CN104477723B (en) | 2014-12-25 | 2014-12-25 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104477723A true CN104477723A (en) | 2015-04-01 |
| CN104477723B CN104477723B (en) | 2017-03-15 |
Family
ID=52752372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826012.XA Active CN104477723B (en) | 2014-12-25 | 2014-12-25 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104477723B (en) |
| AU (1) | AU2015372216B2 (en) |
| WO (1) | WO2016101500A1 (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105347129A (en) * | 2015-12-03 | 2016-02-24 | 中国矿业大学 | System and method for recognizing motion state of twisting type roller winding and unwinding steel wire rope |
| WO2016101500A1 (en) * | 2014-12-25 | 2016-06-30 | 中国矿业大学 | Disorder rope monitoring system and judging method for winding reel of mine hoist |
| CN106365061A (en) * | 2016-08-31 | 2017-02-01 | 李芹 | Cable safety monitoring device mounted on roller side of winch |
| CN107403443A (en) * | 2017-07-28 | 2017-11-28 | 中南大学 | A kind of more rope multi-lay windings row's rope form state online test method and device based on machine vision |
| CN107973195A (en) * | 2017-12-12 | 2018-05-01 | 中国矿业大学 | A kind of method that lifting system load-carrying is confirmed based on image recognition |
| CN108931184A (en) * | 2017-03-29 | 2018-12-04 | Ckd株式会社 | Check device and winding device |
| CN109095376A (en) * | 2018-09-13 | 2018-12-28 | 徐州建机工程机械有限公司 | A kind of tower crane safety monitoring system and method |
| CN109292549A (en) * | 2018-09-28 | 2019-02-01 | 中国科学院光电研究院 | Hold cable equipment |
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| CN111392626A (en) * | 2020-04-30 | 2020-07-10 | 中国水利水电夹江水工机械有限公司 | Rope disorder detection method and detection device |
| US10717631B2 (en) | 2016-11-22 | 2020-07-21 | Manitowoc Crane Companies, Llc | Optical detection and analysis of crane hoist and rope |
| CN112862817A (en) * | 2021-03-16 | 2021-05-28 | 精英数智科技股份有限公司 | Roller rope disorder detection method and device based on machine vision |
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| WO2016101500A1 (en) * | 2014-12-25 | 2016-06-30 | 中国矿业大学 | Disorder rope monitoring system and judging method for winding reel of mine hoist |
| CN105347129A (en) * | 2015-12-03 | 2016-02-24 | 中国矿业大学 | System and method for recognizing motion state of twisting type roller winding and unwinding steel wire rope |
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| CN107403443B (en) * | 2017-07-28 | 2019-10-25 | 中南大学 | A kind of more rope multi-lay windings row's rope form state online test method and device based on machine vision |
| CN107403443A (en) * | 2017-07-28 | 2017-11-28 | 中南大学 | A kind of more rope multi-lay windings row's rope form state online test method and device based on machine vision |
| CN107973195A (en) * | 2017-12-12 | 2018-05-01 | 中国矿业大学 | A kind of method that lifting system load-carrying is confirmed based on image recognition |
| CN109095376A (en) * | 2018-09-13 | 2018-12-28 | 徐州建机工程机械有限公司 | A kind of tower crane safety monitoring system and method |
| CN109292549A (en) * | 2018-09-28 | 2019-02-01 | 中国科学院光电研究院 | Hold cable equipment |
| CN109292549B (en) * | 2018-09-28 | 2024-06-21 | 中国科学院光电研究院 | Cable containing equipment |
| CN111392626A (en) * | 2020-04-30 | 2020-07-10 | 中国水利水电夹江水工机械有限公司 | Rope disorder detection method and detection device |
| WO2022191005A1 (en) * | 2021-03-10 | 2022-09-15 | コベルコ建機株式会社 | Winch monitoring method, winch monitoring device, and crane |
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| CN112862817A (en) * | 2021-03-16 | 2021-05-28 | 精英数智科技股份有限公司 | Roller rope disorder detection method and device based on machine vision |
| CN113247812A (en) * | 2021-06-03 | 2021-08-13 | 中国海洋石油集团有限公司 | Wire rope reel rope disorder fault early warning device using infrared distance measurement technology |
| CN114057106A (en) * | 2021-10-28 | 2022-02-18 | 湖南三一中型起重机械有限公司 | Double-winch rope disorder identification method and device and computer readable storage medium |
| CN116735079A (en) * | 2023-08-15 | 2023-09-12 | 山东宇飞传动技术有限公司 | Mining winch balance detection equipment and method |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| AU2015372216B2 (en) | 2017-07-06 |
| AU2015372216A1 (en) | 2016-07-28 |
| CN104477723B (en) | 2017-03-15 |
| WO2016101500A1 (en) | 2016-06-30 |
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