CN110255324B - Elevator traction sheave slippage detection device and method - Google Patents
Elevator traction sheave slippage detection device and method Download PDFInfo
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- CN110255324B CN110255324B CN201910653514.XA CN201910653514A CN110255324B CN 110255324 B CN110255324 B CN 110255324B CN 201910653514 A CN201910653514 A CN 201910653514A CN 110255324 B CN110255324 B CN 110255324B
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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
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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
- B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a device and a method for detecting the slippage of an elevator traction sheave, which relate to the field of elevator detection and mainly comprise the following steps: traction wheel marks, a computer host, and a stay wire displacement sensor and a camera which are respectively connected with the computer host; traction sheave marks are arranged on the outer contour of the traction sheave at equal intervals; the stay wire displacement sensor records car position data when the elevator starts to operate and when the elevator stops operating; the camera is opposite to the outer contour of the traction sheave, the main optical axis of the camera, any one traction sheave mark and the circle center of the traction sheave are all positioned on the same horizontal line, and the camera is used for collecting pictures of the traction sheave once before the elevator starts to operate and collecting continuous pictures of the traction sheave from the start of operation of the elevator to the end of operation of the elevator; the computer host receives the data recorded by the stay wire displacement sensor and all pictures acquired by the camera to determine the slippage of the traction sheave of the elevator. The device and the method disclosed by the invention can accurately measure the slippage of the traction sheave of the elevator.
Description
Technical Field
The invention relates to the field of elevator detection, in particular to a device and a method for detecting the slippage of an elevator traction sheave.
Background
The elevator traction machine is used as a driving mechanism, a steel wire rope is hung on a rope wheel of the traction machine, one end of the steel wire rope is hung on a car, and the other end of the steel wire rope is hung on a counterweight device. When the traction machine rotates, traction force is generated by friction force between the traction wheel and the steel wire rope to drive the lift car to move up and down. When the elevator is used for a long time, certain abrasion is generated between the traction sheave or the steel wire rope, and a certain amount of slippage is generated between the traction sheave and the steel wire rope, which is abnormal slippage. The existing safety technical specifications do not have quantitative detection methods and related waste judgment standards for the abrasion condition of the traction sheave of the elevator and the slippage between the traction sheave and the steel wire rope. The use unit of the elevator is always a little expense for the replacement of the traction sheave and the wire rope of the elevator. In order to reduce unnecessary additional costs, elevator inspection personnel make care in determining the destruction of these associated safety components. How to formulate quantitative waste judgment standards is a difficult problem to be solved urgently, and quantitative detection of the slip quantity between the traction sheave and the steel wire rope is a problem to be solved first.
The slippage of the traction sheave of an elevator is the distance between the traction sheave and the steel wire rope, if the slippage is to be detected, the distance travelled by the traction sheave and the distance travelled by the steel wire rope need to be measured simultaneously, and the distance travelled by the steel wire rope is equal to the distance travelled by the car moving up and down because the steel wire rope pulls the car, and the slippage of the traction sheave of the elevator is expressed by the difference between the distance travelled by the traction sheave and the distance travelled by the steel wire rope.
The existing method for detecting the slippage of the traction sheave of the elevator is that an elevator maintenance personnel measures the descending distance of the steel wire rope in the rope groove by using a ruler, and the descending distance is more than 0.1mm, namely the elevator is considered to have larger slippage, and the steel wire rope or the traction sheave needs to be replaced. The method can not quantitatively analyze the slippage generated by the elevator, but only judges the slippage of the elevator by a related quantity, namely the descending distance of the steel wire rope in the rope groove, and the method has no definite corresponding relation, so that the method is more fuzzy and is not beneficial to more accurately judging the slippage of the elevator.
Disclosure of Invention
The invention aims to provide a device and a method for detecting the slippage of an elevator traction sheave, which can accurately measure the slippage of the elevator traction sheave.
In order to achieve the above object, the present invention provides the following solutions:
an elevator traction sheave slippage detection device comprising: traction wheel marks, a computer host, and a stay wire displacement sensor and a camera which are respectively connected with the computer host;
the traction sheave marks are arranged on the outer contour of the traction sheave at equal intervals;
one end of the stay wire displacement sensor is arranged at a well position of an elevator machine room, and the other end of the stay wire displacement sensor is arranged at the top of the lift car; the stay wire displacement sensor is used for recording car position data when the elevator starts to operate and when the elevator stops operating;
the camera is fixed on one side of the traction sheave and is opposite to the outer contour of the traction sheave, and the main optical axis of the camera, any traction sheave mark and the circle center of the traction sheave are all positioned on the same horizontal line; the camera is used for collecting pictures of the traction sheave once before the elevator starts to run and collecting continuous pictures of the traction sheave from the beginning of the elevator running to the end of the elevator running;
and the computer host receives the data recorded by the stay wire displacement sensor and all pictures acquired by the camera to determine the slippage of the traction sheave of the elevator.
Optionally, the method further comprises: a tripod; the triangular bracket is arranged on one side of the traction sheave, the camera is fixed on the triangular bracket, and the main optical axis of the camera, any one traction sheave mark and the circle center of the traction sheave are all positioned on the same horizontal line by adjusting the triangular bracket.
Optionally, the camera is a camera with a fixed photographing frequency; the motion displacement of the traction sheave in the single photographing time of the camera is smaller than or equal to the maximum visual field height of the camera; the fixed photographing frequency is a frequency which can enable all traction sheave marks to be photographed in the operation process of the elevator, and at most one traction sheave mark is displayed in each picture obtained by the camera.
Optionally, the type of the stay wire displacement sensor is SWH02.
Optionally, one end of the stay wire displacement sensor is arranged at the uppermost part of the elevator machine room well through a bolt, and the stay wire displacement sensor is at the same height as the ground of the machine room; the other end of the stay wire displacement sensor is arranged at the top of the car through a bolt.
Optionally, the host computer comprises a receiving unit, an image processing unit and a calculating unit;
the receiving unit is respectively connected with the stay wire displacement sensor and the camera and is used for receiving the car position data recorded by the stay wire displacement sensor when the elevator starts to operate and the car position data recorded by the elevator stops operating and all pictures acquired by the camera;
the image processing unit is connected with the receiving unit and is used for performing image processing on all pictures acquired by the camera to obtain the traction sheave mark;
the calculating unit is respectively connected with the receiving unit and the image processing unit, and is used for calculating the up-and-down movement distance of the elevator car according to the elevator car position data when the elevator starts to operate and the elevator car position data when the elevator stops operating, calculating the movement distance of the traction sheave according to the traction sheave mark, and calculating the slippage of the traction sheave of the elevator according to the up-and-down movement distance of the elevator car and the movement distance of the traction sheave.
In order to achieve the above purpose, the present invention also provides the following solutions:
the elevator traction sheave slippage detection method comprises the following steps:
acquiring an initial position picture acquired by a camera on a traction sheave before an elevator starts to run;
acquiring continuous pictures acquired by a camera on a traction sheave at a fixed photographing frequency from the beginning of elevator operation to the ending of elevator operation;
performing image processing on the continuous pictures to obtain the total number n1 of occurrence of traction sheave marks;
performing image processing on the initial position picture and the last picture of the continuous pictures to obtain centroid positions of the traction wheel marks in the initial position picture and the last picture, and calculating an actual distance L3 of the traction wheel marks relative to the initial position according to the two centroid positions;
calculating a movement distance L2 of the traction sheave by using a formula l2=n1×k1+l3 according to the total number of occurrences of the traction sheave marks n1, the interval k1, and the actual distance L3 of the traction sheave marks with respect to an initial position; the interval k1 is the distance between adjacent traction sheave marks;
acquiring car position data b1 recorded by a stay wire displacement sensor when the elevator starts to run and car position data b2 recorded by the stay wire displacement sensor when the elevator stops running;
and calculating the slippage L of the traction sheave of the elevator by using a formula L= |b2-b1-L2| according to the car position data b1 when the elevator starts to operate, the car position data b2 when the elevator stops operating and the movement distance L2 of the traction sheave.
Optionally, the obtaining continuous pictures collected by the camera on the traction sheave with a fixed photographing frequency from the beginning of the elevator running to the ending of the elevator running specifically includes:
setting a fixed photographing frequency of the camera according to an operation speed v of an elevator and the interval k1 by using a formula f=v/k 1; the motion displacement of the traction sheave in the single photographing time of the camera is smaller than or equal to the maximum visual field height of the camera; the fixed photographing frequency is a frequency which can enable all traction sheave marks to be photographed in the operation process of the elevator, and each picture obtained by the camera displays at most one traction sheave mark;
and acquiring continuous pictures acquired by the camera on the traction sheave at the fixed photographing frequency in the process from the beginning of elevator operation to the ending of elevator operation.
Optionally, the image processing is performed on the continuous pictures to obtain the total number of times n1 of occurrence of the traction sheave mark, which specifically includes:
setting a threshold T according to the area of the traction sheave mark; the threshold T is smaller than the area of the traction sheave mark, and is at least 1/3 of the area of the traction sheave mark;
after carrying out graying and binarization treatment on each picture in sequence, constructing a communication area, and determining the maximum communication area S; the continuous pictures comprise a plurality of pictures;
if the maximum communication area S is larger than the threshold T, recording that the traction sheave mark appears once; if the maximum communication area S is smaller than the threshold T, recording that the traction sheave mark appears 0 times;
and adding the occurrence times of the traction sheave marks, and calculating to obtain the total occurrence times n1 of the traction sheave marks.
Optionally, the image processing is performed on the initial position picture and the last picture of the continuous pictures to obtain centroid positions of the traction sheave marks in the initial position picture and the last picture, and calculating an actual distance L3 of the traction sheave marks relative to the initial position according to the two centroid positions, which specifically includes:
respectively carrying out graying and binarization treatment on the last picture of the initial position picture and the continuous picture, then constructing a communication area, and reserving a maximum communication area;
calculating the centroid position of the traction wheel mark corresponding to the initial position picture and the centroid position of the traction wheel mark corresponding to the last picture of the continuous pictures according to each maximum communication area;
and calculating the actual distance L3 of the traction sheave mark relative to the initial position according to the number of vertical pixels between the two centroid positions and the pixel equivalent.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention discloses a device and a method for detecting the slippage of an elevator traction sheave, which record car position data when an elevator starts to run and when the elevator stops running by using a stay wire displacement sensor, acquire pictures of the traction sheave by using a camera through making traction sheave marks with equal intervals on the outer contour of the traction sheave, and acquire the movement distance of the traction sheave by performing image processing on the acquired pictures by using a computer host, thereby accurately measuring the slippage of the elevator traction sheave according to the position data of the car when the elevator starts to run, the position data of the car when the elevator stops running and the movement distance of the traction sheave displayed in the pictures, and realizing quantitative analysis and more accurate judgment on slippage generated by the elevator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a front view showing the construction of an embodiment of the apparatus for detecting the slip amount of an elevator traction sheave of the present invention;
fig. 2 is a structural side view of an embodiment of the traction sheave slip amount detecting apparatus of the present invention;
fig. 3 is a flowchart of an embodiment of the method for detecting the slip amount of the traction sheave of the elevator of the present invention;
FIG. 4 is a diagram of the maximum field of view of the camera according to the present invention;
FIG. 5 is a flowchart of a continuous picture processing according to the present invention;
fig. 6 is a schematic view of the present invention as seen perpendicular to the circular surface of the traction sheave;
fig. 7 is a flowchart showing the use of the traction sheave slip amount detecting apparatus for an elevator according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a device and a method for detecting the slippage of an elevator traction sheave, which can accurately measure the slippage of the elevator traction sheave.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a front view showing the structure of an embodiment of the apparatus for detecting the slip amount of an elevator traction sheave of the present invention, and fig. 2 is a side view showing the structure of an embodiment of the apparatus for detecting the slip amount of an elevator traction sheave of the present invention. Referring to fig. 1 and 2, the elevator traction sheave slip amount detecting apparatus includes: the traction sheave mark 6, the computer host 11, and the stay wire displacement sensor 8 and the camera 5 which are respectively connected with the computer host 11.
The traction sheave marks 6 are provided at equal intervals on the outer contour of the traction sheave 2. And ensures that only one of the traction sheave marks 6 appears in the field of view of the camera 5.
One end of the stay wire displacement sensor 8 is arranged at a well position of an elevator machine room, and the other end of the stay wire displacement sensor is arranged at the top of the elevator car 10; the pull wire displacement sensor 8 is used for recording car position data when the elevator starts to run and when the elevator stops running. Since the elevator pulls the car 10 to move up and down by the traction force provided by the wire rope 3 during the running process, the moving distance of the car 10 can be considered as the moving distance of the wire rope 3. Through the well position installation of computer lab is acted as go-between displacement sensor 8, and the other end of acting as go-between displacement sensor 8 is installed at the top of car 10, can detect the distance that car 10 moved at the in-process that car 10 reciprocated, and the numerical value difference of acting as go-between displacement sensor 8 is the motion distance of car 10 before the elevator moves, namely the motion distance of wire rope 3. The traction sheave drive motor 7 drives the traction sheave 2 to rotate. The guide wheel 4 provides traction for the wire rope 3.
Preferably, one end of the stay wire displacement sensor 8 is arranged at the uppermost part of a hoistway of the elevator machine room through a bolt, and the stay wire displacement sensor 8 is at the same height as the ground 9 of the machine room; the other end of the stay wire displacement sensor 8 is mounted on the top of the car 10 through bolts. The stay wire displacement sensor 8 is SWH02.
The camera 5 is fixed on one side of the traction sheave 2 and is opposite to the outer contour of the traction sheave 2, and the main optical axis of the camera 5, any one traction sheave mark 6 and the circle center of the traction sheave 2 are all positioned on the same horizontal line; the camera 5 is used for collecting pictures of the traction sheave 2 once before the elevator starts to run and collecting continuous pictures of the traction sheave 2 from the start of the elevator running to the end of the elevator running.
The camera 5 is a camera with a fixed photographing frequency; the motion displacement of the traction sheave 2 within the single Zhang Paizhao time of the camera 5 is less than or equal to the maximum field height of the camera 5; the fixed photographing frequency is a frequency which can enable all traction sheave marks 6 to be photographed in the elevator operation process, and at most one traction sheave mark 6 is displayed in each picture acquired by the camera 5.
The camera 5 is a charge coupled device camera. The pictures taken by the camera 5 are required to ensure that one of the traction sheave marks 6 is located in the center of the field of view.
The computer host 11 receives the data recorded by the stay wire displacement sensor 8 and all pictures acquired by the camera 5 to determine the slippage of the traction sheave of the elevator.
The host computer 11 includes a receiving unit, an image processing unit, and a calculating unit.
The receiving unit is respectively connected with the stay wire displacement sensor 8 and the camera 5 and is used for receiving the car position data recorded by the stay wire displacement sensor 8 when the elevator starts to operate and the car position data recorded by the elevator stops operating and all pictures acquired by the camera 5.
The image processing unit is connected with the receiving unit and is used for performing image processing on all the pictures acquired by the camera 5 to obtain the traction sheave mark 6.
The calculating unit is respectively connected with the receiving unit and the image processing unit, and is used for calculating the up-and-down moving distance of the elevator car 10 according to the elevator car position data when the elevator starts to operate and the elevator car position data when the elevator stops operating, calculating the moving distance of the traction sheave 2 according to the traction sheave mark 6, and calculating the slippage of the traction sheave of the elevator according to the up-and-down moving distance of the elevator car 10 and the moving distance of the traction sheave 2.
This elevator traction sheave volume of sliding detection device still includes: a tripod 1; the tripod 1 is arranged at one side of the traction sheave 2, the camera 5 is fixed on the tripod 1, and the main optical axis of the camera 5, any one traction sheave mark 6 and the circle center of the traction sheave 2 are all positioned on the same horizontal line by adjusting the tripod 1. The camera 5 is enabled to present a clear image by adjusting the parameters of the camera 5.
Fig. 3 is a flowchart of an embodiment of the method for detecting the slip amount of the traction sheave of the elevator of the present invention. Referring to fig. 3, the elevator traction sheave slip amount detection method includes:
step 301: and acquiring an initial position picture acquired by the camera on the traction sheave before the elevator starts to run.
The initial position picture is a collection result of a primary picture of the traction sheave by the camera before the elevator starts to run; the initial position picture comprises a picture.
Step 302: and acquiring continuous pictures acquired by the camera on the traction sheave at a fixed photographing frequency in the process from the beginning of elevator operation to the ending of elevator operation.
The continuous pictures are the acquisition results of the continuous pictures of the traction sheave from the beginning of the operation of the elevator to the end of the operation of the elevator; the successive pictures include a plurality of pictures.
The step 302 specifically includes:
setting a fixed photographing frequency of the camera according to an operation speed v of an elevator and the interval k1 by using a formula f=v/k 1; the motion displacement of the traction sheave in the single photographing time of the camera is smaller than or equal to the maximum visual field height of the camera; the fixed photographing frequency is a frequency which can enable all traction sheave marks to be photographed in the operation process of the elevator, and at most one traction sheave mark is displayed in each picture obtained by the camera.
And acquiring continuous pictures acquired by the camera on the traction sheave at the fixed photographing frequency in the process from the beginning of elevator operation to the ending of elevator operation.
In the embodiment, a camera is used for photographing at a fixed frequency of f sheets/s, so that each traction sheave mark can be photographed when passing through the field of view of the camera in the operation process of the elevator, and the number of photographed images and the operation of the elevatorIn time, when the frequency is f pieces/s, the motion displacement of the traction sheave does not exceed the maximum visual field height of the camera, so that each traction sheave mark can be shot in the running process of the elevator, and only one traction sheave mark can be shot. Fig. 4 is a schematic view of the maximum field of view of the camera of the present invention, referring to fig. 4, let the fixed frequency of the camera be f pieces/s, the maximum field of view height of the camera be h, the radius of the traction sheave be R, the arc length corresponding to the maximum field of view height h of the camera in the traction sheave be k1, and the interval of the traction sheave marks be k1. The line segment CD is h, the arc CD is k1, the radius CO is R, the line segment CD corresponds to a chord with the length h in a circle with the radius R, the arc length of the chord is k1, and the solving method is as follows:and->When the running speed of the elevator is v (m/s), the moving distance of the elevator for 1s is v meters (the traction sheave 1s rotates by the arc length of v meters), the fixed frequency f=v/k 1 of the camera, under the frequency, the camera takes a picture, the rotating distance of the traction sheave is v/f, which is exactly equal to the arc length k1 corresponding to the maximum visual field height of the camera, so that the movement displacement of the traction sheave can be ensured not to exceed the maximum visual field height of the camera when the frequency is f/s, and each traction sheave mark can be taken in the running process of the elevator and only one traction sheave mark can be taken.
Step 303: and performing image processing on the continuous pictures to obtain the total number n1 of occurrence of traction sheave marks.
The step 303 specifically includes:
setting a threshold T according to the area of the traction sheave mark; the threshold T is smaller than the area of the traction sheave mark, and is at least 1/3 of the area of the traction sheave mark; the threshold T is required to be set to be a good value in advance, and the size of the traction sheave mark is related to the size of the traction sheave mark, and is slightly smaller than the area of the traction sheave mark; the threshold T may be set to 1/3 of the area size of the sheave marks, or to 1/3-2/3 of the area size of the sheave marks, because the area of the sheave marks in the camera field of view is the projected area of the sheave marks on the sheave outer contour (i.e., the area of the sheave marks in the camera field of view is smaller than the actual area of the sheave marks on the sheave outer contour), the projected area becomes smaller because the sheave marks on the sheave outer contour are on the curved surface, and therefore the upper limit of the threshold T may be set to be smaller than when the projected area of the sheave marks is the smallest, while the lower limit of T cannot be set too small to prevent interference of the communication area formed by noise, and is optimally set to 1/3 of the area size of the sheave marks.
After carrying out graying and binarization treatment on each picture in sequence, constructing a communication area, and determining the maximum communication area S; the continuous pictures comprise a plurality of pictures; the maximum communication area is the traction sheave mark; if the image contains traction sheave marks, the area of the communication area is the largest, the other areas are all interference areas, the area is smaller, and if the image does not contain traction sheave marks, all the communication areas are interference areas.
If the maximum communication area S is larger than the threshold T, indicating that the image contains a traction wheel mark, recording that the traction wheel mark appears once, and adding 1 to the total times n1 in the camera view; if the maximum communication area S is smaller than the threshold T, indicating that the image does not contain the traction sheave mark, recording that the traction sheave mark appears for 0 times, adding 0 to the total number of times n1 in the camera field of view, and continuing to process the next image until all the images are processed.
And adding the occurrence times of the traction sheave marks, and calculating to obtain the total occurrence times n1 of the traction sheave marks.
Fig. 5 is a flowchart of the continuous picture processing according to the present invention, and referring to fig. 5, the total number of times n1 of the traction sheave mark appearing in the field of view of the camera during the operation of the elevator can be obtained after the continuous picture is processed.
Step 304: and performing image processing on the initial position picture and the last picture of the continuous pictures to obtain the centroid positions of the traction wheel marks in the initial position picture and the last picture, and calculating the actual distance L3 of the traction wheel marks relative to the initial position according to the two centroid positions.
The step 304 specifically includes:
and respectively carrying out graying and binarization treatment on the last picture of the initial position picture and the continuous picture, then reconstructing a communication area, and reserving a maximum communication area (traction wheel mark).
And calculating the centroid position of the traction sheave mark corresponding to the initial position picture and the centroid position of the traction sheave mark corresponding to the last picture of the continuous pictures according to each maximum communication area.
And calculating the actual distance L3 of the traction sheave mark relative to the initial position according to the number of vertical pixels between the two centroid positions and the pixel equivalent.
In this embodiment, the actual distance L3 between the traction sheave mark and the initial position is the distance L3 of the traction sheave mark offset in the last image, the traction sheave mark cannot return to the original position after the elevator is running, and L3 is the distance that the traction sheave mark moves after stopping running.
Fig. 6 is a schematic view of the present invention, which is seen in a direction perpendicular to the circular surface of the traction sheave, referring to fig. 6, where a circle O is the center of the traction sheave, a straight line AB is the same height position of the main optical axis of the camera as the center of the traction sheave, a point C is the position of the center of mass of the traction sheave mark in the last picture (above the straight line AB as an example), a point D is a projection point of the point C in the direction of the straight line AB (projection is performed along the direction of the straight line AB, the projection point D falls on the straight line EF), and a β angle is the center angle of the arc AC. The distance between DO can be obtained by differencing the pixels at the point C in the image from the initial position, and converted into the actual distance by the pixel equivalent (what the actual physical size represented by one pixel in the image is), since the radius R of the traction sheave is known:
sinβ＝sin∠DCO＝DO/R
β＝arcsin(DO/R)
l3=arc ac=r×arcsin (DO/R).
Step 305: calculating a movement distance L2 of the traction sheave (a distance actually rotated by the traction sheave) using a formula l2=n1×k1+l3 according to a total number of occurrences of the traction sheave marks n1, an interval k1, and an actual distance L3 of the traction sheave marks with respect to an initial position; the interval k1 is a distance between adjacent traction sheave marks.
Step 306: the car position data b1 recorded by the stay wire displacement sensor when the elevator starts to run and the car position data b2 recorded by the elevator stops running are obtained.
Step 307: and calculating the slippage L of the traction sheave of the elevator by using a formula L= |b2-b1-L2| according to the car position data b1 when the elevator starts to operate, the car position data b2 when the elevator stops operating and the movement distance L2 of the traction sheave.
Fig. 7 is a flowchart of the use of the device for detecting the slippage of the traction sheave of an elevator according to the present invention, referring to fig. 7, the use includes:
(1) Before the elevator starts to run, traction sheave marks with a spacing k1 are made on the outer contour of the traction sheave, and a visual detection device (camera) is installed, and a wire displacement sensor is installed.
(2) The camera starts to acquire an original image 1, and the reading number of the reading stay wire displacement sensor is recorded as b1.
(3) The elevator starts to run, and the camera takes a picture at a fixed frequency to continuously acquire an original image.
(4) And stopping the elevator, collecting the last original image by the camera, and simultaneously reading the reading number of the stay wire displacement sensor as b2.
(5) The acquired image is processed to obtain the total times n1 of the traction sheave marks appearing in the field of view of the camera in the elevator operation process, and the last original image is processed to obtain the actual distance L3 between the traction sheave marks in the last image and the traction sheave marks in the initial position image.
(6) The distance L2 travelled by the traction sheave (distance travelled by the traction sheave) and the distance travelled by the wire rope (distance travelled by the car) l1= |b1-b2| are calculated.
(7) And finally calculating and obtaining the slippage L= |L1-L2| of the elevator through the processing of a computer host.
The invention discloses a device and a method for detecting the slippage of an elevator traction sheave, which record car position data when an elevator starts to run and when the elevator stops to run by using a pull-wire displacement sensor, fix a camera on one side of the traction sheave by making traction sheave marks with equal intervals on the outer contour of the traction sheave and directly face the outer contour of the traction sheave, and the main optical axis of the camera, any traction sheave mark and the circle center of the traction sheave are all positioned on the same horizontal line; the method comprises the steps of collecting pictures of a traction sheave before the elevator starts to run, collecting continuous pictures of the traction sheave from the start of the elevator running to the end of the elevator running, calculating the up-and-down moving distance (the moving distance of a steel wire rope) of the elevator car by utilizing a computer host to receive relative position data of the elevator car recorded by a stay wire displacement sensor, receiving all pictures collected by the camera, calculating the total occurrence times of the traction sheave marks and the actual distance of the traction sheave marks relative to an initial position by performing image processing on all pictures, calculating the moving distance (the rotating distance of the traction sheave) of the traction sheave according to the total occurrence times of the traction sheave marks, the interval between the traction sheave marks and the actual distance of the traction sheave marks relative to the initial position, and finally calculating the sliding quantity of the traction sheave according to the up-and-down moving distance of the elevator car, so as to accurately measure the sliding quantity of the elevator, quantitatively analyzing the sliding generated by the elevator and accurately judging.
The invention discloses a traction sheave slippage detection method for an elevator based on a stay wire sensor and machine vision, wherein the detection of the running distance of a traction sheave is obtained by making 4-8 traction sheave marks at equal intervals on the outer contour of the traction sheave and detecting the running distance of the traction sheave marks by a machine vision method. In the process of detecting the running distance of the traction sheave, the initial position of the traction sheave is that the main optical axis of the camera, the center of the traction sheave mark and the center of the circle of the traction sheave are on the same straight line. The running distance of the steel wire rope is detected by installing a stay wire displacement sensor at the top of a machine room, detecting the distance between the stay wire displacement sensor and the top of a car, and obtaining the running distance by calculating the distance difference between two different positions before and after the elevator runs. The method for detecting the slippage of the traction sheave of the elevator can detect the slippage generated from any floor to any floor, namely the running distance of the traction sheave and the steel wire rope can be obtained in real time. The method can perform online detection and is convenient for long-term use. The invention can accurately measure the slippage of the elevator by respectively measuring the running distance of the steel wire rope and the slippage of the traction sheave and then calculating the difference value, and detects the sum of normal slippage and abnormal slippage generated between the traction sheave and the steel wire rope, thereby quantitatively detecting the slippage of the traction sheave of the elevator, providing a basis for an elevator detection mechanism to judge whether the traction sheave fails or not, solving the difficult problem that an elevator maintainer judges whether the slippage of the traction sheave and the steel wire rope is too large or not and only carrying out qualitative evaluation by personal experience, and being convenient for popularization and use in the elevator industry.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. An elevator traction sheave slippage detection device, comprising: traction wheel marks, a computer host, and a stay wire displacement sensor and a camera which are respectively connected with the computer host;
the traction sheave marks are arranged on the outer contour of the traction sheave at equal intervals; and ensure that only one traction sheave mark can appear under the visual field of the camera;
one end of the stay wire displacement sensor is arranged at a well position of an elevator machine room, and the other end of the stay wire displacement sensor is arranged at the top of the lift car; the stay wire displacement sensor is used for recording car position data when the elevator starts to operate and when the elevator stops operating;
the camera is fixed on one side of the traction sheave and is opposite to the outer contour of the traction sheave, and the main optical axis of the camera, any traction sheave mark and the circle center of the traction sheave are all positioned on the same horizontal line; the camera is used for collecting pictures of the traction sheave once before the elevator starts to run and collecting continuous pictures of the traction sheave from the beginning of the elevator running to the end of the elevator running; the camera is a camera with fixed photographing frequency; the motion displacement of the traction sheave in the single photographing time of the camera is smaller than or equal to the maximum visual field height of the camera; the fixed photographing frequency is a frequency which can enable all traction sheave marks to be photographed in the operation process of the elevator, and each picture obtained by the camera displays at most one traction sheave mark; the pictures acquired by the camera need to ensure that one traction wheel mark is positioned at the center of the visual field;
the computer host receives the data recorded by the stay wire displacement sensor and all pictures acquired by the camera to determine the slippage of the traction sheave of the elevator; the method comprises the steps of utilizing a computer host to receive elevator car relative position data recorded by a stay wire displacement sensor, calculating the up-and-down movement distance of a car, receiving all pictures collected by a camera, calculating the total number of occurrence of traction wheel marks and the actual distance of the traction wheel marks relative to an initial position through image processing of all pictures, calculating the distance of traction wheel rotation according to the total number of occurrence of the traction wheel marks, the interval between the traction wheel marks and the actual distance of the traction wheel marks relative to the initial position, and finally calculating the elevator traction wheel slippage according to the up-and-down movement distance of the car and the distance of the traction wheel rotation.
2. The elevator traction sheave slippage detection apparatus of claim 1 further comprising: a tripod; the triangular bracket is arranged on one side of the traction sheave, the camera is fixed on the triangular bracket, and the main optical axis of the camera, any one traction sheave mark and the circle center of the traction sheave are all positioned on the same horizontal line by adjusting the triangular bracket.
3. The apparatus for detecting the slip amount of the traction sheave of an elevator according to claim 1, wherein the wire displacement sensor is of a type SWH02.
4. The apparatus for detecting the slip amount of the traction sheave of an elevator according to claim 1, wherein one end of the wire displacement sensor is mounted at the uppermost part of a hoistway of an elevator machine room by a bolt, and the wire displacement sensor is at the same height as the floor of the machine room; the other end of the stay wire displacement sensor is arranged at the top of the car through a bolt.
5. The elevator traction sheave slippage detection apparatus according to claim 1, wherein the computer host comprises a receiving unit, an image processing unit, and a calculating unit;
the receiving unit is respectively connected with the stay wire displacement sensor and the camera and is used for receiving the car position data recorded by the stay wire displacement sensor when the elevator starts to operate and the car position data recorded by the elevator stops operating and all pictures acquired by the camera;
the image processing unit is connected with the receiving unit and is used for performing image processing on all pictures acquired by the camera to obtain the traction sheave mark;
the calculating unit is respectively connected with the receiving unit and the image processing unit, and is used for calculating the up-and-down movement distance of the elevator car according to the elevator car position data when the elevator starts to operate and the elevator car position data when the elevator stops operating, calculating the movement distance of the traction sheave according to the traction sheave mark, and calculating the slippage of the traction sheave of the elevator according to the up-and-down movement distance of the elevator car and the movement distance of the traction sheave.
6. A method for detecting the amount of slippage of an elevator traction sheave applied to the apparatus according to any one of claims 1 to 5, comprising:
acquiring an initial position picture acquired by a camera on a traction sheave before an elevator starts to run;
acquiring continuous pictures acquired by a camera on a traction sheave at a fixed photographing frequency from the beginning of elevator operation to the ending of elevator operation;
performing image processing on the continuous pictures to obtain the total number n1 of occurrence of traction sheave marks;
performing image processing on the initial position picture and the last picture of the continuous pictures to obtain centroid positions of the traction wheel marks in the initial position picture and the last picture, and calculating an actual distance L3 of the traction wheel marks relative to the initial position according to the two centroid positions;
calculating a movement distance L2 of the traction sheave by using a formula l2=n1×k1+l3 according to the total number of occurrences of the traction sheave marks n1, the interval k1, and the actual distance L3 of the traction sheave marks with respect to an initial position; the interval k1 is the distance between adjacent traction sheave marks;
acquiring car position data b1 recorded by a stay wire displacement sensor when the elevator starts to run and car position data b2 recorded by the stay wire displacement sensor when the elevator stops running;
and calculating the slippage L of the traction sheave of the elevator by using a formula L= |b2-b1-L2| according to the car position data b1 when the elevator starts to operate, the car position data b2 when the elevator stops operating and the movement distance L2 of the traction sheave.
7. The method for detecting the slippage of the traction sheave of an elevator according to claim 6, wherein the step of acquiring continuous pictures of the traction sheave acquired by a camera at a fixed photographing frequency from the start of the operation of the elevator to the end of the operation of the elevator comprises the steps of:
setting a fixed photographing frequency of the camera according to an operation speed v of an elevator and the interval k1 by using a formula f=v/k 1; the motion displacement of the traction sheave in the single photographing time of the camera is smaller than or equal to the maximum visual field height of the camera; the fixed photographing frequency is a frequency which can enable all traction sheave marks to be photographed in the operation process of the elevator, and each picture obtained by the camera displays at most one traction sheave mark;
and acquiring continuous pictures acquired by the camera on the traction sheave at the fixed photographing frequency in the process from the beginning of elevator operation to the ending of elevator operation.
8. The method for detecting the slippage of the traction sheave of an elevator according to claim 6, wherein the image processing is performed on the continuous pictures to obtain a total number n1 of occurrences of the traction sheave mark, specifically comprising:
setting a threshold T according to the area of the traction sheave mark; the threshold T is smaller than the area of the traction sheave mark, and is at least 1/3 of the area of the traction sheave mark;
after carrying out graying and binarization treatment on each picture in sequence, constructing a communication area, and determining the maximum communication area S; the continuous pictures comprise a plurality of pictures;
if the maximum communication area S is larger than the threshold T, recording that the traction sheave mark appears once; if the maximum communication area S is smaller than the threshold T, recording that the traction sheave mark appears 0 times;
and adding the occurrence times of the traction sheave marks, and calculating to obtain the total occurrence times n1 of the traction sheave marks.
9. The method for detecting the slippage of the traction sheave of an elevator according to claim 6, wherein the image processing is performed on the last picture of the initial position picture and the continuous picture to obtain centroid positions of the traction sheave marks in the initial position picture and the last picture, and calculating an actual distance L3 of the traction sheave marks with respect to the initial position according to the two centroid positions, specifically comprises:
respectively carrying out graying and binarization treatment on the last picture of the initial position picture and the continuous picture, then constructing a communication area, and reserving a maximum communication area;
calculating the centroid position of the traction wheel mark corresponding to the initial position picture and the centroid position of the traction wheel mark corresponding to the last picture of the continuous pictures according to each maximum communication area;
and calculating the actual distance L3 of the traction sheave mark relative to the initial position according to the number of vertical pixels between the two centroid positions and the pixel equivalent.
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| CN110950213B (en) * | 2019-12-30 | 2021-06-11 | 暨南大学 | Method for measuring relative slippage of elevator steel wire rope |
| US11718501B2 (en) | 2020-04-06 | 2023-08-08 | Otis Elevator Company | Elevator sheave wear detection |
| CN112499418B (en) * | 2020-12-17 | 2023-03-14 | 广东梯云科技有限公司 | Magnetic induction elevator operation data acquisition system and acquisition method thereof |
| CN112897267B (en) * | 2021-01-15 | 2022-04-29 | 日立楼宇技术（广州）有限公司 | Elevator brake detection method, device, equipment and medium |
| CN113955606B (en) * | 2021-11-04 | 2024-01-26 | 嘉兴市特种设备检验检测院 | Method, system, device and medium for detecting dynamic characteristics of steel wire rope for elevator |
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| CN102020161B (en) * | 2010-12-03 | 2012-08-22 | 中国矿业大学 | Connecting device of hauling rope of elevator for mines and detection method thereof |
| CN204778112U (en) * | 2015-06-18 | 2015-11-18 | 山东莱茵艾佳电梯有限公司 | No computer lab elevator with high definition record appearance that traveles |
| CN105270956B (en) * | 2015-11-30 | 2017-06-23 | 中联重科股份有限公司 | The monitoring system and monitoring method of elevator brake slippage and traction sheave slippage |
| EP3326954A1 (en) * | 2016-11-24 | 2018-05-30 | Inventio AG | Elevator arrangement with a camera for visual inspection of a suspension traction member |
| CN206172707U (en) * | 2016-11-25 | 2017-05-17 | 重庆能源职业学院 | Elevator equilibrium coefficient detects system that uses |
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| CN108840193B (en) * | 2018-08-29 | 2024-01-12 | 湖州市特种设备检测研究院 | Elevator traction sheave slippage detection device and detection method thereof |
| CN108996347A (en) * | 2018-09-23 | 2018-12-14 | 德州市产品检验检测研究院 | A kind of measuring device and its measurement method measuring elevator stopping distance |
| CN109626166B (en) * | 2019-01-03 | 2020-06-26 | 日立楼宇技术（广州）有限公司 | Elevator state detection method, device, system and storage medium |
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| CN210558711U (en) * | 2019-07-19 | 2020-05-19 | 中国计量大学 | Elevator traction sheave slippage detection device |
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