CN114920118B - Vertical skip unloading residual early warning system and identification method based on steel wire rope tension - Google Patents
Vertical skip unloading residual early warning system and identification method based on steel wire rope tension Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
- B66B19/06—Applications of signalling devices
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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
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1215—Checking means specially adapted for ropes or cables
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to a vertical skip unloading residual early warning system and an identification method based on steel wire rope tension, wherein the tension of steel wire ropes before a skip enters a curved rail and after a gate is opened after the skip enters the curved rail under different speeds and loads is measured, and an expression of the tension difference of the skip after entering the curved rail and before the curved rail relative to the loads and the speeds is obtained by adopting a data fitting method based on deep learning, so that the curved rail resistance is obtained; then, unloading residues of the skip bucket at different stages are obtained through a tension measuring device, and a 3-level early warning mechanism is built by combining fusion unloading residues obtained by a Kalman data fusion method; the invention can accurately analyze the unloading residual condition under the complex working condition.
Description
Technical Field
The invention relates to a vertical skip unloading residue early warning system and a recognition method based on steel wire rope tension, and belongs to the technical field of mine hoisting.
Background
One of the key factors affecting the safe operation of the hoist is whether the skip can be safely, smoothly and completely unloaded and loaded. The main well hoist for hoisting the skip at present has the main defects that the skip is not completely emptied, unloading residues exist, the skip is loaded in a fixed weight mode under the condition that the skip is not emptied, overload operation of the hoist is caused, and fatigue damage of a steel wire rope and the hoist is caused.
The unloading residues are mainly judged manually, in the unloading process, the movement of the skip unloading wheel in the unloading curved rail causes the opening and closing actions of the gate, and the skip gate is subjected to the normal acting force of the curved rail, tangential friction force and the like in the opening process of the curved rail, so that the tension of the hoisting steel wire rope is greatly influenced; meanwhile, the speeds of the skip entering the curved rail are different, and the loads of coals in the skip are different, so that the opening and taking forces of the gate are different; secondly, under the different loads and the different resistances of the skip in the running process along the shaft guide at different speeds. Therefore, the skip is in different operation stages, the detection result of the tension of the lifting steel wire rope is slightly different, and the unloading residual condition under the complex working condition cannot be accurately analyzed.
Disclosure of Invention
The invention provides a vertical skip unloading residue early warning system and an identification method based on steel wire rope tension, which can accurately analyze unloading residue conditions under complex working conditions.
The technical scheme adopted for solving the technical problems is as follows:
the vertical skip unloading residual early warning system based on the tension of the steel wire rope comprises a tension sensing probe, a main skip, an auxiliary skip, a hoist roller, a guide wheel and a lifting steel wire rope, wherein the main curved rail is arranged at the unloading position of the main skip, the auxiliary curved rail is arranged at the unloading position of the auxiliary skip, the gate of the main skip drives the lifting steel wire rope to move in the main curved rail for unloading, and the gate of the auxiliary skip drives the lifting steel wire rope to move in the auxiliary curved rail for unloading;
Tension sensing probes are distributed above the main skip and above the auxiliary skip, and a receiver is arranged at a wellhead to receive and transmit detection signals; or the tension sensing probes are arranged on the two sides of the elevator roller and connected with the steel wire ropes of the skips at the two sides; the tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device;
as a further preferred aspect of the invention, the lifting system is a derrick type friction lifting system or a floor type friction lifting system or a winding type lifting system;
in the well tower type friction lifting system, tension sensing probes are arranged above a main skip and above an auxiliary skip, and a receiver is arranged at a well mouth; or tension sensing probes are distributed on two side edges below the elevator roller;
in the floor type friction lifting system, tension sensing probes are arranged above a main skip and above an auxiliary skip, and a receiver is arranged at a wellhead; or a tension sensing probe is arranged at the side edge of the elevator drum towards the position of the upper chord rope and the lower chord rope;
in the winding type lifting system, tension sensing probes are arranged above the main skip and above the auxiliary skip, and a receiver is arranged at a wellhead; or a tension sensing probe is arranged at the side edge of the elevator drum towards the position of the upper chord rope and the lower chord rope.
A vertical skip unloading residue identification method based on steel wire rope tension specifically comprises the following steps:
step S1: recording the tension of all steel wire ropes concentrated on the skip at different lifting distances at different speeds, specifically lifting the empty main skip and auxiliary skip to the middle position of a shaft, wherein the main skip and the auxiliary skip are at the same horizontal position, and the obtained tension of the steel wire ropes is defined as F 1 Lifting wire rope tension when lowering empty main skip and auxiliary skip to leave curved railForce F 4 ；
Setting n running speeds V of entering curved tracks n At a speed of V 1 ～V n N is 2 to 6, and the V is respectively measured under different loading conditions of the main skip and the auxiliary skip 1 ～V n Before entering the curved track and after entering the curved track, and calculating the recorded tension difference;
step S2: determining velocity V 1 Under the curve resistance, obtaining the speed V by adopting a data fitting method based on deep learning 1 Relational expression of tension difference of lower main skip and auxiliary skip after entering curved rail and before curved rail for load
wherein ,for velocity V 1 Load of lower weight M c The curve resistance obtained during this time, < >>F is an activation function for parameters of the obtained mapping model;
step S3: determining the velocity V according to equation (1) in step S2 2 ～V n The relative expression of the tension difference between the lower main skip and the auxiliary skip after entering the curved rail and before the curved rail relative to the load is calculated, namely the speed V is calculated 2 ～V n The lower curve resistance, in particular,
V 2 the expression at speed is:V 3 the expression at speed is: />V 4 The expression at speed is:V n the expression at speed is:
step S4: obtaining a speed V by adopting a data fitting method based on deep learning 1 ～V n When the main skip and the auxiliary skip with different loads enter the curved rail, the tension difference between the main skip and the auxiliary skip before entering the curved rail is expressed by the expression of the loads and the speeds
F μ (V n ,M c )＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V n ,M c ] (2)
wherein ,Fμ (V n ,M c ) For velocity V n Load of lower weight M c The curve resistance obtained at the time, V n The running speed of the main skip and the auxiliary skip entering the curved rail is M c Z { w } is the loading weight of the main skip and the auxiliary skip when entering the curved rail m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 The training result shows that the skip is a mapping model of tension difference, load and speed after entering the curved rail and before the curved rail;
step S5: obtaining the curve resistance F of the skip in a certain lifting process in actual operation according to the formula (2) in the step S4 μe ＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V e ,M e], wherein Ve For the speed of the skip entering the curved track during operation, M e The skip is loaded with weight during working;
step S6: when the skip is lifted for a certain time in actual operation, the tension F before the main skip and the auxiliary skip enter the curved rail is measured e1 Tension F after the main skip and the auxiliary skip enter the curved rail and are unloaded e2 The main skip and the auxiliary skip continue to be lowered to the tension F after leaving the curved rail after being unloaded e3 ；
Step S7: calculating unloading residues at the stop operation stage of the skip, namely M r1 ＝F e2 -F e1 -F μe, wherein ,
step S8: calculating unloading residues at the initial lowering stage of the skip, namely M r2 ＝F e3 -F 4, wherein ,F4 To raise the tension of the wire rope when lowering the empty main skip and auxiliary skip to a position away from the curved rail;
step S9: the lower part of the skip is continued until the stage of uniform running, and the tension F of the skip for lifting distance at any time in the uniform process is obtained e4 Obtaining unloading residue M of skip bucket at any time in constant-speed operation stage r3 ＝F e4 -F h (x) Wherein F h (x) The tension of the empty main skip and the auxiliary skip relative to the lifting distance at any moment;
step S10: unloading residues M of skip operation stopping stages obtained in step S7, step S8 and step 9 r1 Unloading residue M in initial lowering stage of skip r2 Unloading residue M in constant speed operation stage r3 Fusion unloading residual M is obtained through Kalman data fusion method r ；
Step S11: unloading residual M based on skip stop operation stage r1 Unloading residue M in initial lowering stage of skip r2 Unloading residue M in constant speed operation stage r3 Fusion unloading residual M r Respectively establishing 3-level early warning mechanisms for early warning;
as a further preferred feature of the invention,
step S1, during actual operation, measuring the V of the main skip and the auxiliary skip under different loading conditions 1 ～V n Before entering the curved track and after entering the curved track, and calculates the recorded tension difference, comprising the following steps:
step S1-1: when the main skip and the auxiliary skip are empty,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 21 ，
Auxiliary dustpanThe bucket is lifted to a position of the auxiliary skip which is about to enter the front of the auxiliary skip curved rail, and the tension F of the lifting steel wire rope is obtained through a tension sensing probe 31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe 22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 32 ，
Recording the main skip F under the empty skip state 22 And F is equal to 21 Auxiliary skip F 32 And F is equal to 31 Tension difference of (1)
F 23 ＝F 22 -F 21 ，F 33 ＝F 32 -F 31 ；
Step S1-2: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 1/4 of the load F a In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe a22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a32 ，
Recording the main skip F under the empty skip state a22 And F is equal to a21 Auxiliary skip F a32 And F is equal to a31 Tension difference of (1)
F a23 ＝F a22 -F a21 ，F a33 ＝F a32 -F a31 ；
Step S1-3: setting main skipThe load of the auxiliary skip is F d The main skip and the auxiliary skip are internally loaded with the load F d 1/2 of the load F b In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe b22 ；
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b32 ，
Recording the main skip F under the empty skip state b22 And F is equal to b21 Auxiliary skip F b32 And F is equal to b31 Tension difference of (1)
F b23 ＝F b22 -F b21 ，F b33 ＝F b32 -F b31 ；
Step S1-4: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 3/4 of the load F c In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe c22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c32 ，
Recording the main skip F under the empty skip state c22 And F is equal to c21 Auxiliary skip F c32 And F is equal to c31 Tension difference of (1)
F c23 ＝F c22 -F c21 ，F c33 ＝F c32 -F c31 ；
Step S1-5: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe d22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d32 ，
Recording the main skip F under the empty skip state d22 And F is equal to d21 Auxiliary skip F d32 And F is equal to d31 Tension difference of (1)
F d23 ＝F d22- F d21 ，F d33 ＝F d32 -F d31 ；
As a further preferred feature of the invention,
in step S2, according to the obtained actual tension and tension difference, adopting a data fitting method based on deep learning to obtain load-curve resistance fitting,
step S2-1: obtaining an estimated relation of load and resistance through theoretical simulation and empirical analysis as an initial parameter of the deep learning network;
step S2-2: carrying out data cleaning on the acquired load and the calculated curve resistance data, and removing obviously distorted data to obtain a training set of the load-curve resistance deep learning network model;
step S2-3: dividing the data set into a training set and a testing set, training the network model to obtain a mapping relation of the load and the curve resistance, and considering that an expression (1) of the load and the curve resistance is obtained when the model error is smaller than a specified value epsilon;
As a further preferred feature of the invention,
the tension of the lifting wire rope can be obtained by adopting the tension of a lifting drum in a winch room at the top of a shaft or the tension measured by adopting a main skip or a secondary skip;
as a further preferred feature of the invention,
when the tension of the lifting wire rope is calculated by adopting the tension at the lifting machine roller, the tension of the lifting distance of the empty main skip and auxiliary skip at any time is as follows
In the formula (3), H is the lifting height from the loading position to the unloading position of the main skip or the auxiliary skip, x is the distance from the unloading position of the main skip or the auxiliary skip to the lowering position of the main curved rail or the auxiliary curved rail, and M k Is the dead weight of the main skip or the auxiliary skip and the hanging device thereof, M t Is the dead weight of the tail rope, M h To lift the dead weight of the wire rope F 1 In order to lift the empty main skip and auxiliary skip to the middle position of the shaft, the tension of the steel wire rope is that the main skip and the auxiliary skip are at the same horizontal position;
as a further preferred aspect of the present invention, when the tension of the hoist rope is calculated using the tension of the main skip or the auxiliary skip, the tension of the hoist rope is
F h (x)＝M k (4)
In the formula (4), M k Is the dead weight of the main skip or the auxiliary skip and the hanging device thereof.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. The identification method provided by the invention can be used for measuring the tension of the steel wire rope at the hoist drum and the skip in the winch house at the top of the shaft in different operation stages, and monitoring and analyzing the residual condition in the skip in real time;
2. according to the identification method provided by the invention, the resistance of the skip in the process of running the curve is tested, so that the influence of the curve resistance on the unloading residual detection result is avoided;
3. according to the early warning system provided by the invention, the acquired unloading residues at each stage are fused to obtain the fused unloading residues, and then a 3-level early warning mechanism is established for early warning based on different unloading residues, so that operators can timely adjust the early warning system.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a flow chart of a method for identifying unloading residues of a vertical skip based on steel wire rope tension;
FIG. 2 is a schematic diagram of a skip unloading residual pre-warning system employing a well tower friction lifting system according to example 1;
FIG. 3 is a schematic diagram of a skip unloading residual pre-warning system employing a well tower friction lifting system according to example 2;
FIG. 4 is a schematic diagram of a skip unloading residual pre-warning system employing a floor friction lifting system according to example 3;
FIG. 5 is a schematic diagram of a skip unloading residual pre-warning system employing a floor friction lifting system according to embodiment 4;
FIG. 6 is a schematic diagram of a skip unloading residual pre-warning system employing a wrap-around lifting system according to example 5;
FIG. 7 is a schematic diagram of a skip unloading residual pre-warning system employing a wrap-around lifting system according to example 6.
Detailed Description
The application will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present application. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present application.
At present, the skip cannot be completely emptied in the unloading process, and meanwhile, the unloading residual condition of the skip cannot be accurately analyzed due to the resistance of the curved rail.
Therefore, the application provides a method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which not only can realize the monitoring and analysis of the residual conditions of the skip in each stage, but also considers the problem of the curve resistance, and establishes an early warning mechanism for the early warning system while improving the precision of the detection result, thereby being convenient for timely adjusting the early warning system.
The early warning system provided by the application can be applied to a lifting system of a winding type or friction type skip, and also can be applied to a novel lifting system combining winding and friction, and has a wide application range. The following describes in detail a vertical skip unloading residue early warning system and an identification method based on the tension of a steel wire rope according to some embodiments.
Example 1
According to the vertical skip unloading residual early warning system based on the steel wire rope tension, a lifting system adopts a well tower type friction lifting system, as shown in fig. 2, the vertical skip unloading residual early warning system comprises a tension sensing probe, a main skip, an auxiliary skip, a lifting machine roller, a guide wheel, a lifting steel wire rope and the like, a main curved rail is arranged at the unloading position of the main skip, an auxiliary curved rail is arranged at the unloading position of the auxiliary skip, a gate of the main skip drives the lifting steel wire rope to move in the main curved rail for unloading, and a gate of the auxiliary skip drives the lifting steel wire rope to move in the auxiliary curved rail for unloading through the lifting machine roller.
Tension sensing probes are distributed on two side edges of the lifting roller, and steel wire ropes connected towards two sides of the lifting roller are used for detecting the tension of the steel wire ropes at the positions; the tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device.
It should be noted here that in a specific operation, the hoist drum is typically located in the hoist house at the top of the well bore, activated by a motor, and the skip may also be referred to as a container in which the load is placed.
Then as shown in fig. 1, a method for identifying unloading residues of a vertical skip based on steel wire rope tension is provided, from the figure, the tension of the skip under different conditions is obtained through a tension measuring device (namely a tension sensing probe), the calculation of curve resistance can be carried out through different tensions, and the unloading residues at different stages can be finally considered comprehensively through the curve resistance, the influence of the curve resistance on the detection result of the unloading residues can be avoided, and a matched early warning mechanism is established through fusion of the unloading residues at different stages, so that an operator can conveniently adjust the early warning system in time, and the accuracy and the comprehensiveness of detection are further ensured. The identification method specifically comprises the following steps:
Step S1: recording the tension of all steel wire ropes concentrated on the skip at different lifting distances at different speeds, specifically lifting the empty main skip and auxiliary skip to the middle position of a shaft, wherein the main skip and the auxiliary skip are at the same horizontal position, and the obtained tension of the steel wire ropes is defined as F 1 The tension of the lifting wire rope when the empty main skip and auxiliary skip are lowered to leave the curved rail is F 4 ；
Setting n running speeds V of entering curved tracks n At a speed of V 1 ～V n N is 2 to 6, and the V is respectively measured under different loading conditions of the main skip and the auxiliary skip 1 ～V n Before entering the curved track and after entering the curved track, and calculating the recorded tension difference;
step S2: determining velocity V 1 Under the curve resistance, obtaining the speed V by adopting a data fitting method based on deep learning 1 After the lower main skip and the auxiliary skip enter the curved railAnd the correlation expression of the tension difference before the curve with respect to the load
wherein ,for velocity V 1 Load of lower weight M c The curve resistance obtained during this time, < >>F is an activation function for parameters of the obtained mapping model;
step S3: determining the velocity V according to equation (1) in step S2 2 ～V n The relative expression of the tension difference between the lower main skip and the auxiliary skip after entering the curved rail and before the curved rail relative to the load is calculated, namely the speed V is calculated 2 ～V n The lower curve resistance, in particular,
V 2 the expression at speed is:
V 3 the expression at speed is:
V 4 the expression at speed is:
V n the expression at speed is:
step S4: obtaining a speed V by adopting a data fitting method based on deep learning 1 ～V n When the main skip and the auxiliary skip with different loads enter the curved rail, the tension difference between the main skip and the auxiliary skip before entering the curved rail is related to the loads and the speedsExpression type
F μ (V n ,M c )＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V n ,M c ] (2)
wherein ,Fμ (V n ,M c ) For velocity V n Load of lower weight M c The curve resistance obtained at the time, V n The running speed of the main skip and the auxiliary skip entering the curved rail is M c Z { w } is the loading weight of the main skip and the auxiliary skip when entering the curved rail m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 The training result shows that the skip is a mapping model of tension difference, load and speed after entering the curved rail and before the curved rail;
step S5: obtaining the curve resistance F of the skip in a certain lifting process in actual operation according to the formula (2) in the step S4 μe ＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V e ,M e], wherein Ve For the speed of the skip entering the curved track during operation, M e The skip is loaded with weight during working;
step S6: when the skip is lifted for a certain time in actual operation, the tension F before the main skip and the auxiliary skip enter the curved rail is measured e1 Tension F after the main skip and the auxiliary skip enter the curved rail and are unloaded e2 The main skip and the auxiliary skip continue to be lowered to the tension F after leaving the curved rail after being unloaded e3 ；
Step S7: calculating unloading residues at the stop operation stage of the skip, namely M r1 ＝F e2 -F e1 -F μe, wherein ,
step S8: calculating unloading residues at the initial lowering stage of the skip, namely M r2 ＝F e3 -F 4, wherein ,F4 To raise the tension of the wire rope when lowering the empty main skip and auxiliary skip to a position away from the curved rail;
step S9: the skip continues to be under until the skip is evenIn the quick operation stage, the tension F of the skip in any lifting distance at any moment in the uniform speed process is obtained e4 Obtaining unloading residue M of skip bucket at any time in constant-speed operation stage r3 ＝F e4 -F h (x) Wherein F h (x) The tension of the empty main skip and the auxiliary skip relative to the lifting distance at any moment;
step S10: unloading residues M of skip operation stopping stages obtained in step S7, step S8 and step 9 r1 Unloading residue M in initial lowering stage of skip r2 Unloading residue M in constant speed operation stage r3 Fusion unloading residual M is obtained through Kalman data fusion method r ；
Step S11: unloading residual M based on skip stop operation stage r1 Unloading residue M in initial lowering stage of skip r2 Unloading residue M in constant speed operation stage r3 Fusion unloading residual M r And respectively establishing 3-level early warning mechanisms for early warning.
The application provides an embodiment to make relevant explanation:
Step S1, during actual operation, measuring the V of the main skip and the auxiliary skip under different loading conditions 1 ～V n Before entering the curved track and after entering the curved track, and calculate the recorded tension difference, i.e. the main skip and the auxiliary skip collect the related hoisting wire rope tension according to different loads, so as to prepare for the curve resistance related calculation. The method specifically comprises the following steps:
step S1-1: when the main skip and the auxiliary skip are empty,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe 22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 32 ，
Recording the main skip F under the empty skip state 22 And F is equal to 21 Auxiliary skip F 32 And F is equal to 31 Tension difference of (1)
F 23 ＝F 22 -F 21 ，F 33 ＝F 32 -F 31 。
Step S1-2: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 1/4 of the load F a In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe a22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a32 ，
Recording the main skip F under the empty skip state a22 And F is equal to a21 Auxiliary skip F a32 And F is equal to a31 Tension difference of (1)
F a23 ＝F a22 -F a21 ，F a33 ＝F a32 -F a31 。
Step S1-3: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 1/2 of the load F b In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe b22 ；
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b32 ，
Recording the main skip F under the empty skip state b22 And F is equal to b21 Auxiliary skip F b32 And F is equal to b31 Tension difference of (1)
F b23 ＝F b22 -F b21 ，F b33 ＝F b32 -F b31 。
Step S1-4: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 3/4 of the load F c In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe c22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c32 ，
Recording the main skip F under the empty skip state c22 And F is equal to c21 Auxiliary skip F c32 And F is equal to c31 Tension difference of (1)
F c23 ＝F c22 -F c21 ，F c33 ＝F c32 -F c31 。
Step S1-5: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe d22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d32 ，
Recording the main skip F under the empty skip state d22 And F is equal to d21 Auxiliary skip F d32 And F is equal to d31 Tension difference of (1)
F d23 ＝F d22 -F d21 ，F d33 ＝F d32 -F d31 。
According to the obtained actual tension and tension difference, adopting a data fitting method based on deep learning to obtain load-curve resistance fitting,
step S2-1: obtaining an estimated relation of load and resistance through theoretical simulation and empirical analysis as an initial parameter of the deep learning network;
step S2-2: carrying out data cleaning on the acquired load and the calculated curve resistance data, and removing obviously distorted data to obtain a training set of the load-curve resistance deep learning network model;
step S2-3: the data set is divided into a training set and a testing set, the network model is trained to obtain the mapping relation of the load and the curve resistance, and when the model error is smaller than a specified value epsilon, the expression of the load and the curve resistance is considered to be obtained
wherein ,for velocity V 1 Load of lower weight M c The curve resistance obtained during this time, < >>F is an activation function for parameters of the resulting mapping model.
The embodiment described above is a curve resistance process from the tension of the wire rope at different speeds and different lifting distances obtained by the tension sensing probe. And then, the unloading residues in different stages are obtained through the tension sensing probes in the step S5 and the step S6, when the unloading residues are solved, the tension related to the unloading residues in different stages is different, especially the tension at the hoist drum in the hoist house at the top of the shaft or the tension measured at the main skip or the auxiliary skip is adopted when the skip is continuously below until the unloading residues in the constant speed operation stage are obtained.
When the tension of the lifting wire rope is calculated by adopting the tension at the lifting machine roller, the tension of the lifting distance of the empty main skip and auxiliary skip at any time is as follows
In the formula (3), H is the lifting height from the loading position to the unloading position of the main skip or the auxiliary skip, x is the distance from the unloading position of the main skip or the auxiliary skip to the lowering position of the main curved rail or the auxiliary curved rail, and M k Is the dead weight of the main skip or the auxiliary skip and the hanging device thereof, M t Is the dead weight of the tail rope, M h To lift the dead weight of the wire rope F 1 In order to lift the empty main skip and auxiliary skip to the middle position of the shaft, and the tension of the steel wire rope when the main skip and the auxiliary skip are at the same horizontal position.
When the tension of the lifting steel wire rope is calculated by adopting the tension of the main skip or the auxiliary skip, the tension of the lifting steel wire rope is as follows
F h (x)＝M k (4)
In the formula (4), M k Is the dead weight of the main skip or the auxiliary skip and the hanging device thereof.
Example 2
The lifting system adopts a well tower type friction lifting system, as shown in fig. 3, on the basis of embodiment 1, tension sensing probes are instead distributed above a main skip and above an auxiliary skip to be connected with lifting ropes, the tension of the steel wire at the positions is measured, and a receiver is arranged at a wellhead to receive measurement signals and transmit the measurement signals to an operation control system. The tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device.
According to the method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is shown in the figure 1, the tension sensing probe is used for acquiring the tension of the steel wire rope of the skip under different conditions, the calculation of the curve resistance can be carried out through different tensions, and the unloading residues at different stages are unloaded, finally, the influence of the curve resistance on the detection result of the unloading residues can be avoided through comprehensively considering the curve resistance, and a matched early warning mechanism is established through fusion of the unloading residues at different stages, so that operators can conveniently adjust the early warning system in time, and the accuracy and the comprehensiveness of detection are further ensured. The specific procedure was the same as in example 1.
Example 3
According to the vertical skip unloading residual early warning system based on the tension of the steel wire rope, a lifting system adopts a floor type friction lifting system, as shown in fig. 4, the vertical skip unloading residual early warning system comprises a tension sensing probe, a main skip, an auxiliary skip, a lifting drum, guide wheels, lifting steel wire ropes and the like, a main curved rail is arranged at the unloading position of the main skip, an auxiliary curved rail is arranged at the unloading position of the auxiliary skip, a gate of the main skip drives the lifting steel wire ropes to move in the main curved rail for unloading, and a gate of the auxiliary skip drives the lifting steel wire ropes to move in the auxiliary curved rail for unloading through the lifting drum.
A tension sensing probe is distributed on the side edge of the lifting roller and faces to an upper string rope and a lower string rope of the connecting roller, and tension detection is carried out on the steel wire rope at the position; the tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device.
According to the method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is shown in the figure 1, the tension sensing probe is used for acquiring the tension of the steel wire rope of the skip under different conditions, the calculation of the curve resistance can be carried out through different tensions, and the unloading residues at different stages are unloaded, finally, the influence of the curve resistance on the detection result of the unloading residues can be avoided through comprehensively considering the curve resistance, and a matched early warning mechanism is established through fusion of the unloading residues at different stages, so that operators can conveniently adjust the early warning system in time, and the accuracy and the comprehensiveness of detection are further ensured. The specific procedure was the same as in example 1.
Example 4
According to the vertical skip unloading residual early warning system based on the tension of the steel wire rope, the lifting system adopts a floor type friction lifting system as well, as shown in fig. 5, on the basis of embodiment 3, a tension sensing probe is instead arranged above a main skip and above a secondary skip to be connected with a lifting rope, the tension of the steel wire at the position is measured, and a receiver is arranged at a wellhead to receive a measuring signal and transmit the measuring signal to an operation control system. The tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device.
According to the method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is shown in the figure 1, the tension sensing probe is used for acquiring the tension of the steel wire rope of the skip under different conditions, the calculation of the curve resistance can be carried out through different tensions, and the unloading residues at different stages are unloaded, finally, the influence of the curve resistance on the detection result of the unloading residues can be avoided through comprehensively considering the curve resistance, and a matched early warning mechanism is established through fusion of the unloading residues at different stages, so that operators can conveniently adjust the early warning system in time, and the accuracy and the comprehensiveness of detection are further ensured. The specific procedure was the same as in example 1.
Example 5
According to the vertical skip unloading residual early warning system based on the steel wire rope tension, a winding type lifting system is adopted in the lifting system, as shown in fig. 6, the vertical skip unloading residual early warning system comprises a tension sensing probe, a main skip, an auxiliary skip, a lifting machine roller, a guide wheel, a lifting steel wire rope and the like, a main curved rail is arranged at the unloading position of the main skip, an auxiliary curved rail is arranged at the unloading position of the auxiliary skip, a gate of the main skip drives the lifting steel wire rope to move in the main curved rail for unloading, and a gate of the auxiliary skip drives the lifting steel wire rope to move in the auxiliary curved rail for unloading through the lifting machine roller.
A tension sensing probe is distributed on the side edge of the lifting roller and faces to an upper string rope and a lower string rope of the connecting roller, and tension detection is carried out on the steel wire rope at the position; the tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device.
According to the method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is shown in the figure 1, the tension sensing probe is used for acquiring the tension of the steel wire rope of the skip under different conditions, the calculation of the curve resistance can be carried out through different tensions, and the unloading residues at different stages are unloaded, finally, the influence of the curve resistance on the detection result of the unloading residues can be avoided through comprehensively considering the curve resistance, and a matched early warning mechanism is established through fusion of the unloading residues at different stages, so that operators can conveniently adjust the early warning system in time, and the accuracy and the comprehensiveness of detection are further ensured. The specific procedure was the same as in example 1.
Example 6
According to the vertical skip unloading residual early warning system based on the tension of the steel wire rope, a winding type lifting system is adopted as a lifting system, as shown in fig. 7, on the basis of embodiment 5, tension sensing probes are instead arranged above a main skip and above a secondary skip and connected with the lifting rope, the tension of the steel wire at the position is measured, and a receiver is arranged at a wellhead to receive measurement signals and transmit the measurement signals to an operation control system. The tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device.
According to the method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is shown in the figure 1, the tension sensing probe is used for acquiring the tension of the steel wire rope of the skip under different conditions, the calculation of the curve resistance can be carried out through different tensions, and the unloading residues at different stages are unloaded, finally, the influence of the curve resistance on the detection result of the unloading residues can be avoided through comprehensively considering the curve resistance, and a matched early warning mechanism is established through fusion of the unloading residues at different stages, so that operators can conveniently adjust the early warning system in time, and the accuracy and the comprehensiveness of detection are further ensured. The specific procedure was the same as in example 1.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present application means that each exists alone or both exist.
"connected" as used herein means either a direct connection between components or an indirect connection between components via other components.
With the above-described preferred embodiments according to the present application as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the description, but must be determined according to the scope of claims.
Claims (6)
1. A vertical skip unloading residue recognition method based on steel wire rope tension is characterized in that:
the lifting system comprises a tension sensing probe, a main skip, an auxiliary skip, a lifting machine roller, a guide wheel and a lifting steel wire rope, wherein a main curved rail is arranged at the unloading position of the main skip, an auxiliary curved rail is arranged at the unloading position of the auxiliary skip, a gate of the main skip drives the lifting steel wire rope to move in the main curved rail for unloading, and a gate of the auxiliary skip drives the lifting steel wire rope to move in the auxiliary curved rail for unloading through the lifting machine roller;
tension sensing probes are distributed above the main skip and above the auxiliary skip, and a receiver is arranged at a wellhead to receive and transmit detection signals; or the tension sensing probes are arranged on the two sides of the elevator roller and connected with the steel wire ropes of the skips at the two sides;
the tension sensing probes are all communicated with an operation control system, and the operation control system is simultaneously communicated with an early warning device;
the lifting system adopts a well tower type friction lifting system, a floor type friction lifting system or a winding type lifting system;
in the well tower type friction lifting system, tension sensing probes are arranged above a main skip and above an auxiliary skip, and a receiver is arranged at a well mouth; or tension sensing probes are distributed on two side edges below the elevator roller;
In the floor type friction lifting system, tension sensing probes are arranged above a main skip and above an auxiliary skip, and a receiver is arranged at a wellhead; or a tension sensing probe is arranged at the side edge of the elevator drum towards the position of the upper chord rope and the lower chord rope;
in the winding type lifting system, tension sensing probes are arranged above the main skip and above the auxiliary skip, and a receiver is arranged at a wellhead; or a tension sensing probe is arranged at the side edge of the elevator drum towards the position of the upper chord rope and the lower chord rope;
the identification method specifically comprises the following steps:
step S1: recording the different lifting distances at different speeds and focusing on the skipThe tension of all the steel wire ropes is increased, specifically, the empty main skip and auxiliary skip are lifted to the middle position of the shaft, the main skip and the auxiliary skip are positioned at the same horizontal position, and the obtained tension of the steel wire ropes is defined as F 1 The tension of the lifting wire rope when the empty main skip and auxiliary skip are lowered to leave the curved rail is F 4 ；
Setting n running speeds V of entering curved tracks n At a speed of V 1 ～V n N is 2 to 6, and the V is respectively measured under different loading conditions of the main skip and the auxiliary skip 1 ～V n Before entering the curved track and after entering the curved track, and calculating the recorded tension difference;
Step S2: determining velocity V 1 Under the curve resistance, obtaining the speed V by adopting a data fitting method based on deep learning 1 Relational expression of tension difference of lower main skip and auxiliary skip after entering curved rail and before curved rail for load
wherein ,for velocity V 1 Load of lower weight M c The curve resistance obtained during this time, < >>F is an activation function for parameters of the obtained mapping model;
step S3: determining the velocity V according to equation (1) in step S2 2 ～V n The relative expression of the tension difference between the lower main skip and the auxiliary skip after entering the curved rail and before the curved rail relative to the load is calculated, namely the speed V is calculated 2 ～V n The lower curve resistance, in particular,
V 2 the expression at speed is:
V 3 the expression at speed is:
V 4 the expression at speed is:
V n the expression at speed is:
step S4: obtaining a speed V by adopting a data fitting method based on deep learning 1 ～V n When the main skip and the auxiliary skip with different loads enter the curved rail, the tension difference between the main skip and the auxiliary skip before entering the curved rail is expressed by the expression of the loads and the speeds
F μ (V n ,M c )＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V n ,M c ] (2)
wherein ,Fμ (V n ,M c ) For velocity V n Load of lower weight M c The curve resistance obtained at the time, V n The running speed of the main skip and the auxiliary skip entering the curved rail is M c Z { w } is the loading weight of the main skip and the auxiliary skip when entering the curved rail m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 The training result shows that the skip is a mapping model of tension difference, load and speed after entering the curved rail and before the curved rail;
Step S5: obtaining the curve resistance F of the skip in a certain lifting process in actual operation according to the formula (2) in the step S4 μe ＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V e ,M e], wherein Ve For the speed of the skip entering the curved track during operation, M e The skip is loaded with weight during working;
step S6: when the skip is lifted for a certain time in actual operation, the tension F before the main skip and the auxiliary skip enter the curved rail is measured e1 Tension F after the main skip and the auxiliary skip enter the curved rail and are unloaded e2 The main skip and the auxiliary skip continue to be lowered to the tension F after leaving the curved rail after being unloaded e3 ；
Step S7: calculating unloading residues at the stop operation stage of the skip, namely M r1 ＝F e2 -F e1 -F μe, wherein ,Fμe ＝Z{w m1 ,w v1 ,b 1 ,w m2 ,w v2 ,b 2 }[V e ,M e ]；
Step S8: calculating unloading residues at the initial lowering stage of the skip, namely M r2 ＝F e3 -F 4, wherein ,F4 To raise the tension of the wire rope when lowering the empty main skip and auxiliary skip to a position away from the curved rail;
step S9: the lower part of the skip is continued until the stage of uniform running, and the tension F of the skip for lifting distance at any time in the uniform process is obtained e4 Obtaining unloading residue M of skip bucket at any time in constant-speed operation stage r3 ＝F e4 -F h (x) Wherein F h (x) The tension of the empty main skip and the auxiliary skip relative to the lifting distance at any moment;
step S10: unloading residues M of skip operation stopping stages obtained in step S7, step S8 and step 9 r1 Unloading residue M in initial lowering stage of skip r2 Unloading residue M in constant speed operation stage r3 Fusion unloading residual M is obtained through Kalman data fusion method r ；
Step S11: unloading residual M based on skip stop operation stage r1 Unloading residue M in initial lowering stage of skip r2 Unloading residue M in constant speed operation stage r3 Fusion unloading residual M r And respectively establishing 3-level early warning mechanisms for early warning.
2. The method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope according to claim 1, wherein the method comprises the following steps:
step S1, during actual operation, measuring the V of the main skip and the auxiliary skip under different loading conditions 1 -V n Before entering the curved track and after entering the curved track, and calculates the recorded tension difference, comprising the following steps:
step S1-1: when the main skip and the auxiliary skip are empty,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe 22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe 32 ，
Recording the main skip F under the empty skip state 22 And F is equal to 21 Auxiliary skip F 32 And F is equal to 31 Tension difference of (1)
F 23 ＝F 22 -F 21 ，F 33 ＝F 32 -F 31 ；
Step S1-2: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 1/4 of the load F a In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension of the lifting steel wire rope through the tension sensing probeF a22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe a32 ，
Recording the main skip F under the empty skip state a22 And F is equal to a21 Auxiliary skip F a32 And F is equal to a31 Tension difference of (1)
F a23 ＝F a22 -F a21 ，F a33 ＝F a32 -F a31 ；
Step S1-3: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 1/2 of the load F b In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe b22 ；
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe b32 ，
Recording the main skip F under the empty skip state b22 And F is equal to b21 Auxiliary skip F b32 And F is equal to b31 Tension difference of (1)
F b23 ＝F b22 -F b21 ，F b33 ＝F b32 -F b31 ；
Step S1-4: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d 3/4 of the load F c In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe c22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe c32 ，
Recording the main skip F under the empty skip state c22 And F is equal to c21 Auxiliary skip F c32 And F is equal to c31 Tension difference of (1)
F c23 ＝F c22 -F c21 ，F c33 ＝F c32 -F c31 ；
Step S1-5: the load of the main skip and the auxiliary skip is set to be F d The main skip and the auxiliary skip are internally loaded with the load F d In the time-course of which the first and second contact surfaces,
lifting the main skip to a position before the main skip enters the curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d21 ，
Lifting the auxiliary skip to a position of the auxiliary skip right before entering the auxiliary skip curved rail, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d31 ，
Lifting the main skip into the main curved rail to enable the gate of the main skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through the tension sensing probe d22 ，
Lifting the auxiliary skip into the auxiliary curved rail to enable a gate of the auxiliary skip to be completely opened, and obtaining the tension F of the lifting steel wire rope through a tension sensing probe d32 ，
Recording the main skip F under the empty skip state d22 And F is equal to d21 Auxiliary skip F d32 And F is equal to d31 Tension difference of (1)
F d23 ＝F d22 -F d21 ，F d33 ＝F d32 -F d31 。
3. The method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope according to claim 2, wherein the method comprises the following steps: in step S2, according to the actual tension and the tension difference obtained in claim 1, the specific steps of obtaining the load-curve resistance fit by adopting the data fitting method based on deep learning are that,
Step S2-1: obtaining an estimated relation of load and resistance through theoretical simulation and empirical analysis as an initial parameter of the deep learning network;
step S2-2: carrying out data cleaning on the acquired load and the calculated curve resistance data, and removing obviously distorted data to obtain a training set of the load-curve resistance deep learning network model;
step S2-3: the data set is divided into a training set and a testing set, the network model is trained to obtain the mapping relation of the load and the curve resistance, and when the model error is smaller than a specified value epsilon, the expression (1) of the load and the curve resistance is considered to be obtained.
4. The method for identifying unloading residues of a vertical skip based on wire rope tension as recited in claim 3, wherein the method comprises the following steps:
the tension of the hoisting wire rope can be obtained by adopting the tension at a hoist drum in a hoist house at the top of a shaft or by adopting the tension measured at a main skip or a secondary skip.
5. The method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is characterized by comprising the following steps of:
when the tension of the lifting wire rope is calculated by adopting the tension at the lifting machine roller, the tension of the lifting distance of the empty main skip and auxiliary skip at any time is as follows
In the formula (3), H is the lifting height from the loading position to the unloading position of the main skip or the auxiliary skip, and x is the lifting height from the loading position to the unloading position of the main skip or the auxiliary skipThe distance M between the main curved rail and the auxiliary curved rail after the bucket is unloaded k Is the dead weight of the main skip or the auxiliary skip and the hanging device thereof, M t Is the dead weight of the tail rope, M h To lift the dead weight of the wire rope F 1 In order to lift the empty main skip and auxiliary skip to the middle position of the shaft, and the tension of the steel wire rope when the main skip and the auxiliary skip are at the same horizontal position.
6. The method for identifying the unloading residues of the vertical skip based on the tension of the steel wire rope, which is characterized by comprising the following steps of: when the tension of the lifting steel wire rope is calculated by adopting the tension of the main skip or the auxiliary skip, the tension of the lifting steel wire rope is as follows
F h (x)＝M k (4)
In the formula (4), M k Is the dead weight of the main skip or the auxiliary skip and the hanging device thereof.
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