CN115393360B - Tail rope monitoring control method and tail rope monitoring control device - Google Patents
Tail rope monitoring control method and tail rope monitoring control device Download PDFInfo
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Abstract
The invention provides a tail rope monitoring control method, which belongs to the technical field of image processing and comprises the following steps: acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set; performing image processing on the monitoring image set to obtain a tail rope image; performing primary identification control, determining a first tail rope state according to the tail rope image and a preset region of interest, and controlling the tail rope to enter a suspended working state or performing secondary identification control according to the first tail rope state; the secondary identification control step comprises the following steps: the method comprises the steps of obtaining the tail rope edge of a tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, determining a second tail rope state according to the mutation point of the width set, and controlling the tail rope to enter a pause working state or maintain a normal working state according to the second tail rope state. The service life of the tail rope is prolonged, and the timeliness and effectiveness of tail rope control are improved. The invention also provides a tail rope monitoring and controlling device for realizing the tail rope monitoring and controlling method.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a tail rope monitoring and controlling method and a tail rope monitoring and controlling device.
Background
The tail rope of the hoister is generally equipment used for balancing the hoisting of the first rope in a vertical shaft with large depth, and damage and potential safety hazards caused by too large swinging of the equipment are prevented.
In the prior art, when the tail ropes of the hoister are in actual use, the tail ropes are wound or abraded in the swinging process, so that the balancing effect is poor, and safety accidents are caused.
At present, the main solutions to the above problems are as follows:
(1) Manually and regularly inspecting, and after slowing down, performing visual monitoring by using a flashlight. The labor consumption is large, and the condition of inaccurate monitoring is easy to occur.
(2) A monitoring mechanism mechanical structure is designed and installed on the tail rope, and the kinking of the tail rope is monitored in a contact mode in the running process of the tail rope. When the tail rope is twisted, the tail rope at the twisted position drives a pulley block device in the mechanical device, the pulley block drives the heavy hammer to ascend, and when the proximity switch monitors the heavy hammer, the tail rope is controlled to stop working. However, the monitoring mechanism has the defects of complex installation, difficult maintenance, increase of abrasion of the tail rope through contact detection, reduction of the service life of the tail rope and the like.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide a tail rope monitoring and controlling method and a tail rope monitoring and controlling device, which monitor the state of a tail rope in a non-contact manner, save labor power, prolong the service life of the tail rope, improve the monitoring accuracy and timeliness of the tail rope through primary identification control and secondary identification control, and improve the timeliness and effectiveness of tail rope control.
The invention discloses a tail rope monitoring and controlling method, which comprises the following steps:
acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set;
performing image processing on the monitoring image set to obtain a tail rope image;
performing primary identification control, determining a first tail rope state according to the tail rope image and a preset region of interest, and controlling the tail rope to enter a suspended working state or performing secondary identification control according to the first tail rope state; the secondary recognition control includes:
the method comprises the steps of obtaining the tail rope edge of the tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, determining a second tail rope state according to the mutation point of the width set, and controlling the tail rope to enter a pause working state or maintain a normal working state according to the second tail rope state.
Preferably, the step of image processing the monitoring image set to obtain a tail rope image comprises:
acquiring all monitoring images in the monitoring image set, and sequentially performing contrast enhancement operation on each monitoring image to obtain a first image;
carrying out binarization operation on the first image to obtain a second image;
performing morphological open-study operation on the second image to filter interference points to obtain a third image;
performing edge extraction operation on the third image to obtain an edge image;
and performing characteristic analysis on the edge image to obtain the tail rope image.
Preferably, the step of determining a first tail rope state according to the tail rope image and a preset region of interest includes:
acquiring all tail rope images in the monitoring image set;
determining the first tail rope state according to the intersection of the tail rope image and the interested area.
Preferably, the step of determining the first tail rope state from the intersection of the tail rope image and the region of interest comprises:
when all the tail rope images have intersection with the region of interest, determining that the first tail rope state is normal in amplitude;
and when any one tail rope image does not intersect with the interested region, determining that the first tail rope state is large in amplitude.
Preferably, the step of controlling the tail rope to enter the suspended working state or performing secondary identification control according to the first tail rope state comprises:
when the first tail rope state is determined to be the large swing amplitude, the tail rope is controlled to enter a pause working state;
and when the first tail rope state is determined to be that the swing amplitude is normal, performing secondary identification control.
Preferably, the step of acquiring the tail rope edge of the tail rope image comprises: and acquiring the edge of the tail rope according to the edge image.
Preferably, the step of setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, and determining the state of the second tail rope according to the discontinuity point of the width set includes:
performing intersection operation on the sliding window and the edge of the tail rope to obtain a plurality of intersections, and calculating the widths of the intersections to obtain the width set;
acquiring a maximum intersection width value and a minimum intersection width value according to the catastrophe points in the width set, and calculating a difference value between the maximum intersection width value and the minimum intersection width value to obtain a width distance;
and comparing the width distance with a preset threshold value to determine the state of a second tail rope.
Preferably, the step of determining the second tail rope state according to the comparison of the width distance with a preset threshold value comprises:
when the width distance is larger than the threshold value, determining that the second tail rope state is a strand spreading state or a kinking state;
and when the width distance is smaller than the threshold value, determining that the second tail rope state is a non-strand-spreading kink.
Preferably, the step of controlling the tail rope to enter the suspended working state or maintain the normal working state according to the second tail rope state comprises:
when the second tail rope state is determined to be the strand scattering or twisting, the tail rope is controlled to enter a pause working state;
and when the second tail rope state is determined to be the non-strand-spreading kink, the normal working state of the tail rope is maintained.
The invention also provides a tail rope monitoring and controlling device, which comprises:
the image acquisition device is arranged on the outer side of the tail rope in a non-contact manner and is used for acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set;
the image processing device is used for carrying out image processing on the monitoring image set to obtain a tail rope image and determining a first tail rope state according to the tail rope image and a preset region of interest; the tail rope state detection device is used for obtaining the tail rope edge of the tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, and determining a second tail rope state according to the mutation point of the width set;
and the control device is used for controlling the tail rope to enter a suspended working state or carrying out secondary identification control according to the first tail rope state and controlling the tail rope to enter the suspended working state or maintain a normal working state according to the second tail rope state.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects:
1. the monitoring image set is obtained by acquiring all monitoring images of the tail rope in real time, the image processing is carried out on the monitoring image set to acquire the tail rope image, the first tail rope state and the second tail rope state are acquired according to the tail rope image, the state of the tail rope is monitored in a non-contact mode, the operation of the tail rope is not affected, the burden and abrasion of the tail rope are not increased, the tail rope image and the tail rope state are automatically acquired, the real-time performance and the effectiveness of tail rope state detection are improved, and manpower is saved;
2. the tail rope is controlled to enter a pause working state or maintain a normal working state according to the state of the first tail rope or the state of the second tail rope, and the tail rope is controlled to stop or normally work according to the state of the tail rope, so that the accuracy and effectiveness of monitoring and controlling the tail rope are ensured, and the detection and operation safety of the tail rope is greatly improved.
3. The tail rope monitoring and controlling device is simple in structure and low in cost, the tail rope monitoring and controlling device is integrally not in contact with the tail rope, normal work and monitoring of the tail rope are guaranteed, and accuracy of monitoring and controlling of the tail rope is improved.
Drawings
FIG. 1 is a flow chart of a tail rope monitoring control method according to an embodiment of the invention;
FIG. 2 is a flow chart of image processing steps of an embodiment of the present invention;
FIG. 3 is a flowchart of the steps for determining a first tail rope state according to an embodiment of the present invention;
FIG. 4 is a flowchart of the steps for determining a second tail rope state according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a tail rope monitoring and controlling device according to an embodiment of the invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a tail rope monitoring control method, which comprises the following steps with reference to fig. 1:
s0: acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set;
s1: performing image processing on the monitoring image set to obtain a tail rope image;
s2: performing primary identification control, determining a first tail rope state according to the tail rope image and a preset region of interest, and controlling the tail rope to enter a suspended working state or performing secondary identification control according to the first tail rope state;
wherein, the step of secondary identification control includes:
s3: the method comprises the steps of obtaining the tail rope edge of a tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, determining a second tail rope state according to the mutation point of the width set, and controlling the tail rope to enter a pause working state or maintain a normal working state according to the second tail rope state.
In a preferred embodiment of the present invention, in step S1, referring to fig. 2, the step of performing image processing on the monitoring image set to obtain the tail rope image includes:
s11: acquiring all monitoring images in a monitoring image set, and sequentially performing contrast enhancement operation on each monitoring image to obtain a first image;
s12: carrying out binarization operation on the first image to obtain a second image;
s13: performing morphological opening operation on the second image to filter the interference points to obtain a third image;
s14: performing edge extraction operation on the third image to obtain an edge image;
s15: and carrying out characteristic analysis on the edge image to obtain a tail rope image.
In some embodiments, in step S11, the step of performing a contrast enhancement operation on each of the monitored images in sequence to obtain the first image includes:
enhancing the gray value of the monitoring image to obtain a first image, wherein the gray value after contrast enhancement has the following calculation formula:
wherein, G is a first coefficient, gmax is a set maximum gray Value of a pixel, gmin is a set minimum gray Value of a pixel, add is a second coefficient, valueCurrent is a gray Value of a detection point of a current monitoring image, and Value is a gray Value of the detection point on the monitoring image after contrast enhancement.
In some embodiments, in step S12, the step of performing a binarization operation on the first image to obtain a second image includes:
setting a gray threshold value threshold, wherein 0 is more than or equal to the threshold value <255. The gray value in the first image with the gray value smaller than the gray threshold value threshold is set to 0, and the gray value in the first image with the gray value larger than the gray threshold value threshold is set to 255.
In some embodiments, in step S13, the step of performing morphological opening operation on the second image to filter the interference points to obtain a third image includes:
and checking each pixel point in the second image by using a 5 x 5 to perform sliding window operation, and then performing corrosion-first and expansion-second operation to obtain a third image.
Note that 5 × 5 is the size of the kernel, and specifically indicates the number of pixels. The sliding window, erosion first and then expansion of the pixel points involves morphological processing, which is a common technique for those skilled in the art and will not be described herein.
In some embodiments, in step S15, the step of performing feature analysis on the edge image to obtain a tail rope image includes:
and performing characteristic analysis on the edge image on the characteristics such as length characteristic information, width characteristic information, area characteristic information and the like to obtain a tail rope image.
As a preferred embodiment of the present invention, in step S2, referring to fig. 3, the step of determining the first tail rope state according to the tail rope image and the preset region of interest includes:
s21: acquiring all tail rope images in a monitoring image set;
s22: a first tail rope state is determined from the intersection of the tail rope image and the region of interest.
As a preferred embodiment of the present invention, the step of determining the first tail rope state according to the intersection of the tail rope image and the region of interest in step S22 includes:
when all tail rope images have intersection with the region of interest, determining that the first tail rope state is normal in amplitude;
and when any tail rope image does not intersect with the interested area, determining that the state of the first tail rope is large in swing amplitude.
As a preferred embodiment of the present invention, the step of controlling the tail rope to enter the suspended operation state or performing the secondary recognition control according to the first tail rope state in step S2 includes:
when the first tail rope state is determined to be large in swing amplitude, the tail rope is controlled to enter a pause working state;
and when the first tail rope is determined to be in a normal swing amplitude state, performing secondary identification control.
As a preferred embodiment of the present invention, the step of acquiring the tail rope edge of the tail rope image in step S3 includes: and acquiring the edge of the tail rope according to the edge image.
As a preferred embodiment of the present invention, in step S3, referring to fig. 4, the step of setting a sliding window, obtaining a width set according to a width of an intersection of the sliding window and an edge of the tail rope, and determining a state of the second tail rope according to a discontinuity point of the width set includes:
s31: performing intersection operation on the sliding window and the edge of the tail rope to obtain a plurality of intersections, and calculating the widths of the intersections to obtain a width set;
s32: acquiring a maximum intersection width value and a minimum intersection width value according to the catastrophe points in the width set, and calculating a difference value between the maximum intersection width value and the minimum intersection width value to obtain a width distance;
in some embodiments, the step of obtaining the maximum intersection width value and the minimum intersection width value according to the mutation points in the width set includes:
and carrying out derivation operation on the width set to obtain a plurality of mutation points, determining the mutation point with the largest median value of the plurality of mutation points as the maximum value of the intersection width, and determining the mutation point with the smallest median value of the plurality of mutation points as the minimum value of the intersection width.
S33: and comparing the width distance with a preset threshold value to determine the state of the second tail rope.
In some embodiments, the sliding window is set to have a width W and a height H; w is more than 3 times the width of the tail rope, and H is the length of 2 pixels. It should be noted that the sliding window of step S3 is not the same as the sliding window of the embodiment in which the morphological opening operation is performed on the second image in step S13.
As a preferred embodiment of the present invention, the step of comparing the width distance with the preset threshold value to determine the second tail rope state in step S33 includes:
when the width distance is larger than the threshold value, the state of the second tail rope is determined to be strand scattering or kinking;
and when the width distance is smaller than the threshold value, determining that the second tail rope is in a non-strand spreading kink state.
As a preferred embodiment of the present invention, in step S3, the step of controlling the tail rope to enter the suspended operation state or maintain the normal operation state according to the second tail rope state includes:
when the second tail rope state is determined to be a strand scattering state or a kinking state, the tail rope is controlled to enter a pause working state;
and when the second tail rope is determined to be in a non-strand-spreading kink state, the normal working state of the tail rope is maintained.
The invention also provides a tail rope monitoring and controlling device, which comprises the following components in percentage by weight with reference to fig. 5:
the image acquisition device 1 is arranged on the outer side of the tail rope in a non-contact manner and is used for acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set;
in some embodiments, the image capturing device 1 is a camera capable of adjusting a shooting angle, so as to adjust the shooting angle to improve shooting quality and adjust a preset tail rope monitoring position.
In some embodiments, the image capturing device 1 is disposed on the work site or the elevator through an adjustable bracket, so as to adjust the position of the image capturing device 1, and facilitate the image capturing device 1 to accurately capture the image of the monitored portion of the tail rope.
The image processing device 2 is used for carrying out image processing on the monitoring image set to obtain a tail rope image and determining a first tail rope state according to the tail rope image and a preset region of interest; the tail rope state detection device is used for obtaining the tail rope edge of a tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, and determining a second tail rope state according to the mutation point of the width set;
in some embodiments, the image processing apparatus 2 may adopt an image processing apparatus commonly used in the prior art, and a function of determining the tail rope state is provided in the image processing apparatus, so that the functions required by the image processing apparatus 2 according to the present invention can be achieved, and the purposes of monitoring the tail rope and determining the tail rope state are achieved.
And the control device 3 is used for controlling the tail rope to enter a pause working state or carrying out secondary identification control according to the first tail rope state and controlling the tail rope to enter the pause working state or maintain a normal working state according to the second tail rope state. As a preferred embodiment of the present invention, the tail rope monitoring and controlling device further includes a light supplementing device and a dust removing device, and both the light supplementing device and the dust removing device are connected to the image acquiring device.
In some embodiments, the control device 3 is a programmable controller, which facilitates programming and automatic control of the tail rope to enter a suspended state or maintain a normal state according to the state of the tail rope.
In some embodiments, referring to fig. 5, the tail rope monitoring and controlling device further includes a light supplement device 4 and a dust removal device 5, and both the light supplement device 4 and the dust removal device 5 are connected to the image acquisition device.
In some embodiments, the light supplement device 4 includes, but is not limited to, an explosion-proof light supplement lamp, is arranged at a lateral portion of the image processing device 1, and is used for irradiating a monitoring portion of the tail rope, so that the quality of the monitoring image set acquired by the image processing device 1 is improved, and the quality of the tail rope image acquired subsequently is improved.
In some embodiments, the dust removing device 5 includes, but is not limited to, a blower and an electric sweeping device, the dust removing device 1 is disposed on the front side of the camera of the image processing device 1, and is used for cleaning dust or dirt on the camera lens of the image processing device 1, so as to prevent the dust environment from affecting the quality of the image acquired by the image processing device 1, ensure the quality of the monitoring image set acquired by the image processing device 1, and improve the quality of the tail rope image acquired subsequently.
In some embodiments, the image acquiring device 1 acquires all monitoring images of the tail rope in real time to obtain a monitoring image set, and transmits the monitoring image set of the tail rope to the image processing device 2;
the image processing device 2 converts the monitoring image set into a tail rope image, and determines a tail rope state according to the tail rope image, specifically, the image processing device 2 determines the first tail rope state according to an intersection of the tail rope image and the region of interest;
when any one tail rope image does not intersect with the interested region, determining that the first tail rope state is large in amplitude; after the image processing device 2 transmits the state signal with large tail rope swing amplitude to the control device 3, the control device 3 controls the tail rope of the hoisting machine to start the system to stop so as to enable the tail rope to enter a pause working state;
when all the tail rope images have intersection with the region of interest, determining that the first tail rope state is normal in swing amplitude, and after the image processing device 2 transmits a state signal that the tail rope swing amplitude is normal to the control device 3, the control device 3 enters secondary identification control; the secondary identification control step comprises:
the image processing device 2 sets a sliding window, obtains a width set according to the width of the intersection of the sliding window and the tail rope edge, and determines a second tail rope state according to the catastrophe point of the width set, wherein the steps include:
performing intersection operation on the sliding window and the edge of the tail rope to obtain a plurality of intersections, and calculating the width of the intersections;
obtaining the maximum value and the minimum value of the intersection width in the intersection width, and calculating the difference value of the maximum value and the minimum value of the intersection width to obtain the width distance;
comparing the width distance with a preset threshold value to determine a second tail rope state;
when the width distance is larger than the threshold value, determining that the second tail rope is in a scattered strand or twisted strand state, and after the image processing device 2 transmits a scattered strand or twisted strand state signal of the tail rope to the control device 3, controlling the tail rope to enter a pause working state by the control device 3;
when the width distance is smaller than the threshold value, the second tail rope state is determined to be the non-strand-spreading kink state, and after the image processing device 2 transmits a state signal of the non-strand-spreading kink state of the tail rope to the control device 3, the control device 3 keeps the normal working state of the tail rope.
After the technical scheme is adopted, compared with the prior art, the technical scheme of the invention has the following advantages:
1. the monitoring image set is obtained by acquiring all monitoring images of the tail rope in real time, the image processing is carried out on the monitoring image set to acquire the tail rope image, the first tail rope state and the second tail rope state are acquired according to the tail rope image, the state of the tail rope is monitored in a non-contact mode, the operation of the tail rope is not affected, the burden and abrasion of the tail rope are not increased, the tail rope image and the tail rope state are automatically acquired, the real-time performance and the effectiveness of tail rope state detection are improved, and manpower is saved;
2. the tail rope is controlled to enter a pause working state or maintain a normal working state according to the state of the first tail rope or the state of the second tail rope, and the tail rope is controlled to stop or normally work according to the state of the tail rope, so that the accuracy and effectiveness of monitoring and controlling the tail rope are ensured, and the detection and operation safety of the tail rope is greatly improved.
3. The tail rope monitoring and controlling device is simple in structure and low in cost, the tail rope monitoring and controlling device is integrally not in contact with the tail rope, normal work and monitoring of the tail rope are guaranteed, and accuracy of monitoring and controlling of the tail rope is improved.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (8)
1. A tail rope monitoring and controlling method is characterized by comprising the following steps:
acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set;
performing image processing on the monitoring image set to obtain a tail rope image;
performing primary identification control, and determining a first tail rope state according to the tail rope image and a preset interested area, wherein the method comprises the following steps of:
when all the tail rope images have intersection with the interested area, determining that the first tail rope state is a swing amplitude normal;
when any one tail rope image does not intersect with the interested region, determining that the first tail rope state is large in amplitude;
controlling the tail rope to enter a suspended working state or performing secondary identification control according to the state of the first tail rope, wherein the method comprises the following steps:
when the first tail rope state is determined to be the large swing amplitude, the tail rope is controlled to enter a pause working state;
when the first tail rope state is determined to be that the swing amplitude is normal, performing secondary identification control;
the secondary recognition control includes: the method comprises the steps of obtaining the tail rope edge of the tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, determining a second tail rope state according to the mutation point of the width set, and controlling the tail rope to enter a pause working state or maintain a normal working state according to the second tail rope state.
2. The tail rope monitoring control method of claim 1, wherein the step of image processing the monitoring image set to obtain a tail rope image comprises:
acquiring all monitoring images in the monitoring image set, and sequentially performing contrast enhancement operation on each monitoring image to obtain a first image;
carrying out binarization operation on the first image to obtain a second image;
performing morphological open-study operation on the second image to filter interference points to obtain a third image;
performing edge extraction operation on the third image to obtain an edge image;
and performing characteristic analysis on the edge image to obtain the tail rope image.
3. The tail rope monitoring control method of claim 2, wherein the step of determining a first tail rope state from the tail rope image and a preset region of interest comprises:
acquiring all tail rope images in the monitoring image set;
determining the first tail rope state according to the intersection of the tail rope image and the interested area.
4. The tail rope monitoring control method of claim 2, wherein the step of obtaining the tail rope edge of the tail rope image comprises: and acquiring the edge of the tail rope according to the edge image.
5. The tail rope monitoring and control method of claim 2, wherein the step of setting a sliding window, obtaining a width set according to a width of an intersection of the sliding window and the tail rope edge, and determining a second tail rope state according to a discontinuity point of the width set comprises:
performing intersection operation on the sliding window and the edge of the tail rope to obtain a plurality of intersections, and calculating the widths of the intersections to obtain the width set;
acquiring a maximum intersection width value and a minimum intersection width value according to the catastrophe points in the width set, and calculating a difference value between the maximum intersection width value and the minimum intersection width value to obtain a width distance;
and comparing the width distance with a preset threshold value to determine the state of a second tail rope.
6. The tail-rope monitoring control method of claim 5, wherein the step of determining a second tail-rope condition based on the comparison of the width to a preset threshold comprises:
when the width distance is larger than the threshold value, determining that the second tail rope state is a strand spreading state or a kinking state;
and when the width distance is smaller than the threshold value, determining that the second tail rope state is a non-strand-spreading kink.
7. The tail rope monitoring and controlling method as claimed in claim 6, wherein the step of controlling the tail rope to enter a suspended working state or maintain a normal working state according to the second tail rope state comprises:
when the second tail rope state is determined to be the strand scattering or twisting, the tail rope is controlled to enter a pause working state;
and when the second tail rope state is determined to be the non-strand-spreading kink, the normal working state of the tail rope is maintained.
8. A tail rope monitoring and control device is characterized by comprising:
the image acquisition device is arranged on the outer side of the tail rope in a non-contact manner and is used for acquiring all monitoring images of the tail rope in real time to obtain a monitoring image set;
the image processing device is used for carrying out image processing on the monitoring image set to obtain a tail rope image and determining a first tail rope state according to the tail rope image and a preset region of interest; the tail rope state detection device is used for obtaining the tail rope edge of the tail rope image, setting a sliding window, obtaining a width set according to the width of the intersection of the sliding window and the tail rope edge, and determining a second tail rope state according to the mutation point of the width set;
and the control device is used for controlling the tail rope to enter a suspended working state or carrying out secondary identification control according to the first tail rope state and controlling the tail rope to enter the suspended working state or maintain a normal working state according to the second tail rope state.
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| CN106081907B (en) * | 2016-05-15 | 2017-10-31 | 大连海事大学 | A kind of contactless row hangs lifting rope swing angle monitoring device |
| CN109019210B (en) * | 2018-06-29 | 2021-03-23 | 中国矿业大学 | Lifting system tail rope health monitoring system and method based on convolutional neural network |
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