CN116773178A

CN116773178A - Mine falling protector braking distance measuring device and measuring method thereof

Info

Publication number: CN116773178A
Application number: CN202311027029.4A
Authority: CN
Inventors: 俞越
Original assignee: China Inspection Group Gongxin Security Technology Co ltd
Current assignee: China Inspection Group Gongxin Security Technology Co ltd
Priority date: 2023-08-16
Filing date: 2023-08-16
Publication date: 2023-09-19
Anticipated expiration: 2043-08-16
Also published as: CN116773178B

Abstract

The invention relates to a mine falling protector braking distance measuring device and a measuring method thereof, and belongs to the field of detection and test. The invention relates to a braking distance measuring device of a mine falling protector, which comprises a shell, wherein a display screen is arranged on the shell, and an optical observation window, an indicator light, function operation keys, a mode change-over switch, a memory card inserting hole and a data transmission interface are arranged on the front surface of the shell; the back of the shell is provided with a cubic neodymium magnet; the lower part of the shell is provided with an optical glass column, a laser ranging module, a measuring LED light supplementing lamp module, a camera module and an outwards flaring metal shielding cover; the shell is internally provided with a central control module, a GPS module, an active ceramic GPS antenna, a wireless receiving module, a wireless transmitting module, a 315M control module, a 433M communication output module, a nine-axis accelerometer gyroscope module, a power module and a loudspeaker module. The measuring instrument has reasonable design and scientific and accurate measurement.

Description

Mine falling protector braking distance measuring device and measuring method thereof

Technical Field

The invention relates to a mine falling protector braking distance measuring device and a measuring method thereof, and belongs to the field of detection and test.

Background

The energy industry standard NB/T10050-2018, namely the standard requirements of the detection and inspection standards of the falling protector of the shaft lifting system for the coal mine, is an important means for guaranteeing the safety production for the periodic test of various mine falling protectors. Wherein shaft promotes safety hook and detects inspection project and include: non-unhooking test, no-load unhooking test, heavy-load unhooking test, and the like. The unhooking test has a relatively perfect solution, but the unhooking test has various disadvantages.

The unhooking test mainly measures the falling distance of the falling protector, so that the real braking performance of the falling protector can be reflected more intuitively, the passing distance of each stage after the cage unhooking needs to be detected, wherein the passing distance comprises the distance before braking, the distance during braking and the like, and other parameters such as braking deceleration, idle stroke time and the like can be analyzed by combining the braking distance with time in order to meet the standard requirement.

Under the prior art condition, huge impact can be generated when the non-load unhooking test and the heavy load unhooking test fall arrester are braked, the traditional fall arrester measuring instrument is required to be connected with a cage or the fall arrester for testing, the impact force in the moment of braking is very strong, the linearity and the physical structure of the traditional fall arrester measuring instrument are influenced by the huge impact and vibration, and precision drift and instrument structure damage are easy to cause. Taking CCZ series falling protector measuring instrument as an example, the measuring instrument adopts a rigid connection mode to measure by using a linear resistance ruler, the concentricity of the resistance ruler and the damage of a sliding contact point are easily caused under huge impact, the accuracy is affected, and uncontrollable data drift is generated. At present, conventional means of the conventional technology cannot solve the problems well and thoroughly, other single measurement modes have various defects, and no targeted design and scheme for solving the defects exist in the market at present.

Disclosure of Invention

The invention provides a mine falling protector braking distance measuring device and a measuring method thereof, which realize the measurement of the falling protector braking distance by a compound method and simultaneously avoid the problems of precision drift and instrument structure damage.

In order to achieve the above purpose, the invention provides a mine fall arrester braking distance measuring device and a measuring method thereof, the mine fall arrester braking distance measuring device comprises a shell, and is characterized in that an optical observation window is arranged on the front surface of the shell, the optical observation window penetrates through the whole shell, and an inclined reflector is arranged on a hole at the rear part of the optical observation window;

the front surface of the shell is also provided with a display screen, a plurality of indicator lamps, function operation keys, a mode change-over switch, a memory card inserting hole and a data transmission interface;

a cubic neodymium magnet is arranged on the back of the shell and below the reflector, the surface of the neodymium magnet is plated with gold, the five sides of the neodymium magnet are wrapped with polytetrafluoroethylene of 1mm, a metal shielding layer is arranged outside the polytetrafluoroethylene, wherein the neodymium magnet is connected with a wire core of a feeder, the metal shielding layer is connected with a shielding layer of the feeder, and the back of the convex shell of the neodymium magnet is not wrapped by polytetrafluoroethylene;

the lower part of the shell is provided with a concave area and a transparent optical sapphire cover plate for sealing, an optical glass column, a laser ranging module, a measuring LED light supplementing lamp module, a camera module and a trapezoid metal shielding cover flared outwards are arranged in the cover plate, the side surfaces around the optical glass column are frosted, the two ends are smooth surfaces, one end of the smooth surface is adhered to the transparent optical sapphire cover plate, and the other end of the smooth surface is adhered to a laser emission head of the laser ranging module;

Set up central control module, GPS module, active ceramic GPS antenna, wireless receiving module, wireless transmitting module, 315M control module, 433M communication output module, nine-axis accelerometer gyro module, speaker module in the casing, central control module contains input signal bus and output signal bus, wherein GPS module, laser rangefinder module, wireless receiving module, camera module, nine-axis accelerometer gyro module, 315M control module and function operation button connect respectively in input signal bus, wherein display screen, wireless transmitting module, pilot lamp, 433M communication output module, speaker module, measurement LED light filling lamp module, observe LED light filling lamp module and connect respectively in output signal bus.

According to the mine safety hook braking distance measuring device, the left side and the right side of the shell are provided with anti-falling rubber edges which are raised on the PU material on the surface of the machine body, the upper and lower positions of each anti-falling rubber edge are respectively provided with a dismantling groove, and the middle part of each anti-falling rubber edge is provided with a binding belt fixing area which is sunken towards the center side of the machine body and used for embedding and fixing binding belts.

According to the mine safety hook braking distance measuring device, the indicator lamp is arranged above the optical observation window, and the indicator lamp is respectively arranged from left to right: yellow pilot lamp, green pilot lamp, blue pilot lamp, red pilot lamp, yellow pilot lamp represent in the preheating, green pilot lamp represent in the work, blue pilot lamp represents the end, red pilot lamp represents the trouble, and when the red pilot lamp was lighted, all procedures and detection action all ended, until the manual instrument that restarts.

According to the mine safety catch braking distance measuring device, the middle part of the back of the shell is provided with a trapezoid prism table, the trapezoid prism table is concavely provided with the neodymium magnet, the neodymium magnet protrudes out of the back of the shell by 0.5mm, and the mine safety catch braking distance measuring device further comprises an observation LED light supplementing lamp module, is arranged in a strip-shaped protruding area at the lower part of the neodymium magnet and irradiates towards the neodymium magnet above.

According to the mine safety hook braking distance measuring device, the upper part of the shell is provided with an inward depression, a power switch, a charging interface and an SMA interface are arranged at the inward depression from left to right, the mode change-over switch is connected with the power amplifier, and the power amplifier is connected with the wireless transmitting module.

According to the mine safety hook braking distance measuring device, the number of the metal shielding covers is three, the metal shielding covers are nested, the metal shielding covers are parallel to each other and insulated from each other, the distance between the metal shielding covers is 1mm, the metal shielding covers of the innermost layer are connected with the feeder line shielding layer of the wireless receiving module, the metal shielding covers of the innermost layer comprise sheet-shaped directional antennas, the metal shielding covers of the innermost layer are mutually insulated from the directional antennas, the sheet-shaped directional antennas are connected with the wireless receiving module through wire cores of the feeder line, and the wireless receiving module is internally provided with a wireless radio frequency power detecting module.

According to the mine safety hook braking distance measuring device, a nine-axis accelerometer gyroscope module integrates a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope, the static attitude measurement precision is not more than 0.05 degrees, the dynamic attitude measurement precision is not more than 0.1 degrees, a Kalman attitude resolving algorithm is built in, the mine safety hook braking distance measuring device is provided with a magnetometer ellipsoid correction function, delta acceleration is an acceleration fluctuation variable, delta triaxial gyroscope data is a X, Y, Z-axis fluctuation variable, delta ellipsoid magnetic force data is a magnetometer data fluctuation variable after an ellipsoid fitting algorithm, fluctuation calculation is based on relative change of average measurement values of two continuous groups of data, fluctuation of the delta acceleration and the delta triaxial gyroscope data refers to relative change percentage of average measurement values of a previous group, fluctuation of the delta ellipsoid magnetic force data is absolute change percentage of average measurement values of the previous group, the number of data samples of each group is determined according to the stability of the nine-axis accelerometer module data, and the total sampling time of each group is not higher than 5ms.

According to the method for measuring the braking distance of the mine safety catch,

the method comprises the following steps:

1) Installing the device to a measuring position according to the requirement, checking the adsorption condition through an optical observation window, and selecting a corresponding measuring mode;

2) Starting a power supply, lighting a yellow prompt lamp by an instrument, broadcasting a prompt tone, wherein the prompt tone comprises a limit requirement for the distance between a person and the instrument, preheating a GPS module for searching stars while broadcasting the prompt tone, powering up a nine-axis accelerometer gyroscope module after broadcasting the prompt tone, entering a working state, collecting acceleration data, three-axis gyroscope data and magnetometer data after an ellipsoid fitting algorithm in real time, recording GPS data collected by the GPS module, and calibrating the time of the device according to the time collected by the GPS module;

3) Calculating delta acceleration, delta triaxial gyroscope data and delta ellipsoidal magnetic force data, directly entering the next step when the delta acceleration and delta triaxial gyroscope data fluctuation is less than 0.1% and the delta ellipsoidal magnetic force data fluctuation is less than 1% within 5 seconds, repeatedly carrying out detection calculation of the step after delaying for 5 seconds when the delta acceleration and delta triaxial gyroscope data fluctuation is more than 0.1% and less than or equal to 0.3%, and carrying out the jump cycle for 5 times at most, and prompting to check environmental vibration factors when the delta acceleration and delta triaxial gyroscope data fluctuation is more than 0.3% and less than 0.6%, and turning on a red indicator lamp;

4) Executing the single-thread monitoring task, directly entering the next step, and stopping the single-thread monitoring task until the cage is detected to start moving, wherein the single-thread monitoring task has a delay error reporting function, if the cage is detected to start moving, the error reporting in the delay is stopped, the subsequent error reporting action is not executed any more, and meanwhile, the single-thread monitoring task is stopped;

5) The wireless transmitting module, the power amplifier and the wireless receiving module are electrified, an optimal channel is detected and set, the signal intensity of an effective coded signal is counted, the average value, the standard deviation and the range of the received signal intensity dbm value within 5 seconds are counted and calculated, when the ratio of the standard deviation to the average value of the intensity dbm value is not more than 0.5 percent, namely the standard deviation/average value is not more than 0.5 percent and the ratio of the range to the average value is not more than 5 percent, namely the range/average value is not more than 5 percent, the next step is directly carried out, otherwise, the display screen prompts to report errors, and the two types of errors are reported, if the (range/average value) is not less than 10 percent, the error-reporting prompt signal receiving and transmitting module is suspected to have faults, and besides the conditions, the unified error-reporting prompt site has radio interference to be eliminated, and the red indicator lamp is lightened;

6) Setting a camera sampling rate to be increased to a rated working frame rate, loading data captured by the camera into a RAM of a central controller, denoising cage top information captured by the camera, smoothing an image by using a Gaussian filter, calculating gradient strength and direction of each pixel in the image by using a Sobel operator, detecting maximum value in the gradient direction, only reserving a point with maximum pixel gradient, dividing the pixel point into three types of strong edge, weak edge and non-edge, directly outputting the strong edge, directly discarding the non-edge, outputting the weak edge when the weak edge is connected to the strong edge, connecting the weak edge to the strong edge by using a connectivity analysis algorithm to form a complete edge, dividing the continuous edge into single line segments, selecting marks of the cage edge meeting the requirement by using a 315M wireless controller by using a tester, recording the length and coordinate position information of the current cage edge line segments in the image data, measuring the distance from a laser ranging module to the top of the cage by using a D1, simultaneously lighting a green indicator lamp, completing the device (2) and preparing the video frame data to be read out of the video, continuously recording the video frame data in a high-rate cyclic format by using a video frequency-recording strategy, and recording the video frame data in a high-speed, and recording the video frame-time, and continuously recording the video data in a high-speed and high-speed cyclic format, and recording the video data in a high-speed and high-speed data-speed cyclic format, and recording the video data in a mode, and the video data-recording mode, and the video data and the data is continuously recorded by using a CPU;

7) Executing a default mode program or selecting to execute a strict mode program according to the setting of a user, executing the default mode program when the setting is not performed, and directly entering the next step after the normal end of the program in both modes, wherein the default mode program is characterized in that: when detecting that the current coded signal strength change is more than +/-20% of the average value and the signal strength average value cannot be recovered, taking the time in transient as T1, but linking the laser ranging module to measure distance and record as DC at the T1 time of the momentary change of the strength dbm value no matter whether the coded signal strength is recovered or not, normally ending the program execution, prompting a user that the signal receiving and transmitting module possibly has faults, simultaneously executing error reporting, clearing T1 and DC variables and lighting a red indicator lamp, wherein the signal strength is not recovered after 500 milliseconds, the change of the signal strength dbm value is more than +/-20% of the average value and can be recovered to within 5% of the strength average value within 500 milliseconds;

8) Stopping a low resource consumption strategy of a camera, stopping a RAM video data coverage strategy, recording sampling video data recorded in real time to a RAM which is not covered, improving CPU main frequency to the highest frequency, stopping display screen output and releasing memory resources occupied by the CPU main frequency, simultaneously carrying out real-time analysis and processing on the video data, adding a mark to a video frame at the moment T1, detecting a 'cage edge' motion state by using a light flow algorithm, recording the current time as T2 when the 'cage edge' stop change is detected, adding the mark to the video frame at the moment T2, simultaneously linking a laser ranging module to measure and record the ranging as D2, stopping camera capturing and writing of the video RAM, compressing and storing the sampling video in the ROM in an H.265 format, and embedding GPS metadata acquired by a GPS module into a video file;

9) Calculating D2-d1=d3, analyzing the video stream frame by frame, finding the cage edge according to the length of the marked cage edge line segment and the coordinate position information, tracking and identifying the cage edge in each frame by using a mean shift algorithm, tracking and recording the change of the cage edge in each frame on the pixel position, and calculating the actual displacement:

(a) The cage edge pixel position difference deltapi of the i-th frame and the i+1-th frame is calculated,

(b) Summing all deltapi, gives the total pixel shift deltapt,

(c) Dividing D3 by the total pixel shift deltapt, to obtain a conversion ratio K, k=d3/deltapt,

(d) Calculating Δd=k×Δpi, Δt=1/camera work frame rate;

10 Drawing a curve: wherein the abscissa is time T and the ordinate is displacement distance D; setting a curve starting point as a coordinate axis origin, wherein the origin is (T1, D1), the T1 point is a time point when the cage is not displaced at the unhooking moment, and the D1 point is a measured value completed by the 5 th step laser ranging module. And determining each point in the coordinate system according to the calculated actual displacement delta D distance value of each edge and the time interval delta T between two frames, sequentially connecting the points to draw a cage motion state curve with the distance changing along with time, and finally displaying the curve formed by connecting the points on a display screen. Wherein (D2, T2) is the end point of the cage motion state curve, namely the cage motion stopping point, D3 is the difference between D2 and D1, namely the actual displacement of the cage before and after the action of the safety hook, an expected curve is drawn according to v=gt, namely D=0.5gt 2, the separation point of the two curves is (Tx, dx), the D value of the overlapped part of the two curves is the idle stroke distance, namely D1 to Dx are the idle stroke distance; the T value of the overlapping part of the two curves is the idle time, namely T1 to Tx are idle travel time; dx to D2 are deceleration distances, tx to T2 are deceleration times;

11 Restoring the output of the display screen, outputting a display curve, outputting the curve into a picture format, storing the curve and the current video in the same folder, naming the folder by the place and the time recorded by the GPS, outputting the difference between DC and D1 or the difference between DC2 and D1, prompting personnel to check the difference, and lighting a blue indicator lamp.

According to the method for measuring the braking distance of the mine falling protector by the measuring device, in the step 4), in the monitoring task, when the delta acceleration and the delta triaxial gyroscope fluctuation data are more than 0.1% and less than or equal to 0.3%, counting is carried out once, when the count reaches 5 times or single delta acceleration and the delta triaxial gyroscope fluctuation data are more than 0.3%, error reporting and prompting are started, after the delay time is 1500 milliseconds, error reporting and prompting are carried out, the fact that the vibration is too large is required to be eliminated, whether the instrument is fixed at a rigid connection position or not is required to be confirmed manually is prompted, and a red indicator lamp is lightened.

According to the method for measuring the braking distance of the mine safety hook by the measuring device, the step 7) in the strict mode comprises the following steps:

1) Preprocessing signals, namely taking the strongest signal in the selected working channel as an effective signal to be selected;

2) Verifying the valid signal to be selected, verifying the check bit, recording the verification success as a valid signal, and calculating the proportion of the number of invalid signals to the total signal in real time;

3) The invalid signal proportion is more than 0.1 percent, and the error is directly reported, so that the user is prompted that the on-site radio environment is poor, the user is informed to exclude or use a default mode, the step is terminated after the error is reported, and a red indicator lamp is lightened;

4) If no error is reported, further checking the effective signal, checking whether the code sequence number of the file header is continuous with the code of the previous signal, if so, carrying out effective counting, if the effective counting reaches 10000, jumping to execute the next step, calculating and counting the time information of the coded signal, if not, carrying out interrupt counting once in each time of discontinuity, if the interrupt counting is added to 10, reporting the error, prompting that the channel has interference or magnet adsorption failure needs to be eliminated, and simultaneously executing error reporting and lighting a red indicator lamp;

5) Calculating the time information carried by the effective coding signal received each time and the current system time difference value in the effective signal, namely 'difference value' in the follow-up description, solving the average value of 10000 difference values, namely 'average value' in the follow-up description, comparing the difference value with the average value in the follow-up description, when the difference value is 3 times changed and exceeds 10% of the average value, taking the time when the time information transient is detected for the first time as T1, and linking the laser ranging module to perform ranging at the T1 moment when the time information carried by the effective coding signal is detected for the 1 st time no matter whether the difference value is continuously changed, wherein the ranging result is recorded as DC2, if the subsequent difference value is still more than 10% of the average value, normally ending the program execution, if the difference value is still more than 10% of the average value, continuing the time average value comparison strategy, clearing T1 and DC2 variables, and prompting that the magnet may be in poor contact adsorption at the moment.

The invention has the advantages that: the distance change trend of the whole braking process of the falling protector is measured by a compound method capable of supporting each other, and the scientific analysis mode is used for measuring and analyzing the detection data, so that the defects and the short plates of the traditional measurement scheme are overcome;

the measuring instrument is scientific in measurement, overcomes the defect of the single measurement mode of the existing measuring instrument, supports each other in all aspects, and comprehensively improves the overall function of the measuring instrument.

Drawings

Figure 1 is a front perspective view of the present invention,

figure 2 is a rear perspective view of the present invention,

figure 3 is a top perspective view of the present invention,

figure 4 is a lower perspective view of the present invention,

figure 5 is a circuit connection diagram of the present invention,

fig. 6 is a schematic diagram of a braking distance curve drawn by the test braking method of the present invention.

Reference numerals: 1. the device comprises a shell, 2, a display screen, 3, an optical observation window, 4, a reflector, 5, an indicator lamp, 6, a function operation key, 7, a mode switch, 8, a memory card insertion hole, 9, a data transmission interface, 10, a neodymium magnet, 11, an optical glass column, 12, a transparent optical sapphire cover plate, 13, a laser ranging module, 14, a measuring LED light supplementing lamp module, 15, a camera module, 16, a metal shielding cover, 17, a central control module, 18, a GPS module, 19, an active ceramic GPS antenna, 20, a wireless receiving module, 201 and a wireless power detection module, the intelligent electronic device comprises a wireless transmitting module, a 22M control module, a 315M control module, a 23M communication output module, a 433M communication output module, a 24M accelerometer gyro module, a 25M power amplifier, a 26M speaker module, a 27M trapezoidal prism, a 28M observation LED light supplementing lamp module, a 29M power switch, a 30M charging interface, a 31M SMA interface, a 32M anti-falling glue edge, a 33M dismounting groove, a 34M binding band fixing area, a 35M directional antenna, a 36M output signal bus, a 37M input signal bus, a 38M function A area, a 39M function B area, a 40M function C area.

Detailed Description

The following further describes the content of the invention:

the whole measuring instrument is a flat cubic shell, and a control circuit is arranged inside the measuring instrument.

The front middle part of the specific casing is provided with the display screen, and display screen upper portion sets up optical observation window, and optical observation window link up the casing front and back surface, wherein in the optical observation window passageway, set up the speaker trompil, can't directly see the speaker trompil from outside, it is comparatively pleasing to the eye.

The front of the shell is provided with a working state indicator lamp on the upper part of the optical observation window, and the working state indicator lamp is respectively from left to right: yellow pilot lamp, green pilot lamp, blue pilot lamp, red pilot lamp. The yellow indicator light represents the middle of preheating, the green indicator light represents the middle of working, the blue indicator light represents the end, and the red indicator light represents the fault. The indicator lamp can clearly and directly judge the working state of the instrument.

The display screen lower part sets up the rectangular function A district of inwards sunken, and function A district space in left side has set up the function operation button, and the right side top sets up mode change over switch in the space, and the SMA interface is connected in mode change over switch respectively with neodymium magnet's feeder. And a TF memory card slot is arranged on the left side below the mode change-over switch, and a TYPE-C TYPE data transmission interface is arranged on the right side.

The rear part of the optical observation window, namely the rear part of the shell is provided with a downward inclined reflecting mirror, and the front part of the optical observation window can see the reflecting mirror for observing the adsorption fixing condition of the rear part of the shell.

A cube-shaped neodymium magnet is arranged at the trapezoid prism table in the middle of the back of the shell, and the reflector observes the state that the neodymium magnet is adsorbed on the equipment to be tested. The cube-shaped neodymium magnet is plated with gold on the surface, the thickness of the gold-plated layer is greater than 50 micrometers, the five surfaces are wrapped with polytetrafluoroethylene with 1mm, the polytetrafluoroethylene is wrapped with a trapezoid-shaped metal shielding layer, the neodymium magnet is connected with a wire core of a feeder, the metal shielding layer is connected with the shielding layer of the feeder, and the neodymium magnet protrudes out of the machine body by 0.5mm. The surface electroplating can be stamped on the outer side plane of the neodymium magnet, useless word patterns are disassembled, and the damage to the instrument caused by picking up and prying by workers when the word patterns are lost is prevented. The feeder is connected to a power amplification module of the internal control circuit.

The lower part of the neodymium magnet is provided with a strip-shaped protruding area for installing a strip-shaped observation LED light supplementing lamp module for observing the attraction condition of the magnet through an observation window. And the observation LED light supplementing lamp module irradiates the neodymium magnet, and the reflector observes the adsorption condition of the neodymium magnet through the optical observation window.

The left and right sides of the shell are provided with PU anti-falling rubber edges protruding on the surface of the machine body, each rubber edge is provided with a dismantling groove, and when the shell is recovered after detection, fingers buckle to take down the whole shell absorbed by magnetic force. The middle part of the anti-falling rubber edge is provided with a binding band fixing area which is sunken towards the central side of the machine body, and binding bands can be bound and fixed on the periphery of the shell so as to be fixed on equipment to be detected with different structures.

The upper part of the shell is provided with an inward concave rectangular functional B area, and a power switch, a charging interface and an SMA interface are arranged from left to right.

The casing lower part is provided with the square apron of inwards sunken function C district, and the opening part is provided with the square apron of artificial transparent optical sapphire, and the apron is sealed at the opening part with function C district, and apron thickness 2mm, inside bonding have the one end of optical glass post, dull polish around the cylinder, and both ends are the plain noodles, and the other end of optical glass post bonds to the laser emission head of laser rangefinder module. The adhesive is preferably 705 optical silicone rubber, and bonding using UV light curable glue is prohibited. The whole functional C area is also provided with a black light absorption coating coverage surface; one end of the functional C area is provided with a measuring LED light supplementing lamp module; the other end is provided with a camera module, the barrel distortion rate of the camera module is lower than 0.1%, the camera module uses fixed focus, the visual angle is 69.9 degrees or more, but not more than 90 degrees, the optimal value of the lens focal length is 4mm (after the lens) and the sampling rate is 1000fps/S or more, and the lens material is preferably a coated optical glass lens.

Three embedded outward flaring trapezoid metal shielding covers are arranged in the center of the functional C area, and are mutually parallel and mutually insulated, and the interval is 1mm. The metal shielding cover at the innermost layer is connected with the feeder line shielding layer of the wireless receiving module, the metal shielding cover at the innermost layer comprises a sheet-shaped directional antenna, the shielding cover and the directional antenna are mutually insulated, the sheet-shaped directional antenna is connected with the wireless receiving module through a wire core of a feeder line, and the wireless receiving module is internally provided with a wireless radio frequency power detection module.

The shell is internally provided with a central control module, a GPS module, an active ceramic GPS antenna, a wireless receiving module, a wireless transmitting module, a 315M control module, a 433M communication output module, a nine-axis accelerometer gyroscope module, a power module, a loudspeaker module and the like.

The central control module comprises an input signal bus and an output signal bus, the core adopts a high-performance 64-bit four-core processor, the LPDDR4 memory is provided with a standard 40-pin GPIO interface, the power supply type and the programmable GPIO are included, and part of the GPIO can be multiplexed into IIC, SPI, UART, PWM and the like.

The GPS module 18, the laser ranging module 13, the wireless receiving module 20, the camera module 15, the nine-axis accelerometer gyroscope module 24, the 315M control module 22 and the function operation key 6 are respectively connected to an input signal bus, and the display screen 2, the wireless transmitting module, the indicator lamps 5 and 433M communication output module 23, the loudspeaker module 26, the measuring LED light supplementing lamp module 14 and the observing LED light supplementing lamp module 28 are respectively connected to an output signal bus. The SMA interface 31 and the feeder line of the neodymium magnet 10 are respectively connected to the mode switch 7, the mode switch 7 is connected to a power amplifier, and the power amplifier is connected to the wireless transmitting module 21.

The GPS module is a multimode satellite navigation positioning module, supports single-system positioning and multi-system combined positioning of BDS/GPS/GLONASS satellite navigation systems, supports QZSS and SBAS systems, and is connected with the GPS module.

The wireless receiving module and the wireless transmitting module are matched with the receiving frequency band, the receiving and transmitting frequency is not lower than 2GHz and not higher than 6GHz, the six-channel data receiving is supported, the modulation modes such as GFSK/FSK and the like are supported, the frequency point is not lower than 126 to meet the requirements of multipoint communication and frequency hopping communication, the sensitivity at least meets-96 dbm (when the speed in the air is 250 kbps), and the LDO with high PSRR is integrated inside.

The nine-axis accelerometer gyroscope module integrates a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope, the static attitude measurement precision is not more than 0.05 degree, the dynamic attitude measurement precision is not more than 0.1 degree, a Kalman attitude resolving algorithm is built in, the system has an ellipsometer correction function, and 2 transmission modes of serial port output and IIC output data are supported.

The 315M control module is used for a worker to wirelessly operate a control instrument to select the edge of the cage, and most 315M control modules on the market can meet the requirements; the 433M communication output module is used for outputting data such as printing data, and the transmission rate is not lower than 19.2kbps.

The power module is powered by a lithium ion battery and is provided with a charging and discharging integrated protection plate. The power module provides electrical power to the internal electrical components.

Description of the radio coded signal transmitted by the radio transmitting module: the coding signal is divided into three units, namely a file header, time information and CRC check code, wherein the file header contains a coding sequence number, and the coding interval sending time slot is adjustable, but the maximum time slot is not more than one tenth of the single frame time when the camera works. If the camera operates at a frame rate of 10000 frames per second, then the encoding interval transmission time slot must not exceed 10 microseconds.

The following describes the measurement method using the device in detail:

s1, preparing, wherein a back gold plating neodymium magnet is adsorbed on a rigid metal connecting frame of the unhooking device or the fixed unhooking device, and can not be adsorbed on a movable part, and meanwhile, a fixing strap on the side surface of the shell is embedded into a strap fixing area for fixing, and the fixing strap is fixed on the rigid metal connecting frame of the unhooking device or the fixed unhooking device, so that displacement and shaking are not generated when the measuring instrument works. If the field situation can not meet the requirement, a special bracket for fixing the measuring instrument can be additionally arranged. After the fixing is finished, the magnet is inspected through an optical observation port to absorb the attaching condition, if the light leakage at the attraction is caused, the attraction is incomplete, and the measuring instrument is required to be adjusted to be installed on a flat surface meeting the requirements.

And adjusting the angle of the measuring instrument to enable the camera to face the top of the cage, wherein four edges of the top of the cage need to be seen in a screen, and if the installation angle does not meet the requirement, the measuring instrument can not be directly rotated when being adsorbed by the measuring instrument, the measuring instrument is required to be disassembled for adjustment.

S2, turning on a power supply, turning on a yellow indicator lamp to start broadcasting, waiting for the instrument to start calibration, and keeping away from moving or touching the instrument, wherein a person cannot get close to the cage by a distance of 1 meter. And voice, and the GPS module is powered on to preheat to start searching for satellites. The camera is started, real-time video information captured by the camera is displayed in the screen, and the sampling rate of the camera at the moment is the screen refreshing rate.

After the voice broadcasting is finished, the nine-axis accelerometer gyroscope module is electrified to enter a working state, acceleration, triaxial gyroscope data and magnetometer data after an ellipsoid fitting algorithm are collected in real time, meanwhile, GPS data collected by the GPS module are recorded, and instrument time is calibrated according to time collected by the GPS module.

S3, executing S3.1, and jumping from S3.1 to S3.2.

S3.1, calculating delta acceleration (acceleration fluctuation variable), delta triaxial gyroscope data (X, Y, Z axis fluctuation variable) and delta ellipsoidal magnetic force data (magnetometer data variable after an ellipsoidal fitting algorithm), wherein the fluctuation calculation is based on the relative change of average measured values of two continuous groups of data, the fluctuation variable of the delta acceleration and the delta triaxial gyroscope data refers to the relative change percentage of the average measured values of the former group, the fluctuation variable of the delta ellipsoidal magnetic force data refers to the absolute change percentage of the average measured values of the former group, and the number of data samples of each group is determined according to the data stability of the nine-axis accelerometer gyroscope module, but the total sampling time of each group is not higher than 5ms. When the delta acceleration and the delta triaxial gyroscope data are smaller than 0.1% in 5 seconds, and meanwhile, when the delta ellipsoidal magnetic force data are smaller than 1%, 3.2 is directly entered, when the delta acceleration and the delta triaxial gyroscope data are larger than 0.1% and smaller than or equal to 0.3%, the detection calculation of the step is continuously repeated for 5 seconds, the number of repeated detection calculation is 5 at most, and when the delta acceleration and the delta triaxial gyroscope data fluctuation are larger than 0.3% and smaller than 0.6%, the prompt is carried out: the environment vibration factor is too large, the on-site staff pauses equipment such as a nearby traction machine, a water pump and the like until the unhooking test is finished, the instrument stops the program when the calibration and test time is about 2 minutes, a prompt tone is broadcast, a red indicator lamp is lightened, a start button signal is waited, and the detection staff is guided to reinstall and start from the step S1.

And S3.2, executing the monitoring task program by using an independent thread, directly entering into S4, wherein the monitoring task program works for the independent thread, monitoring until the execution of the program is terminated (namely, terminating the monitoring task of the independent thread when detecting that the cage starts to move), and terminating the monitoring task of the independent thread when detecting that the program is executed in the independent thread, and if detecting that the program is executed in the independent thread, terminating the monitoring task of the independent thread when the error is in delay, and not executing subsequent actions any more, and terminating the monitoring task of the independent thread. The following is the execution action of the program: when the delta acceleration and the delta triaxial gyroscope are more than 0.1% and less than or equal to 0.3%, counting is carried out once, and when the data fluctuation of the delta acceleration and the delta triaxial gyroscope is more than 0.3% after 5 times or single time of counting, the error-reporting delay is started, and the following actions are executed after the delay is 1500 milliseconds: prompting: the process is terminated while the warning sound is broadcast after the vibration is excessive, the case is eliminated and whether the case is fixed at the rigid connection part is confirmed again, a red indicator lamp is lightened, a start button signal is waited, and the detection personnel is guided to install and start again from the step S1. "

S4, powering up the wireless transmitting module, the power amplifier and the wireless receiving module, detecting the states of all channels and setting an optimal channel, starting to count the signal intensity of an effective coded signal, counting and calculating the average value, standard deviation and range of the received signal intensity dbm value within 5 seconds, and directly entering the 5 th step when the ratio of the standard deviation to the average value is not more than 0.5 percent, namely (standard deviation/average value) is not more than 0.5 percent and the ratio of the range to the average value is not more than 5 percent, namely (range/average value) is not more than 5 percent, otherwise, reporting errors.

There are two types of reporting errors, and if (the range/average value) is more than or equal to 10% detected, the reporting error is output: the signal receiving and transmitting module is suspected to have faults, and if the faults occur for a plurality of times, the fault is repaired after the fault is returned to the factory: in addition to the above, unified error reporting is: radio interference exists in the field and is to be eliminated. The program is terminated while the error is reported, a red indicator lamp is lighted, a start button signal is waited, and the detection personnel is guided to reinstall and start from the step S1.

S5, setting the sampling rate of the camera to be increased to the rated working frame rate, loading data captured by the camera into a RAM, denoising information at the top of a cage, smoothing an image by using a Gaussian filter, calculating the gradient strength and the gradient direction of each pixel in the image by using a Sobel operator, carrying out maximum detection on the gradient direction, only reserving the point with the maximum gradient of the pixel, dividing the pixel point into three types of strong edges, weak edges and non-edges, directly outputting the strong edges, directly discarding the non-edges, outputting the weak edges when the strong edges are connected with the strong edges, connecting the weak edges with the strong edges by using a connectivity analysis algorithm, forming complete edges, and dividing the continuous edges into single line segments along intersecting points. The inspector uses 315M wireless controller to select a cage edge line segment that is marked as satisfactory. After the detection personnel confirm and select, the length of current cage edge line segment, coordinate position information are recorded, and the laser ranging module measuring instrument works once, marks the distance from the detection instrument to the top of the cage as D1, and simultaneously lights up a green indicator lamp to prompt: the instrument is ready for completion and unhook test can be performed. Guiding an operator to release the cage to complete the fall arrester test.

At this time, the rated frame rate of the camera is kept for sampling, a low resource consumption strategy is adopted, sampled video data is written into the RAM in real time, but the RAM only holds the high-speed video data of the first 1000 milliseconds, the high-speed video data is circularly covered, and the video information in the RAM exists in the form of original data and is not subjected to additional analysis and coding by the CPU.

S6, selecting to execute S6.1 or S6.2 according to user setting, and executing S6.1 by default.

S6.1, default intensity mode: when detecting that the current coded signal strength change is more than +/-20% of the average value and the signal strength average value cannot be recovered to the step S4, calculating the signal strength average value, taking the time when in transient as T1, but linking the laser ranging module to perform ranging at the time of T1 when the strength dbm value instantaneously changes no matter whether the coded signal strength is recovered or not, recording as DC, and normally ending the program execution after 500 milliseconds, and executing the step S7. The signal intensity dbm value varies by more than + -20% from the mean value but is recoverable within 500 milliseconds to within 5% of the mean value of the intensities recorded in step S4, suggesting: the signal receiving and transmitting module is suspected to have faults, and if the faults occur for a plurality of times, the fault is requested to be overhauled in a factory. And simultaneously, the program is terminated, T1 and DC variables are cleared, a red indicator lamp is lighted, a start button signal is waited, and a detection personnel is guided to reinstall and start from the step S1.

S6.2, strict mode:

pretreatment: and taking the strongest signal in the selected working channel as an effective candidate signal. And verifying the check bit by the valid signal to be selected, and becoming a valid signal after verification is successful.

And adding Valid variable to each effective signal quantity, adding Invalid signal quantity to Invalid variable to calculate the proportion of the Invalid signal quantity to the total signal in real time. The invalid signal is greater than 0.1% and is directly reported wrong, and the display screen prompts: the field radio environment is poor and default modes are to be excluded or used. And meanwhile, the program is terminated, a red indicator lamp is lightened, a start button signal is waited, and a detection personnel is guided to reinstall and start from the step S1.

And further checking the effective signal, checking whether the code sequence number of the file header is continuous with the code of the previous signal, if so, performing effective counting, and calculating and counting the time information of the coded signal when the effective counting reaches 10000 and the next action of the code is continued. If the interrupt count is not satisfied, performing interrupt counting once discontinuously, reporting errors if the interrupt count is accumulated to 10, and reporting errors by a display screen as follows: the channel is interfered or the neodymium magnet is not adsorbed well, the procedure is stopped, a red indicator lamp is lightened, a start button signal is waited, and the detection personnel is guided to reinstall and start from the step S1. If the interrupt count does not reach 10, the effective count is restarted.

Calculating the time information carried by the effective coding signal received each time and the current system time difference value in the effective signal, namely 'difference value' in the follow-up description, solving the average value of 10000 difference values, namely 'average value' in the follow-up description, comparing the difference value with the average value in the follow-up description, when the difference value is 3 times changed and exceeds 10% of the average value, taking the time when the time information transient is detected for the first time as T1, and linking the laser ranging module to perform ranging at the T1 moment when the time information carried by the effective coding signal is detected for the 1 st time no matter whether the difference value is continuously changed, wherein the ranging result is recorded as DC2, if the subsequent difference value is still more than 10% of the average value, normally ending the program execution, executing step S7, if the difference value is still more than 10% of the average value, continuing to perform the time average value comparison strategy, clearing T1 and DC2 variables, and prompting that a green light may contact with a magnet to adsorb poorly.

S7, stopping a low-resource consumption strategy of the camera, stopping a RAM video data coverage strategy, recording sampling video data in real time to a RAM which is not covered, improving a CPU main frequency to a highest frequency, stopping display screen output and releasing occupied memory resources, simultaneously analyzing and processing video data in real time, adding a mark to a video frame at the moment T1, detecting a cage edge motion state by using a light flow algorithm, compressing and storing the sampling video in a ROM in an H.265 format, and embedding GPS metadata acquired by a GPS module into a video file.

When the stop change of the cage edge is detected, recording the current time as T2, adding a mark to a video frame at the moment of T2, simultaneously linking the measurement of the laser ranging module to measure and record as D2, and stopping the capture of the camera and the writing of the RAM.

S8, calculating D2-D1=D3, analyzing the video stream frame by frame, finding edges according to the initial length of marked cage edge line segments and coordinate position information, obtaining the coordinate position information in the step S5, tracking and identifying the edges in each frame by using a mean shift algorithm, tracking and recording the change of the edges in each frame on pixel positions, and calculating actual displacement:

(a) Edge pixel position differences deltapi for each adjacent pair of frames (i.e. the i-th frame and the i + 1-th frame) are calculated,

(b) Summing all deltapi, gives the total pixel displacement deltaptotal, abbreviated deltapt for simplicity of description,

(c) D3 is divided by the total pixel shift Δpt to yield the conversion ratio K, k=d3/Δpt. If the distortion control of the lens of the supplier is not ideal, the compensation calibration coefficient should be added in each quadrant to adjust the K value, but the method is not recommended, and the hardware of the supplier should be strictly controlled in principle.

(d) Δd=k×Δpi (Δpi is the pixel position difference between adjacent frame pairs), Δt=1/camera work frame rate is calculated.

Drawing a curve: wherein the abscissa is time T and the ordinate is displacement distance D; setting a curve starting point as a coordinate axis origin, wherein the origin is (T1, D1), the T1 point is a time point when the cage is not displaced at the unhooking moment, and the D1 point is a measured value completed by the 5 th step laser ranging module. And determining each point in the coordinate system according to the calculated actual displacement delta D distance value of each edge and the time interval delta T between two frames, sequentially connecting the points to draw a cage motion state curve with the distance changing along with time, and finally displaying the curve formed by connecting the points on a display screen. Wherein (D2, T2) is the end point of the cage motion state curve, namely the cage motion stopping point, and D3 is the difference between D2 and D1, namely the actual displacement of the cage before and after the action of the safety hook.

Drawing an expected curve according to v=gt, namely d=0.5gt-2 rule, wherein as shown in fig. 6, the separation point of the two curves is (Tx, dx), the D value of the overlapped part of the two curves is the idle stroke distance, namely D1-Dx is the idle stroke distance; the T value of the overlapping part of the two curves is the idle time, namely T1 to Tx are idle travel time; dx to D2 are deceleration distances, tx to T2 are deceleration times.

S9, restoring the output of the display screen, outputting and displaying, outputting the curve into a picture format, storing the curve and the current video in the same folder, naming the folder by the place and the time recorded by the GPS, and outputting the difference between the factory test value of DC minus D1 or DC2 minus D1 and the actual measured value beside the curve, thereby providing a judging basis for whether the measurement is effective.

The distance data of each time point is stored as a text file, the abscissa of each action of the text file is followed by time information, the coordinate and the curve picture are stored in the same folder, and the text file adopts a UTF-8 coding mode.

After the measurement is completed, a blue indicator lamp is turned on to prompt the detection to be completed, and meanwhile, the memory resource is released, and the CPU frequency is reduced to the standby frequency.

In the above method, each time the indicator light is turned on, only one indicator light is turned on, when the indicator light is turned on, all other indicator lights are turned off, the indicator light is turned on normally, and the state of the indicator light is maintained under the condition that no additional requirement exists. The parameters mentioned in the method all represent optimal values, and the skilled person performs a lot of tests and efforts on the screening of these specific data, in this case fixed parameters, which should be followed in production, and random changes will have an uncontrollable effect on the overall measurement result.

The use and operation of the device are described in detail:

1. when the top power button is pressed, the instrument is started, and in the starting process of the instrument screen display, after about 8 seconds, the instrument is started, the moment is lightened, the camera is started, and real-time video information captured by the camera is displayed in the screen (the sampling rate of the camera at the moment is the screen refreshing rate).

2. The back gold plating neodymium magnet is adsorbed on the rigid metal connecting frame of the unhooking device or the fixed unhooking device, and can not be adsorbed on the movable part, so that the instrument is ensured not to generate displacement and shake during working. If the field situation can not meet the requirement, a special bracket for fixing the instrument can be additionally arranged. The mode switch is pressed and the forced vertical mode is turned on in the system setup. If the forced vertical mode is not selected, the instrument will operate in the landscape mode after the mode switch is depressed. The mode change-over switch is a physical change-over switch connected with the wireless transmitting power amplifier in the instrument, can switch signals between the SMA interface and the gold-plated neodymium magnet, and can directly connect the extension feeder line with the unhooking device through the SMA interface after the signals are switched to the SMA interface.

3. The angle of the instrument is adjusted, so that the camera faces the top of the cage, four edges of the top of the cage are required to be seen in the display screen, and the instrument cannot be directly rotated when being adsorbed if the installation angle does not meet the requirement and the instrument is required to be disassembled for adjustment. To ensure the fixing effect, a strap can be used to fix along the groove of the fixing area of the instrument strap, but the back neodymium magnet must be ensured to be adsorbed according to the requirement of the step 2. After the adsorption is finished, the magnet adsorption lamination condition is checked through an optical observation port, and if the light leakage at the adsorption position occurs, the incomplete adsorption is indicated, and the instrument is required to be adjusted to be installed on a flat surface meeting the requirements.

4. After the instrument is installed, clicking a start button, and performing voice prompt: "wait for instrument to start calibration application", the yellow indicator lights are illuminated. The instrument cannot be moved at this time. If the vibration on site is too large, the corresponding coordination of the site situation is needed, heavy equipment or blasting operation which can cause strong vibration of the environment is forbidden to be used in the working process of the instrument, the instrument calibration and detection time is about 2 minutes, the instrument calibration can be completed in 1 minute, and the intelligent identification edge time selected by the operation of the detection personnel is less than 1 minute.

5. The instrument represents that the preheating is finished and is ready after the green light is lighted, and under the condition of ensuring safety, unhooking can be immediately carried out, and the cage is released to finish the falling protector test.

6. After the unhooking test is finished, the test information such as the operation result of the detection personnel can be printed, the braking distance measurement result and the like is transmitted to an external portable printer through a 433M communication output module by using a universal serial port transmission protocol, a report and a qualification certificate can be directly printed on site, and the portable printer does not contain an instrument package and needs to be purchased independently.

7. Indication lamp description: the red light is a fault, and the specific fault condition can be checked on a screen; the yellow lamp is in preheating and calibration, at which time the instrument must not be moved. The green light is in operation for preparing to finish the instrument; and the blue lamp is the end of detection.

8. The TF memory card is installed on the body after initialization, and is not necessary to be taken out.

The instrument is restricted by field conditions, can also transversely measure and use the cage, but only can maintain a semi-automatic state, can lead to the precision to be reduced, needs to manually switch a mode switch, and connects a signal feeder line to the unhooking device through an SMA interface at the top of the instrument, wherein D1 and D2 are not measured any more, DC and DC2 are not checked any more, at least three side images of the side surface of the cage before and after unhooking are required to be kept to fall into the field of view of a camera, D3 value needs to be input into the instrument after the field of manual measurement, and meanwhile, output results are printed: lateral mode identification. The lateral mode is provided to the user only as an auxiliary function and a non-recommended function identification is printed in the instrument specification.

The device is used by matching with a metal rigid unhooking device, and the instrument is ensured to be static and stable in use.

The unhook detection sensitivity of the default mode is high, the default mode is suitable for most scenes, the anti-interference capability is strong, and the detection is unnecessary to switch; the strict mode can be used in strict important places due to the addition of verification, but the on-site radio environment is required to be clean, and the method is suitable for important remote mining areas with cleaner radio environments.

The measuring instrument is reasonable in design and scientific in measurement, overcomes the defect of a single measurement mode of the existing measuring instrument, supports each other in all aspects, and comprehensively improves the overall function of the measuring instrument.

Claims

1. The braking distance measuring device of the mine falling protector comprises a shell (1) and is characterized in that an optical observation window (3) is arranged on the front face of the shell (1), the optical observation window (3) penetrates through the whole shell (1), and an inclined reflecting mirror (4) is arranged on a hole at the rear part of the optical observation window (3) in the shell (1);

the front of the shell (1) is also provided with a display screen (2), a plurality of indicator lamps (5), function operation keys (6), a mode change-over switch (7), a memory card inserting hole (8) and a data transmission interface (9);

a cubic neodymium magnet (10) is arranged on the back of the shell (1) and below the reflector (4), the surface of the neodymium magnet (10) is plated with gold, the five sides of the neodymium magnet (10) are wrapped with polytetrafluoroethylene of 1mm, a metal shielding layer is arranged outside the polytetrafluoroethylene, the neodymium magnet (10) is connected with a wire core of a feeder, the metal shielding layer is connected with the shielding layer of the feeder, and the back of the convex shell (1) of the neodymium magnet (10) is not wrapped by polytetrafluoroethylene;

the lower part of the shell (1) is provided with an indent region and a transparent optical sapphire cover plate (12) for sealing, an optical glass column (11), a laser ranging module (13), a measuring LED light supplementing lamp module (14), a camera module (15) and a trapezoid metal shielding cover (16) flaring outwards are arranged in the cover plate, the side surface around the optical glass column (11) is frosted, the two ends of the optical glass column are smooth surfaces, one end of the smooth surface is adhered to the transparent optical sapphire cover plate (12), and the other end of the smooth surface is adhered to a laser emission head of the laser ranging module (13);

Set up central control module (17), GPS module (18), active ceramic GPS antenna (19), wireless receiving module (20), wireless transmitting module (21), 315M control module (22), 433M communication output module (23), nine-axis accelerometer gyro module (24), speaker module (26) in casing (1), central control module (17) contain input signal bus and output signal bus, wherein GPS module (18), laser rangefinder module (13), wireless receiving module (20), camera module (15), nine-axis accelerometer gyro module (24), 315M control module (22) and function operation button (6) are connected respectively in input signal bus (37), wherein display screen (2), wireless transmitting module (21), pilot lamp (5), 433M communication output module (23), speaker module (26), measure LED light filling lamp module (14), observe LED light filling lamp module (28) and connect respectively in output signal bus (36).

2. The mine safety brake distance measuring device according to claim 1, wherein the left and right sides of the housing (1) are provided with anti-drop rubber edges (32) of PU material protruding from the surface of the machine body, a detaching groove (33) is respectively arranged at the upper and lower positions of each anti-drop rubber edge, and a binding band fixing area (34) recessed toward the center side of the machine body is arranged in the middle of each anti-drop rubber edge (32) for embedding a fixing binding band.

3. The mine fall arrester braking distance measuring device according to claim 1, characterized in that the indicator light (5) is located above the optical observation window (3), from left to right: yellow pilot lamp, green pilot lamp, blue pilot lamp, red pilot lamp, yellow pilot lamp represent in the preheating, green pilot lamp represent in the work, blue pilot lamp represents the end, red pilot lamp represents the trouble, and when the red pilot lamp was lighted, all procedures and detection action all ended, until the manual instrument that restarts.

4. The mine safety brake distance measuring device according to claim 1, wherein a trapezoid prism table (27) is arranged in the middle of the back of the shell, the neodymium magnet (10) is arranged in the trapezoid prism table (27) in a concave mode, the neodymium magnet (10) protrudes out of the back of the shell by 0.5mm, the mine safety brake distance measuring device further comprises an observation LED light supplementing lamp module (28), and the observation LED light supplementing lamp module is arranged in a strip-shaped protruding area of the lower portion of the neodymium magnet (10) and irradiates towards the neodymium magnet (10) above.

5. The mine fall arrester braking distance measurement device according to claim 1, wherein the upper portion of the housing is provided with an inward recess, and a power switch (29), a charging interface (30) and an SMA interface (31) are provided in the inward recess from left to right, the mode changeover switch (7) is connected to a power amplifier (25), and the power amplifier is connected to the wireless transmitting module (21).

6. The mine safety hook braking distance measuring device according to claim 1, wherein the three metal shielding cases (16) are nested, are parallel to each other and insulated from each other, are spaced by 1mm, the innermost metal shielding case is connected with a feeder line shielding layer of the wireless receiving module (20), the innermost metal shielding case comprises a sheet-shaped directional antenna (35), the innermost metal shielding case is mutually insulated from the directional antenna (35), the sheet-shaped directional antenna is connected with the wireless receiving module (20) through a wire core of a feeder line, and the wireless receiving module (20) is internally provided with a wireless radio frequency power detecting module (201).

7. The mine fall arrester braking distance measurement device according to claim 1, wherein a nine-axis accelerometer gyroscope module (24) integrates a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope, the static attitude measurement precision is not more than 0.05 degrees, the dynamic attitude measurement precision is not more than 0.1 degrees, a kalman attitude calculation algorithm is built in, the mine fall arrester braking distance measurement device is provided with a magnetometer ellipsoid correction function, delta acceleration is an acceleration data fluctuation variable, delta triaxial gyroscope data is a X, Y, Z-axis fluctuation variable, delta ellipsoid magnetic data is a magnetometer data fluctuation variable after an ellipsoid fitting algorithm, fluctuation calculation is based on relative change of average measured values of two continuous sets of data, fluctuation of delta acceleration and delta triaxial gyroscope data refers to relative change percentage of average measured values of a previous set, fluctuation of delta ellipsoid magnetic data is absolute change percentage of average measured values of the previous set, and the number of data samples of each set is determined according to the data stability of the nine-axis accelerometer module, but total sampling time of each set is not higher than 5ms.

8. A method for measuring a braking distance of a mine fall arrester according to claim 1, characterized in that,

the method comprises the following steps:

2) Starting a power supply, lighting a yellow prompt lamp by an instrument, broadcasting a prompt tone, wherein the prompt tone comprises a limit requirement for the distance between a person and the instrument, preheating a GPS module (18) and searching for stars while broadcasting the prompt tone, powering up a nine-axis accelerometer gyroscope module (24) after broadcasting the prompt tone, entering a working state, collecting acceleration data, triaxial gyroscope data and magnetometer data after an ellipsoid fitting algorithm in real time, recording GPS data collected by the GPS module (18), and calibrating the time of the device according to the time collected by the GPS module (18);

5) The wireless transmitting module (21), the power amplifier (25) and the wireless receiving module (20) are powered on, the optimal channel is detected and set, the signal intensity of an effective coding signal is counted, the average value, the standard deviation and the extreme difference of the received signal intensity dbm value within 5 seconds are counted and calculated, when the ratio of the standard deviation to the average value of the intensity dbm value is not more than 0.5 percent, namely, the (standard deviation/average value) is less than or equal to 0.5 percent, and the ratio of the extreme deviation to the average value is not more than 5 percent, namely, the (extreme deviation/average value) is less than or equal to 5 percent, the next step is directly carried out, otherwise, the display screen (2) prompts that errors are reported, two types of errors are reported, if the error reporting prompt signal receiving and transmitting module is detected to be suspected of faults, and the unified error reporting prompt site is required to eliminate the radio interference except the conditions, and the red indicator lamp is lighted;

8) Stopping a low resource consumption strategy of a camera, stopping a RAM video data coverage strategy, recording sampling video data in real time until the RAM is not covered, improving CPU main frequency to highest frequency, stopping display screen output and releasing occupied memory resources, simultaneously carrying out real-time analysis and processing on the video data, adding a mark to a video frame at the moment T1, detecting a 'cage edge' motion state by using a light flow algorithm, recording the current time as T2 when the 'cage edge' stop change is detected, adding the mark to the video frame at the moment T2, simultaneously linking a laser ranging module (13) to measure and record the ranging as D2, stopping camera capturing and video RAM writing, compressing and storing the sampling video into the ROM in an H.265 format, and embedding GPS metadata acquired by a GPS module into a video file;

(b) Summing all deltapi, gives the total pixel shift deltapt,

(d) Calculating Δd=k×Δpi, Δt=1/camera work frame rate;

10 Drawing a curve: wherein the abscissa is time T and the ordinate is displacement distance D; setting a curve starting point as a coordinate axis origin, wherein the origin is (T1, D1), the T1 point is a time point when the cage is not displaced at the moment of unhooking, the D1 point is a measured value completed by a 5 th step laser ranging module, each point in a coordinate system is determined according to a calculated actual displacement delta D distance value of each edge and a time interval delta T between two frames, the points are sequentially connected to draw a cage motion state curve with the distance changing along with time, and finally, the curve formed by connecting the points is displayed on a display screen, wherein (D2, T2) is the end point of the cage motion state curve, namely, the cage motion stopping point, D3 is the difference between D2 and D1, namely, the cage is actually displaced before and after the action of the anti-falling device, an expected curve is drawn according to v=gt, namely, D=0.5gt2, the separation point of the two curves is (Tx, dx), and the D value of the overlapping part of the two curves is the idle stroke distance, namely, D1 to Dx is the idle stroke distance; the T value of the overlapping part of the two curves is the idle time, namely T1 to Tx are idle travel time; dx to D2 are deceleration distances, tx to T2 are deceleration times;

9. The method for measuring the braking distance of the mine safety hook according to claim 8, wherein in the step 4), in the monitoring task, when the delta acceleration and the fluctuation data of the delta triaxial gyroscope are more than 0.1% and less than or equal to 0.3%, counting is carried out once, when the count reaches 5 times or single delta acceleration and the fluctuation data of the delta triaxial gyroscope are more than 0.3%, error reporting and prompting are carried out after the delay of 1500 milliseconds, the fact that the vibration is too large is required to be eliminated and whether the instrument is fixed at a rigid connection part is required to be manually confirmed is indicated, and a red indicator lamp is lightened.

10. The method for measuring the braking distance of the mine safety brake according to claim 8, wherein the step 7) of strictly setting includes the steps of: