RU2670741C9 - System and method for recognizing motion of torsion roller, winding or unwinding steel wire rope - Google Patents

Abstract

FIELD: video systems; data processing.

SUBSTANCE: group of inventions refers to a system and method for recognizing the motion of a torsion roller, a winding or unwinding steel wire rope. System comprises a camera I for technical shooting installed at the rear of the roller perpendicular to its axis, and a camera II for technical shooting installed on the right side of the roller parallel to its axis. Cameras for technical surveying are connected by a communication cable with an industrial PC. System comprises a device for measuring the axial velocity of a steel wire rope. Cable is wound on the roller, thrown over the lifting pulley and runs vertically downward. Cable speed measuring device is connected via wires to the data acquisition unit. Cable speed measuring device comprises a U-shaped base. Speed measuring unit and the clamping unit are symmetrically located to the left and right of the cable. In the upper part of the supporting brackets there are friction wheels encircling the cable. Velocity measuring unit comprises a shaft angular position sensor.

EFFECT: recognition of the motion of the torsion roller is achieved.

7 cl, 7 dwg

Description

Technical field

The present invention relates to a system and method for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope, which, in particular, are applicable to determining the nature of the movement of the steel wire rope in a shaft lifting system or elevator traction system, and are also applicable to determining the nature of the movement of various steel wire ropes.

State of the art

Winding hoists are widely used in mine hoist systems. To ensure safe and efficient operation of a mine hoist system, determining the operating state of a steel wire rope on a torsion roller is of great importance. However, to date, there is no effective way to recognize the nature of the movement of the torsion roller, winding or unwinding steel wire rope, in real time. Accordingly, it is impossible to determine the cylindricality of the roller, to control the entangled state of the steel wire rope on the roller, or to determine the speed of the lifting container in real time. This situation poses a potential threat to safety and efficient operation in coal mines.

Disclosure of the invention

Technical challenge

To solve the aforementioned problems of the prior art, a system and method for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope are proposed, which allows to solve the problem of recognizing the nature of the movement of the steel wire rope during operation of the torsion roller and to provide real-time visual control of the nature of the torsion motion a roller winding or unwinding a steel wire rope.

Technical scheme

The proposed system for recognizing the nature of the motion of a torsion roller winding or unwinding a steel wire rope comprises a camera I for technical shooting mounted on the rear side of the roller perpendicular to its axis, camera II for technical shooting mounted on the right side of the roller parallel to its axis, and camera I for technical survey and camera II for technical surveys are respectively connected by a communication cable to an industrial PC, a device for measuring the axial speed of a steel wire rope is installed on a steel wire rope that is wound on the roller, is thrown through the lifting pulley and extends vertically downward, and the device measuring the axial velocity of the steel wire rope is connected via wires to a data acquisition unit.

A device for measuring the axial speed of a steel wire rope contains a U-shaped base mounted on a steel wire rope, and to the left and right of the steel wire rope on a U-shaped base, a speed measuring unit and a clamping unit are located symmetrically, which comprise a base located on a U-shaped the base, respectively, and on the front and rear sides of the base are symmetrically supported brackets, between which by means of a finger in the lower part is located ate, in the upper part of the supporting brackets with the help of a support rod there are friction wheels wrapping around a steel wire rope, and on both sides of the support rod there are symmetrically located bearing and shaft sleeve mounted on the supporting brackets; and the speed measuring unit further comprises a shaft angular position sensor connected to the support rod by means of a coupling.

On the shaft angular position sensor, a sensor support is made attached to one side of the support brackets.

A base located on a U-shaped base is rigidly connected by a T-shaped bolted connection.

In the upper part of the supporting brackets, bearing end caps are provided on both sides.

A wear-resistant rubber shell is made on the friction wheel.

A method for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope using the above system includes the following steps:

(1) determining the nature of the movement of winding or unwinding the steel wire rope in the horizontal direction and the vertical direction on the roller:

but. measuring the actual width D _{1 of the} roller and the width d _{1 of the} image of the roller in the image obtained with the camera I for technical shooting installed on the rear side of the roller, respectively, and calculating the coefficient Z ₁ = D ₁ / d _{1 of the} conversion of camera I for technical shooting;

measuring the actual width D _{2 of the} steel wire rope and the width d _{2 of the} image of the steel wire rope in the image obtained using the camera II for technical surveying mounted on the right side of the roller, respectively, and calculating the coefficient Z ₂ = D ₂ / d ₂ conversion camera II for technical shooting;

b. continuous imaging of the movement of the steel wire rope in two directions, at the measuring point B, where the steel wire rope appears due to the roller rim above the exit point A of the tangent line of the steel wire rope on the roller, using the technical camera I, located perpendicular to the axis of the roller , and camera II for technical surveys located parallel to the axis of the roller;

c. processing using an industrial PC of images obtained by camera I for technical shooting and camera II for technical shooting, respectively, and obtaining the speed of movement of the steel wire rope in the horizontal direction when the cable comes off the roller, as well as in the horizontal direction and vertical direction when the cable comes off the roller in the direction perpendicular to the direction of the steel wire rope;

(2) determination of the axial speed of the steel wire rope:

but. shutdown of the lifting system,

installation of a device for measuring the axial speed of a steel wire rope,

installing the U-shaped base on a steel wire rope below the lifting pulley so that the steel wire cable passes through the U-shaped base;

installation of the speed measuring unit and the clamping unit symmetrically on both sides of the steel wire rope so that the two friction wheels abut against the steel wire rope,

securing the speed measuring unit and the pressing unit to the U-shaped base and

regulation of the regulating unit in such a way as to achieve a predetermined value of the clamping force between the two friction wheels and the steel wire rope;

b. the start of the lifting system so that

a moving steel wire rope drives friction wheels,

friction wheels by means of a key on the flat drive the support rod,

the supporting rod by means of a coupling actuates the sensor of the angular position of the shaft,

the shaft angle sensor transmits motion signals to the data acquisition unit, which transmits these signals through its wireless module to the industrial PC, and

an industrial PC receives signals and calculates the axial speed of the steel wire rope in real time using the software of the upper computing device.

To obtain the speed of movement of the steel wire rope in the horizontal direction and in the vertical direction when the cable comes off the roller, the images of the steel wire rope descend are pre-processed by shading and threshold processing, and the received images of the steel wire rope and background images are marked with different colors to separate them from each other ;

in the steel wire rope descent images processed by threshold processing, a horizontal line perpendicular to the steel wire rope 4 is selected in position B above the roller as a reference line, and the average horizontal coordinate and vertical coordinate values that represent all the pixels of the steel wire cable on the reference the lines are taken as the coordinate (x, y) of the moving steel wire rope in the horizontal direction and the vertical direction;

the relative speeds of movement of the steel wire rope in the horizontal direction and the vertical direction are obtained by taking the derivative of the coordinates of the steel wire rope obtained continuously, with respect to time t, i.e. v _x = d _x / d _t , v _y = d _y / d _t ;

then, the actual speeds of movement of the steel wire rope in the horizontal direction and the vertical direction are obtained by calculating taking into account the parameters and conversion factors, i.e. V _x = v _x ⋅ Z ₁ , V _y = v _y ⋅ Z ₂ .

Technical Results Provided

Due to the technical scheme described above, the proposed system and method can recognize the nature of the movement of the torsion roller winding or unwinding the steel wire rope in real time, determine the cylindrical shape of the roller, monitor the tangled state of the steel wire rope on the roller and control the speed of the lifting container in real time. The system and method make it possible to solve the problem of recognizing the nature of the movement of the steel wire rope during operation of the torsion roller, real-time visual and intellectual control of the nature of the movement of the torsion roller winding or unwinding the steel wire rope, and to ensure safe and efficient production in coal mines. The system and method, in particular, are applicable to determining the nature of the movement of the steel wire rope in a mine lifting system or elevator traction system, and are also applicable to determining the nature of the movement of various steel wire cables. The system has a simple design, is easy to operate and provides a good effect.

Main advantages:

(1) The system can control the nature of the movement of the steel wire rope in real time, as well as carry out visual, automatic and intellectual control of the nature of the movement of the torsion roller winding or unwinding the steel wire rope;

(2) The system uses machine vision technology to control the nature of the movement of a torsion roller winding or unwinding a steel wire rope in the horizontal direction and the vertical direction and provides a non-contact, high-precision and inexpensive way to collect signals;

(3) A device for measuring the axial speed of a steel wire rope controls the movement speed of the lifting steel wire rope in real time, reflects the movement speed of the lifting container, and monitors the status of the lifting container;

(4) The system transmits signals from cameras for technical surveying and a shaft angular position sensor via wired and wireless communication to the same industrial PC for comprehensive monitoring of the nature of movement of the steel wire rope and, thus, determines the cylindricality of the roller, monitoring the tangled state of the steel real-time wire rope and speed control of the lifting container.

Brief Description of the Drawings

Figure 1 depicts the layout of the entire system in accordance with the present invention;

FIG. 2 depicts an arrangement of cameras for technical surveys to determine the nature of the movement of a torsion roller winding or unwinding a steel wire rope in accordance with the present invention;

FIG. 3 is a front view of an axial velocity measuring device of a steel wire rope in accordance with the present invention;

FIG. 4 is a plan view of an axial velocity measuring device of a steel wire rope in accordance with the present invention;

FIG. 5 is a front view of an axial velocity measuring device of a steel wire rope in accordance with the present invention with the support bracket removed from the outside;

FIG. 6 is a left side view of an axial speed measuring device of a steel wire rope with a sectional speed measuring unit in accordance with the present invention;

FIG. 7 is a right side view of an axial velocity measuring device of a steel wire rope with a clamping unit in section in accordance with the present invention.

In the drawings:

1 - roller;

2 - camera I for technical photography;

3 - camera II for technical photography;

4 - steel wire rope;

5 - a lifting pulley;

6 - a device for measuring the speed of a steel wire rope;

7 - data collection unit;

8 - industrial PC;

9 - communication cable;

6-1 - node measuring speed;

6-2 - clamping unit;

6-3 - U-shaped base;

6-4 - the base;

6-5 - regulatory node;

6-6 - finger;

6-7 - a friction wheel;

6-8 - supporting bracket;

6-9 - shaft sleeve;

6-10 - supporting rod;

6-11 - bearing;

6-12 - end cap of the bearing;

6-13 - the sensor of the angular position of the shaft;

6-14 - coupling;

6-15 - support of the shaft angular position sensor;

6-16 - T-shaped bolt connection;

6-17 - wear-resistant rubber shell;

6-18 - spoke;

6-19 - an adjusting nut;

6-20 - compression spring;

6-21 - hairpin;

6-22 - adjustment block

The implementation of the invention

Embodiments of the present invention are described in more detail below with reference to the accompanying drawings.

As shown in FIG. 1-2, a system for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope comprises a camera I 2 for technical shooting mounted on the rear side of the roller 1 perpendicular to its axis, and a camera II 3 for technical shooting mounted on the right side of the roller 1 parallel to its axis. Due to the design of the roller, camera II 3 for technical surveys cannot receive an image of the state of the entire vertical movement of the steel wire rope 4 at the ideal measurement point A of the steel wire rope 4, in which the steel wire rope 4 is tangent to the roller 1. Due to the fact that the distance between the ideal measuring point A of the steel wire rope and the actual measuring point B of the steel wire rope, where the cable appears due to the rim of the roller 1 above point A, is very small compared to the distance the difference between the roller 1 and the lifting pulley, the nature of the movement of the steel wire rope at the actual measurement point B is essentially the same as the movement of the steel wire rope at the ideal measurement point A; therefore, the measurement point B, located near the point A of the cable exit, is selected as a control point for monitoring the state of the cable at the exit from the roller. Camera I for technical surveying 2 and camera II for technical surveying 3 are connected via a communication cable 9 to an industrial PC 8, respectively, the axial speed measuring device 6 of the steel wire rope is mounted on a steel wire rope 4, which is wound around the roller, thrown through the lifting pulley and passes vertically downward, and the data acquisition unit 7 is connected to the shaft angle sensor 6-13 of the axial speed measuring device 6 of the steel wire rope.

As shown in FIG. 3-7, the device 6 for measuring the axial speed of the steel wire rope comprises a U-shaped base 6-3 mounted on a steel wire rope 4, with a node 6- located symmetrically to the left and right of the steel wire rope 4 on a U-shaped base 6-3 1, speed measurements and a clamping unit 6-2, which contain a base 6-4 located on a U-shaped base 6-3, respectively, with support brackets 6-8 symmetrically located on the front and rear sides of the base 6-4, between which by finger 6-6 at the bottom of p the regulating unit 6-5 is located, in the upper part of the supporting brackets 6-8, friction wheels 6-7 are located using the support rod 6-10, grasping the steel wire rope 4, and the bearing 6-11 is symmetrically located on both sides of the support rod 6-10 and a shaft sleeve 6-9 mounted on the supporting brackets 6-8; the speed measuring unit 6-1 further comprises a shaft angular position sensor 6-13 connected to the support rod 6-10 by means of a coupling 6-14.

The control unit 6-5 contains adjustment blocks 6-22 located between the two supporting brackets 6-8, and between the adjustment blocks 6-22 there is an adjustment pin 6-21, through which the compression spring 6-20 and the adjustment nut 6-19 pass. The pre-tightening force of the compression spring 6-20 can be changed by adjusting the adjusting nut 6-19 to move the stud 6-21 up or down so that the stud 6-21 drives the adjusting blocks 6-22 that drive the support brackets 6 -8 to rotate around the finger 6-6, and thus the pressing force of the speed measuring unit 6-1 and the pressing unit 6-2 to the steel wire rope 4 can be adjusted to prevent the steel wire cable 4 from slipping or getting stuck between the friction nnym wheels 6-7 6-1 velocity measuring unit and for simultaneous movement of the friction wheel 6-7 and the steel wire rope 4 in order to obtain a more accurate determination result of character motion;

on the sensor 6-13 of the angular position of the shaft, a support 6-15 of the sensor of the angular position is provided, attached to one side of the supporting brackets 6-8;

a base 6-4 located on a U-shaped base 6-3 is rigidly connected by a T-bolt connection 6-16 after placing the base 6-4 in the desired position;

on both sides of the upper part of the support bracket 6-8 are located the end caps of 6-12 bearings to prevent dust and foreign particles from entering the bearings 6-11;

On each friction wheel 6-7, a wear-resistant rubber shell 6-17 is provided to increase the friction force between the friction wheel 6-7 and the steel wire rope 4 to avoid slipping between them in order to provide a more accurate result of determining the nature of the movement.

A method for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope using the above system includes the following steps:

(1) determining the nature of the movement of winding or unwinding the steel wire rope in the horizontal direction and the vertical direction on the roller:

a. measuring the actual width D _{1 of the} roller 1 and the width d _{1 of the} image of the roller 1 in the image obtained using the camera I for technical shooting 2, respectively, and calculating the coefficient Z ₁ = D ₁ / d _{1 of the} conversion of the camera I for technical shooting 2;

measuring the actual width D _{2 of the} steel wire rope 4 and the width d _{2 of the} image of the steel wire rope 4 in the image obtained using camera II for technical survey 3, respectively, and calculating the coefficient Z ₂ = D ₂ / d _{2 of the} conversion of camera II for technical survey 3 ;

b. continuous acquisition of motion images of the steel wire rope 4 in horizontal and vertical directions, at the measurement point B, in which the steel wire rope 4 appears due to the rim of the roller 1 above the exit point A of the tangent line of the steel wire rope 4 on the roller 1, using camera I for technical survey 2 and camera II for technical survey 3;

c. processing using an industrial PC 8 images obtained by camera I for technical shooting 2 and camera II for technical shooting 3, respectively, and obtaining the speed of movement of the steel wire rope 4 in the horizontal direction and the speed of movement of the steel wire rope 4 in the direction perpendicular to the direction of the steel wire the cable when the cable 4 comes off the roller 1; moreover, the method of obtaining the speed of movement of the steel wire rope in the horizontal direction and in the vertical direction is as follows:

Images of the steel wire rope 4 at the exit are pre-processed by shading and threshold processing to separate the steel wire rope 4 from the background. Images of steel wire rope 4 are marked with color 1 (for example, black), and background images are marked with color 2 (for example, white). In the images of the steel wire rope 4 at the exit processed by threshold processing, a horizontal line perpendicular to the steel wire rope 4 is selected in position B above the roller 1 as a reference line, and the average values of the horizontal coordinate and vertical coordinate, which represent all the pixels of the steel wire cable 4 on the reference line, take as the coordinate (x, y) of the moving steel wire cable 4 in the horizontal direction and the vertical direction. The relative speeds of movement of the steel wire rope 4 in the horizontal direction and the vertical direction are obtained by taking the derivative of the coordinates of the steel wire rope 4, obtained continuously, with respect to time t, i.e. v _x = d _x / d _t , v _y = d _y / d _t . Then, the actual speeds of movement of the steel wire rope 4 in the horizontal direction and the vertical direction are obtained by calculating taking into account the parameters and conversion factors, i.e. V _x = v _x ⋅ Z ₁ , V _y = V _y ⋅ Z ₂ .

(2) determination of the axial speed of the steel wire rope:

a. shutdown of the lifting system,

installation of a device 6 for measuring the axial speed of a steel wire rope,

installing a U-shaped base 6-3 on the lower right side of the lifting pulley 5 so that the steel wire rope 4 passes through the U-shaped base 6-3;

installing the speed measuring unit 6-1 and the pressing unit 6-2 on both sides of the steel wire rope 4 so that the wear-resistant rubber shells 6-17 of the two friction wheels abut against the steel wire rope 4,

securing the T-shaped bolt connection 6-16 for attaching the speed measuring unit 6-1 and the pressing unit 6-2 to the U-shaped base 6-3 and

adjusting the adjusting nut 6-19 of the adjusting unit 6-5 in such a way as to achieve a predetermined value of the clamping force between the two friction wheels 6-7 and the steel wire rope 4;

b. the start of the lifting system so that

a moving steel wire rope 4 drives the friction wheels 6-7,

friction wheels 6-7 by means of a key on the flat drive the supporting rod 6-10,

the supporting rod 6-10 through the coupling 6-14 actuates the sensor 6-13 of the angular position of the shaft,

the shaft angular position sensor 6-13 transmits the motion signals to the data collection unit 7, which transmits these signals through its wireless communication module to the industrial PC 8, and

Industrial PC 8 receives signals and calculates the axial speed of the steel wire rope 4 in real time using the software of the upper computing device.

Although the present invention is depicted and described with reference to several embodiments, it is not limited to these specific options. Any equivalent design or method derived from the present invention, as well as any direct or indirect application in other relevant technical areas, are considered to be within the protection scope of the present invention.

Claims (39)

1. A system for recognizing the nature of movement of a torsion roller winding or unwinding a steel wire rope comprising a camera I (2) for technical surveying mounted on the rear side of the roller (1) perpendicular to its axis and a camera II (3) for technical surveying installed with the right side of the roller (1) parallel to its axis, and camera I (2) for technical shooting and camera II (3) for technical shooting are respectively connected by a cable (9) to an industrial PC (8), a device (6) for measuring the axial speed of a steel wire rope is mounted on a steel wire rope (4), which is wound on a roller (1), thrown through a lifting pulley (5) and passes vertically downward, while a device (6) for measuring the axial speed of the steel wire rope is connected via wires to the data collection unit (7); and the device (6) measuring the axial speed of the steel wire rope contains a U-shaped base (6-3) mounted on a steel wire rope (4), and to the left and right of the steel wire rope (4) on a U-shaped base (6-3) symmetrically located node (6-1) measuring the speed and clamping node (6-2), which contain the base (6-4) located on U-shaped base (6-3), respectively, on the front and rear sides of the base (6-4), support brackets (6-8) are symmetrically located, between which by means of a finger (6-6) in the lower part there is a control unit (6-5) in the upper part of the supporting brackets (6-8) with the support rod (6-10) are friction wheels (6-7), wrapping a steel wire rope (4), moreover on both sides of the support rod (6-10) are symmetrically located the bearing (6-11) and the sleeve (6-9) of the shaft mounted on the supporting brackets (6-8); but the speed measuring unit (6-1) further comprises a shaft angular position sensor (6-13) connected to the support rod (6-10) by means of a coupling (6-14). 2. A system for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope according to claim 1, wherein the sensor support (6-15) of the shaft angular position is supported by the sensor (6-15) attached to one side of the support brackets (6 -8). 3. A system for recognizing the nature of the movement of a twisting roller winding or unwinding a steel wire rope according to claim 1, wherein the base (6-4) located on the U-shaped base (6-3) is rigidly connected by a T-bolt connection (6-16). 4. A system for recognizing the nature of movement of a torsion roller winding or unwinding a steel wire rope according to claim 1, wherein in the upper part of the supporting brackets (6-8), end caps (6-12) of the bearings are made on both sides. 5. A system for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope according to claim 1, in which a wear-resistant rubber shell (6-17) is provided on the friction wheel (6-7). 6. A method for recognizing the nature of the movement of a torsion roller winding or unwinding a steel wire rope using the system of claim 1, comprising the following steps: (1) determining the nature of the movement of winding or unwinding the steel wire rope in the horizontal direction and the vertical direction on the roller: a) measuring the actual width D _{1 of the} roller (1) and the width d _{1 of the} image of the roller (1) in the image obtained using the camera I (2) for technical photography installed on the rear side of the roller (1), respectively, and calculating the coefficient Z ₁ = D ₁ / d ₁ conversion camera I (2) for technical photography; measuring the actual width D _{2 of the} steel wire rope (4) and the width d _{2 of the} image of the steel wire rope (4) in the image obtained with the camera II (3) for technical surveying mounted on the right side of the roller (1), respectively, and calculation coefficient Z ₂ = D ₂ / d ₂ conversion camera II (3) for technical photography; b) continuous imaging of the movement of the steel wire rope (4) in two directions, at the measurement point B, where the steel wire rope appears due to the rim of the roller above the exit point A of the tangent line of the steel wire rope (4) on the roller (1), at using camera I (2) for a technical survey located perpendicular to the axis of the roller (1), and camera II (3) for a technical survey located parallel to the axis of the roller (1); c) processing using an industrial PC (8) of images obtained by camera I (2) for technical surveying and camera II (3) for technical surveying, respectively, and obtaining the speed of movement of the steel wire rope (4) in the horizontal direction when the cable comes off from the roller (1), as well as the speeds of movement of the steel wire rope in the horizontal direction and in the vertical direction, when the cable (4) comes off the roller (1) in the direction perpendicular to the direction of the steel wire rope (4); (2) determination of the axial speed of the steel wire rope: a) shutdown of the lifting system, installation of a device (6) for measuring the axial speed of a steel wire rope, installing a U-shaped base (6-3) on a steel wire rope (4) below the lifting pulley (5) so that the steel wire rope (4) passes through the U-shaped base (6-3); installation of the speed measuring unit (6-1) and the clamping unit (6-2) symmetrically on both sides of the steel wire rope (4) so that two friction wheels (6-7) abut against the steel wire rope (4), fixing the node (6-1) measuring the speed and the clamping node (6-2) to the U-shaped base (6-3) and regulation of the regulating unit (6-5) in such a way as to achieve a given value of the clamping force between the two friction wheels (6-7) and the steel wire rope (4); b) the start of the lifting system so that a moving steel wire rope (4) drives the friction wheels (6-7), friction wheels (6-7) by means of a key on the flat drive the support rod (6-10), the supporting rod (6-10) by means of the coupling (6-14) actuates the sensor (6-13) of the angular position of the shaft, the shaft angular position sensor (6-13) transmits motion signals to the data collection unit (7), which transmits these signals through its wireless communication module to the industrial PC (8), and industrial PC (8) receives signals and calculates the axial speed of the steel wire rope (4) in real time using the software of the upper computing device. 7. A method for recognizing the nature of the motion of a torsion roller winding or unwinding a steel wire rope according to claim 6, in which to obtain the speed of movement of the steel wire rope (4) in the horizontal direction and in the vertical direction when the cable comes off (4) from the roller, the descent images of the steel wire rope (4) are preliminarily processed by shading and threshold processing, and the obtained images of the steel wire rope and background images marked with different colors to separate them from each other; on the steel wire rope gathering images (4) processed by threshold processing, a horizontal line perpendicular to the steel wire rope (4) is selected in position B above the roller (1) as a reference line, and the average values of the horizontal coordinate and vertical coordinate, which represent all the pixels of the steel wire rope (4) on the reference line, take as the coordinate (x, y) of the moving steel wire rope (4) in the horizontal direction and the vertical direction; the relative speeds of movement of the steel wire rope (4) in the horizontal direction and the vertical direction are obtained by taking the derivative of the coordinates of the steel wire rope (4) obtained continuously, with respect to time t, i.e. v _x = d _x / d _t , v _y = d _y / d _t ; then, the actual speeds of movement of the steel wire rope (4) in the horizontal direction and the vertical direction are obtained by calculating taking into account the parameters and conversion factors, i.e. V _x = v _x ⋅ Z ₁ , V _y = v _{y ⋅} Z ₂ .

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