WO2017092119A1

WO2017092119A1 - System and method for recognizing motion state of twisting type roller winding or unwinding steel wire rope

Info

Publication number: WO2017092119A1
Application number: PCT/CN2015/099321
Authority: WO
Inventors: 曹国华; 朱真才; 黄宇宏; 牛岩军; 彭维红; 沈刚; 周公博; 刘善增; 吴仁愿; 张磊
Original assignee: 中国矿业大学
Priority date: 2015-12-03
Filing date: 2015-12-29
Publication date: 2017-06-08
Also published as: ZA201706203B; RU2670741C9; RU2670741C1; CN105347129A; CN105347129B; AU2015416444A1; AU2015416444B2

Abstract

A system and method for recognizing a motion state of a twisting type roller (1) winding or unwinding a steel wire rope (4), wherein same are applicable to the detection of a motion state of the steel wire rope (4) of a mine hoisting system and an elevator traction system. The system comprises industrial cameras (2, 3), a steel wire rope axial velocity measurement apparatus (6) and an industrial control computer (8), wherein the industrial control computer (8) receives image signals photographed by the industrial cameras (2, 3) for a rope outgoing point of the roller (1), and axial motion velocity signals, collected by axis encoders (6-13), of a steel wire rope (4) to comprehensively monitor a motion state of the steel wire rope (4). The system realizes comprehensive monitoring for the roundness of the roller (1), a rope disorder state of the steel wire rope (4) of the roller (1) and a real-time velocity of a hoisting container; and realizes the visualization, automation and intelligentization of the monitoring of a motion state of the twisting type roller (1) winding or unwinding the steel wire rope (4). The system is simple in structure and convenient to operate, and has a good effect in use.

Description

Winding drum reeling wire rope movement state recognition system and method

Technical field

The invention relates to a winding type drum wire rope moving state recognition system and method, and is particularly suitable for the wire rope motion state detection of a mine lifting system and an elevator traction system, and is also applicable to various wire rope motion state detection.

Background technique

The winding hoist is widely used in the mine hoisting system. The running state of the wire rope on the winding drum is of great significance for the safe and efficient operation of the mine hoisting system. However, there is no effective way to identify the movement state of the winding drum wire rope in real time, so that the roundness detection of the drum, the rope rope monitoring and the real-time speed of the lifting vessel cannot be known, which poses a hidden danger to the safe and efficient production of the coal mine.

Summary of the invention

Technical Problem: The object of the present invention is to provide a winding drum wire rope moving state recognition system and method for solving the problems existing in the prior art, so as to solve the problem that the wire rope motion state cannot be recognized during the winding drum running process. Real-time and visualized monitoring of the movement state of the winding drum wire rope.

Technical Solution: The wound drum reeling wire rope movement state recognition system of the present invention comprises an industrial camera mounted on the rear of the drum perpendicular to the drum axis, and an industrial camera mounted on the right side of the drum parallel to the drum axis. The industrial camera 2 is connected to the industrial computer through a communication cable, and a wire rope axial speed measuring device is arranged on the vertical downward wire rope wound around the drum and bypassing the sky wheel, and the wire rope axial speed measuring device is connected with the data through the wire. box;

The wire rope axial velocity measuring device comprises a U-shaped base set on the wire rope, and the U-shaped base is symmetrically provided with a speed measuring component and a pressing component on the left and right sides of the wire rope, and the speed measuring component and the pressing component respectively comprise The base is arranged on the U-shaped base, and the support arms are symmetrically arranged on the front and rear sides of the base, and the adjustment pins are arranged on the lower pin shaft between the symmetrically arranged support arms, and the upper part of the support shaft is provided with a friction wheel that holds the wire rope. A bearing and a sleeve disposed on the support arm are symmetrically arranged on both sides of the support shaft; the speed measuring assembly further includes a shaft encoder connected to the support shaft via the coupling.

The shaft encoder is provided with an encoder bracket fixed to one side of the support arm.

The base provided on the U-shaped base is fixed by the T-bolt assembly.

A bearing end cover is arranged on both sides of the upper part of the support arm.

The friction wheel is provided with a wear-resistant rubber sleeve.

The winding drum reeling motion state recognizing method using the above system includes the following steps:

(1) Detection of lateral and longitudinal motion states of the drum reeling wire rope:

1 respectively measuring the actual width D ₁ of the drum and the image width d ₁ on the image acquired by the industrial camera behind the drum, calculating the conversion coefficient Z ₁ = D ₁ /d ₁ of the industrial camera ₁ ; measuring the actual width of the wire rope D ₂ and the image width d ₂ of the wire rope provided on the right side of the drum on the image acquired by the industrial camera 2, and the conversion coefficient Z ₂ = D ₂ /d ₂ of the industrial camera 2 is calculated;

2 through the industrial camera and the industrial camera 2 disposed perpendicular to the axis of the drum and parallel to the axis of the drum, continuously obtaining the movement of the wire rope and the drum tangentially out of the rope point A and exposing the direction B of the outer edge of the drum image;

3 The industrial camera and the industrial camera 2 respectively process the images collected by the industrial computer to obtain the transverse movement speed of the wire rope and the transverse and longitudinal movement speed of the wire rope when the wire rope is perpendicular to the wire rope direction;

(2) Axial speed detection of wire rope:

1 Stop the lifting system operation, install the wire rope axial speed measuring device, put the U-shaped base on the wire rope below the rope of the sky wheel, and let the wire rope pass through the middle of the U-shaped base; install the speed measuring component and the pressing component symmetrically on the wire rope On both sides, the two friction wheels are abutted against the wire rope, and the speed measuring component and the pressing component are fixed on the U-shaped base, and the adjusting component is adjusted to make the two friction wheels and the wire rope reach a predetermined pressing force;

2 Open the lifting system, the moving steel wire rope drives the friction wheel to rotate, the friction wheel drives the rotating shaft through the flat key, the supporting rotating shaft drives the shaft encoder through the coupling, and the shaft encoder transmits the motion signal to the data collecting box, and the data collecting box passes The wireless communication module transmits the signal to the industrial computer, and the industrial computer receives the signal and calculates the real-time axial speed of the wire rope through the upper computer software.

When obtaining the horizontal and vertical movement speeds when the wire rope is taken out, the wire rope image is first grayed out and thresholded, and the collected wire rope image and background image are marked with different colors to separate the two; At the position B above the drum of the processed wire rope output image, a horizontal line perpendicular to the wire rope 4 is selected as a reference line, and on the reference line, the average value of the horizontal and vertical coordinates of all the pixels representing the wire rope is selected as the wire rope transverse direction. The coordinate position (x, y) of the longitudinal motion; the relative velocity v _x = dx / dt, v _y = dy / dt of the wire rope is obtained by differentiating the time position t of the continuously obtained wire rope position information; and the parameter is And the conversion coefficient is calculated to obtain the true moving speed of the wire rope in the transverse and longitudinal directions V _X = v _x · Z ₁ , V _Y = v _y · Z ₂ .

Advantageous Effects: According to the above technical solution, the present invention can recognize the movement state of the winding drum winding wire in real time, and monitor the roundness of the drum, the rope rope monitoring and the speed of the lifting container in real time, and solve the winding type. During the operation of the drum, the problem of the movement state of the wire rope can not be recognized, and the real-time, visual and intelligent monitoring of the movement state of the winding drum wire rope is realized, which provides an important guarantee for the safe and efficient production of coal mines. It is especially suitable for the detection of the movement state of the wire rope of the mine lifting system and the elevator traction system, and is also applicable to the detection of the movement state of various wire ropes. The utility model has the advantages of simple structure, convenient operation and good use effect. The main advantages are:

(1) The system monitors the movement state of the wire rope in real time, and realizes the visualization, automation and intelligence of the monitoring of the movement state of the winding drum wire rope;

(2) Using machine vision technology to monitor the lateral and longitudinal motion state detection of the drum reeling wire rope to achieve non-contact, high-precision, low-cost signal acquisition;

(3) The wire rope axial velocity measuring device monitors the moving speed of the lifting wire rope in real time, reflects the real-time moving speed of the lifting container, and realizes the monitoring of the state of the lifting container;

(4) The signal of the industrial camera and the shaft encoder is transmitted to the same industrial computer through the communication cable and wireless WiFi, and the movement state of the wire rope is comprehensively monitored, and the roundness detection of the drum, the rope rope monitoring of the drum wire rope and the real-time speed of the lifting container are realized. monitor.

DRAWINGS

Figure 1 is a layout view of the overall system of the present invention;

Figure 2 is an industrial camera layout diagram for detecting the motion state of the drum winding wire rope of the present invention;

Figure 3 is a front elevational view of the wire rope axial velocity measuring device of the present invention;

Figure 4 is a plan view of the wire rope axial velocity measuring device of the present invention;

Figure 5 is a front elevational view of the wire rope axial velocity measuring device of the present invention with the outer support arm removed;

Figure 6 is a left side elevational view of the wire rope axial velocity measuring device in partial cross section of the speed measuring assembly of the present invention;

Figure 7 is a right side elevational view of the wire rope axial velocity measuring device, partially in section, of the compression assembly of the present invention.

In the figure: 1-roller; 2-industrial camera one; 3-industrial camera two; 4-wire rope; 5-day wheel; 6-wire rope axial speed measuring device; 7-data collecting box; 8--industrial machine; Communication cable; 6-1-speed measuring component; 6-2- compression assembly; 6-3-U base; 6-4-base; 6-5-adjustment component; 6-6-pin; - friction wheel; 6-8-support arm; 6-9-sleeve; 6-10-support shaft; 6-1-1 bearing; 6-1-2 bearing end cover; 6-3-1 shaft encoder; 6-14 -Coupling; 6-15-encoder bracket; 6-16-T bolt assembly; 6-17- wear-resistant rubber sleeve; 6-18-spoke; 6-19-adjustment nut; 6-20-compression spring ; 6-21-double stud; 6-22-adjustment block.

detailed description:

An embodiment of the present invention will be further described below with reference to the accompanying drawings:

As shown in FIG. 1-2, the winding drum reeling rope movement state recognition system of the present invention comprises an industrial camera 2 mounted on the rear of the drum 1 perpendicular to the drum axis and mounted on the right side of the drum 1 parallel to the drum axis. Industrial camera II 3. Due to the structure of the drum, the industrial camera 2 cannot capture the global longitudinal movement state of the ideal wire rope measuring point A located at the tangent of the wire rope 4 and the drum 1, because the ideal wire rope measuring point A and the measuring roller A are exposed outside the measuring point A. The distance between the actual wire rope measuring point B at the edge is very small compared with the spacing between the drum 1 and the sky wheel. The moving state of the actual wire rope measuring point B is basically the same as the moving state of the ideal wire rope measuring point A, so it is selected close to the rope exit point A. The measuring point B is used as a monitoring point for the drum out rope state. The industrial camera 2 and the industrial camera 2 are respectively connected to the industrial computer 8 through the communication cable 9, and the wire rope axial speed measuring device 6 is arranged on the vertically downward steel wire 4 wound around the drum and around the sky wheel, data acquisition The cartridge 7 is connected to a shaft encoder 6-13 of the wire rope axial velocity measuring device 6.

As shown in FIG. 3-7, the wire rope axial velocity measuring device 6 includes a U-shaped base 6-3 set on the wire rope 4, and the U-shaped base 6-3 is symmetrically provided with a speed measuring on the left and right sides of the wire rope 4. The assembly 6-1 and the pressing assembly 6-2, the speed measuring assembly 6-1 and the pressing assembly 6-2 respectively include a base 6-4 disposed on the U-shaped base 6-3, the base The support arms 6-8 are symmetrically arranged on the front and rear sides of 6-4, and the lower distribution pin 6-6 between the symmetrically disposed support arms 6-8 is connected with the adjustment assembly 6-5, and the upper portion is supported by the support shaft 6-10. The friction wheel 6-7 of the wire rope 4, the bearing 6-11 and the sleeve 6-9 disposed on the support arm are symmetrically arranged on both sides of the support shaft 6-10; the speed measuring component 6-1 further includes a joint The shafts 6-14 are coupled to shaft encoders 6-13 on the support shafts 6-10.

The adjusting assembly 6-5 includes an adjusting block 6-22 disposed between the two supporting arms 6-8, and the adjusting block 6-22 is provided with an adjusting stud stud 6-21, a stud stud 6- 21 is provided with a compression spring 6-20 and an adjustment nut 6-19. By adjusting the tension of the adjusting nut 6-19, the pre-tightening force of the compression spring 6-20 is changed, so that the stud 6-21 moves up and down, and the stud 6-21 drives the adjusting block 6-22 to move, and the adjusting block 6 -22 drives the support arm 6-8 to rotate around the pin 6-6, thereby realizing the adjustment of the pressing force of the wire rope 4 by the speed measuring component 6-1 and the pressing component 6-2, and avoiding the wire rope 4 and the speed measuring component 6-1 Sliding or pinching occurs between the friction wheels 6-7, ensuring that the friction wheels 6-7 and the wire rope 4 move synchronously, so that the detection result is more accurate; the shaft encoder 6-13 is fixed on the support arm 6- 8 side encoder bracket 6-15; the base 6-4 provided on the U-shaped base 6-3 is adjusted to a proper position, and is fixed by the T-bolt assembly 6-16; the support arm 6 -8 upper sides are provided with bearing end covers 6-12 to prevent dust and debris from entering the bearings 6-11; the friction wheels 6-7 are provided with wear-resistant rubber sleeves 6-17, and the friction wheels 6- 7 The friction between the wire rope 4 and the wire rope 4 to avoid slippage between the two, so that the test results are more accurate.

The method for winding the wire rope motion state recognition system of the wound drum of the present invention, the specific steps are as follows:

1 The actual width D _{1 of the} drum 1 and the image width d _{1 of the} drum 1 on the image acquired by the industrial camera 2 are respectively measured, and the conversion coefficient Z ₁ = D ₁ /d ₁ of the industrial camera 2 is calculated. Measuring the actual width D _{2 of the} wire rope 4 and the image width d _{2 of the} wire rope 4 on the image acquired by the industrial camera ₂ , and calculating the conversion coefficient Z ₂ = D ₂ /d ₂ of the industrial camera ₂ ;

2 Continuously obtaining the wire rope 4 through the industrial camera 2 and the industrial camera 2 3. On the drum 1 above the wire rope point 4 which is tangent to the drum 1 is exposed at the top of the outer edge of the drum 1 and perpendicular to the wire rope 4 Images of directions;

3 processing the images acquired by the industrial camera 2 and the industrial camera 2 on the industrial computer 8, respectively, to obtain the lateral movement speed of the wire rope 4 and the movement speed of the wire rope 4 in the direction perpendicular to the wire rope; Specific methods of horizontal and longitudinal movement speed:

The wire rope 4 is first grayed out and thresholded to separate the wire rope 4 from the background. The wire rope 4 is set to one color one, such as black, and the background is set to another color two, such as white. A line perpendicular to the wire rope 4 is selected as a reference line at a position B above the drum 1 of the rope image of the wire rope 4 after the thresholding process, and the abscissa and the longitudinal line representing all the pixels of the wire rope 4 are selected on the reference line. The average value of the coordinates is the coordinate position (x, y) of the lateral and longitudinal movement of the wire rope 4. By comparing the position information of the continuously obtained wire rope 4 with time t, the transverse and longitudinal motion relative speeds of the wire ropes 4 are obtained as v _x = dx / dt, v _y = dy / dt. The parameter and the conversion coefficient are calculated to obtain the true moving speed of the wire rope 4 in the horizontal and vertical directions, V _X = v _x · Z ₁ , V _Y = v _y · Z ₂ .

(2) Axial speed detection of wire rope:

1 Stop the lifting system operation, install the wire rope axial speed measuring device 6, fix the U-shaped base 6-3 to the lower right of the sky wheel 5, and let the wire rope 4 pass through the middle of the U-shaped base 6-3. Place the speed measuring assembly 6-1 and the pressing assembly 6-2 on both sides of the wire rope 4 so that the wear rubber sleeves 6-17 of the two friction wheels 6-7 abut against the wire rope 4, and tighten the T-bolt assembly 6-16. The speed measuring assembly 6-1 and the pressing assembly 6-2 are fixed on the U-shaped base 6-3, and the adjusting nut 6-19 on the adjusting assembly 6-5 is adjusted so that the two friction wheels 6-7 and the wire rope 4 reach a predetermined pressure. Tight force.

2 Open the lifting system, the moving wire rope 6 drives the friction wheel 6-7 to rotate, the friction wheel 6-7 drives the rotating shaft 6-10 through the flat key, and the supporting rotating shaft 6-10 drives the shaft encoder 6 through the coupling 6-14. -13, the shaft encoder 6-13 transmits the motion signal to the data collection box 7, the data collection box 7 transmits the signal to the industrial computer 8 through the wireless communication module, and the industrial computer 8 receives the signal and calculates the real time of the wire rope 4 through the upper computer software. Axial speed.

The above description is only an embodiment of the present invention, and thus does not limit the scope of the patent of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the present invention, or directly or indirectly applied to other related technical fields, The same is included in the scope of protection of the present invention.

Claims

A wound drum reeling wire rope movement state recognition system, characterized in that it comprises an industrial camera (2) mounted on the rear of the drum (1) perpendicular to the drum axis and mounted on the right side of the drum (1) parallel to the drum The industrial camera two (3) of the axis, the industrial camera one (2) and the industrial camera two (3) are respectively connected to the industrial computer (8) through the communication cable (9), winding the drum (1) and bypassing the sky wheel ( 5) The vertical downward wire rope is provided with a wire rope axial velocity measuring device (6), and the wire rope axial velocity measuring device (6) is connected to the data collecting box (7) via a wire;

The wire rope axial velocity measuring device (6) comprises a U-shaped base (6-3) fitted on the wire rope (4), and the U-shaped base (6-3) is symmetrically disposed on the left and right sides of the wire rope (4). The speed measuring component (6-1) and the pressing component (6-2), the speed measuring component (6-1) and the pressing component (6-2) respectively comprise a U-shaped base (6-3) The base (6-4) is provided with a support arm (6-8) symmetrically on the front and rear sides of the base (6-4), and a lower distribution pin (6-6) between the symmetrically disposed support arms (6-8) ) There is an adjustment component (6-5), and the upper support shaft (6-10) is provided with a friction wheel (6-7) that holds the wire rope (4), and the support shaft (6-10) is symmetrically arranged on both sides. Bearings (6-11) and bushings (6-9) on the support arm (6-8); the speed measuring assembly (6-1) also includes a coupling (6-14) connected to the support Shaft encoder (6-13) on the shaft (6-10).
A winding drum reeling rope movement state recognition system according to claim 1, wherein said shaft encoder (6-13) is fixed to one side of said support arm (6-8). Encoder bracket (6-15).
The winding drum wire rope movement state recognition system according to claim 1, wherein the base (6-4) provided on the U-shaped base (6-3) is composed of a T-bolt assembly ( 6-16) Fixed.
The winding drum wire rope movement state recognition system according to claim 1, wherein the support arms (6-8) are provided with bearing end covers (6-12) on both sides of the upper portion.
The winding drum wire rope movement state recognition system according to claim 1, wherein the friction wheel (6-7) is provided with a wear-resistant rubber sleeve (6-17).
A method for recognizing a motion state of a wound drum reeling wire rope using the system of claim 1 comprising the steps of:

(1) Detection of lateral and longitudinal motion states of the drum reeling wire rope:

1 respectively measuring the actual width D 1 of the drum (1) and the image width d 1 on the image acquired by the industrial camera one (2) disposed behind the drum (1), and calculating the conversion coefficient Z 1 of the industrial camera one (2) =D 1 /d 1 ; the actual width D 2 of the measuring wire rope (4) and the image width d 2 of the wire rope (4) provided on the right side of the drum (1) on the image acquired by the industrial camera two (3) are calculated. Industrial camera two (3) conversion coefficient Z 2 = D 2 / d 2 ;

2 Through the industrial camera one (2) and the industrial camera two (3) which are arranged perpendicular to the drum axis and parallel to the drum axis, the continuous acquisition of the wire rope (4) and the drum (1) are cut out above the rope point A. a moving image of the two directions of the outer edge of the roller at the point B;

3 Through the industrial computer (8), the images captured by the industrial camera one (2) and the industrial camera two (3) are respectively To obtain the lateral movement speed of the wire rope (4) when the rope is taken out and the transverse and longitudinal movement speed of the wire rope (4) when the rope is taken perpendicular to the direction of the wire rope;

(2) Axial speed detection of wire rope:

1 Stop the lifting system operation, install the wire rope axial speed measuring device (6), and put the U-shaped base (6-3) on the wire rope (4) below the rope of the sky wheel (5) to make the wire rope (4) In the middle of the U-shaped base (6-3); the speed measuring assembly (6-1) and the pressing assembly (6-2) are symmetrically mounted on both sides of the wire rope (4), so that the two friction wheels (6-7) are tight Fix the speed measuring component (6-1) and the pressing component (6-2) to the U-shaped base (6-3) by the wire rope (4), and adjust the adjusting component (6-5) to make the two friction wheels (6) -7) reaching a predetermined pressing force with the wire rope (4);

2 Open the lifting system, the moving wire rope (6) drives the friction wheel (6-7) to rotate, the friction wheel (6-7) drives the rotating shaft (6-10) through the flat key, and the supporting rotating shaft (6-10) passes through The shaft (6-14) drives the shaft encoder (6-13), the shaft encoder (6-13) transmits the motion signal to the data acquisition box (7), and the data acquisition box (7) transmits the signal through the wireless communication module. To the industrial computer (8), the industrial computer (8) receives the signal and calculates the real-time axial speed of the wire rope (4) through the upper computer software.
The method for recognizing a moving state of a wound drum reeling wire rope according to claim 6, wherein when the horizontal and vertical moving speeds of the wire rope are taken out, the wire drawing of the wire rope (4) is first grayed out and Thresholding process, identifying the collected wire rope (4) image and background image with different colors to separate the two; selecting a position at position B above the roller (1) of the wire rope (4) after the thresholding process The horizontal line perpendicular to the wire rope 4 is used as a reference line, on which the average value of the horizontal and vertical coordinates of all the pixels representing the wire rope (4) is selected as the coordinate position (x, y) of the horizontal and vertical movement of the wire rope (4). By comparing the position information of the continuously obtained wire rope (4) to the time t, the relative speed of the transverse and longitudinal movements of the wire rope (4) v x = dx / dt, v y = dy / dt; and calculating the parameters and the conversion coefficient The true moving speed V X = v x · Z 1 , V Y = v y · Z 2 of the wire rope (4) in the transverse and longitudinal directions is obtained.