WO2019237490A1

WO2019237490A1 - Displacement monitoring system and method for mine lifting device

Info

Publication number: WO2019237490A1
Application number: PCT/CN2018/100300
Authority: WO
Inventors: 寇子明; 杨芬; 杨建伟; 焦少妮; 郭宁; 赵晓莉
Original assignee: 太原理工大学
Priority date: 2018-06-15
Filing date: 2018-08-13
Publication date: 2019-12-19
Also published as: AU2018353927A1; AU2018353927B2; CN108946360B; ZA201902693B; CN108946360A

Abstract

Disclosed in the present invention are a displacement monitoring system and method for a mine lifting device. The system comprises an image processing device, a laser scanner and at least two image acquisition devices, wherein the image processing device is separately electrically connected to the laser scanner and the image acquisition devices; the place at which each image acquisition device of the at least two image acquisition devices is located is different, and a part to be detected of the mine lifting device may be photographed during a lifting process of the mine lifting device; the image processing device determines position information of the part to be detected according to contour data of the part to be detected scanned by the laser scanner and images comprising the part to be detected photographed by the image acquisition devices, and determines the displacement of the part to be detected according to the position information at different time points.

Description

Displacement monitoring system and method for mine hoisting equipment

Cross-reference to related applications

This application is based on a Chinese patent application with an application number of 201810623820.4 and an application date of June 15, 2018, and claims the priority of the Chinese patent application. The entire contents of the Chinese patent application are incorporated herein by reference.

Technical field

The invention relates to a mine hoisting system, in particular to a displacement monitoring system and method of a mine hoisting equipment.

Background technique

As the key equipment for mine transportation, the mine hoist is responsible for the lifting of coal and ore, the lifting of personnel, and the transportation of materials and equipment. It is an important device connecting the underground and the ground. As the main force component of the hoist, the vibration of the wire rope directly affects the stability of the hoisting process and the fatigue life of the wire rope. When the vibration displacement of the wire rope is too large, it may cause contact interference with the surrounding mine hoisting equipment, which seriously threatens the hoisting process. Security.

Summary of the Invention

In view of this, embodiments of the present invention are expected to provide a displacement monitoring system and method for mine hoisting equipment, which can monitor the displacement of the steel wire rope due to vibration in real time, so that the mine hoisting equipment is safer.

To achieve the above object, the technical solution of the present invention is implemented as follows:

An embodiment of the present invention provides a displacement monitoring system for a mine hoisting device. The system includes an image processing device, a laser scanner, and at least two image acquisition devices. The image processing device is separately from the laser scanner and the laser scanner. The image acquisition equipment is electrically connected; each of the at least two image acquisition equipment is located at a different position, and during the lifting process of the mine hoisting equipment, it can photograph the to-be-detected part of the mine hoisting equipment;

The image processing device sends a scanning instruction to the laser scanner; in response to the scanning instruction, the laser scanner scans a to-be-detected portion of the mine hoisting equipment, and sends contour data of the to-be-detected portion to the The image processing equipment sends;

When the first monitoring cycle arrives, the image processing device sends a first shooting instruction to each of the at least two image acquisition devices;

Each image acquisition device responds to the first shooting instruction, captures a first image of a portion to be detected of the mine hoisting device, and sends the captured first image including the portion to be detected to the image processing device ;

The image processing device determines, based on the contour data of the part to be detected and the first image sent by the laser scanner, a feature part located on the part to be detected in each first image, and acquires each first part. Pixel attribute information of the characteristic part in an image, based on the pixel attribute information of the characteristic part, position information of each image acquisition device in the at least two image acquisition devices, and the at least two image acquisition devices Each image acquisition device in the image captures imaging parameters of the first image, and calculates first position information of the part to be detected;

When the second monitoring cycle arrives, the image processing device sends a second shooting instruction to each of the at least two image acquisition devices;

Each image acquisition device responds to the second shooting instruction, captures a second image of a portion to be detected of the mine hoisting device, and sends the captured second image including the portion to be detected to the image processing device ;

The image processing device determines, based on the contour data of the part to be detected and the second image sent by the laser scanner, a feature part located on the part to be detected in each second image, and acquires each first part. The pixel attribute information of the characteristic parts in the two images is based on the pixel attribute information of the characteristic parts, the position information of each image acquisition device in the at least two image acquisition devices, and the at least two image acquisition devices Each of the image acquisition devices in the image captures imaging parameters of the second image, and calculates second position information of the part to be detected;

The image processing device determines a displacement of the part to be detected between the first monitoring period and the second monitoring period based on the first position information and the second position information; wherein the first The monitoring period and the second monitoring period are adjacent or non-adjacent monitoring periods.

In the above solution, the characteristic part includes a part having zoom invariance, translation invariance, rotation invariance, and illumination invariance.

In the above solution, the characteristic part includes points that are provided on the part to be detected and have invariance of zoom, translation, rotation, and illumination.

In the above solution, the characteristic part includes a part that is easy to perform image classification, image retrieval, and wide baseline matching.

In the above solution, the system further includes a display for displaying an image acquired by the image acquisition device or data obtained after the image processing device processes the image.

An embodiment of the present invention also provides a displacement monitoring method for a mine hoisting equipment, the method includes:

Sending a scanning instruction to a laser scanner; in response to the scanning instruction, the laser scanner scans a portion to be detected of the mine hoisting equipment, and sends contour data of the portion to be detected to an image processing device;

When the first monitoring period arrives, sending a first shooting instruction to each of the at least two image acquisition devices;

Acquiring a first image captured by the image acquisition device in response to the first shooting instruction and including a portion to be detected of the mine hoisting device;

Determining, according to the contour data of the part to be detected and the first image sent by the laser scanner, a feature part located on the part to be detected in each of the first images, and acquiring all of the first images The pixel attribute information of the characteristic part is based on the pixel attribute information of the characteristic part, position information of each image acquisition device in the at least two image acquisition devices, and each image acquisition in the at least two image acquisition devices. The device takes imaging parameters of the first image, and calculates first position information of the part to be detected;

When the second monitoring period arrives, sending a second shooting instruction to each of the at least two image acquisition devices;

Acquiring a second image including the part to be detected, which is captured by the image acquisition device in response to the second shooting instruction;

Determining, according to the contour data of the part to be detected and the second image sent by the laser scanner, a feature part located on the part to be detected in each second image, and acquiring all the parts in each second image The pixel attribute information of the characteristic part is based on the pixel attribute information of the characteristic part, position information of each image acquisition device in the at least two image acquisition devices, and each image acquisition in the at least two image acquisition devices. The device takes an imaging parameter of the second image, and calculates second position information of the part to be detected;

Determining a displacement of the part to be detected between the first monitoring period and the second monitoring period based on the first position information and the second position information; wherein the first monitoring period and the The second monitoring period is an adjacent or non-adjacent monitoring period.

In the above solution, before the sending a first shooting instruction to each of the at least two image acquisition devices, the method further includes:

Performing camera calibration on the image acquisition device;

Obtain a static marker when the mine hoisting equipment is not running to obtain a reference object for the site to be detected.

In the above solution, the acquiring the image acquisition device in response to the first image captured by the first shooting instruction and including the to-be-detected part of the mine hoisting device, or acquiring the image acquisition device in response to the first The second image taken by the two shooting instructions and including the part to be detected includes:

Acquire a single-frame image with a preset sequence number in the first image or the second image.

In the above solution, before the acquiring pixel attribute information of the characteristic part in each first image or before acquiring the pixel attribute information of the characteristic part in each second image, the method further includes:

A single frame image obtained from the first image or the second image is pre-processed to reduce a processing amount.

In the above solution, the preprocessing for reducing the processing amount of a single frame image obtained from the first image or the second image includes:

Performing grayscale processing on the single frame image;

Denoise the grayscale processed image.

A displacement monitoring system and method for a mine hoisting device provided by an embodiment of the present invention includes an image processing device and at least two image acquisition devices, and the at least two image acquisition devices are electrically connected to the image processing device; the at least two Each image acquisition device in the image acquisition device is in a different position, and during the lifting process of the mine lifting device, can photograph the to-be-detected part of the mine lifting device; the image processing device according to the image captured by the image acquisition device. The image of the part to be detected is included to obtain the position information of the part to be detected, and the displacement of the part to be detected within a preset time is determined according to the position information; it can be seen that the displacement of the mine hoisting equipment according to the embodiment of the present invention The monitoring system and method can monitor the displacement of the mine hoisting equipment due to vibration in real time, learn the working state of the mine hoisting equipment, and improve the safety of the working process.

Other beneficial effects of the embodiments of the present invention will be further described in specific implementations in combination with specific technical solutions.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flowchart of a displacement monitoring method of a mine hoisting device according to an embodiment of the present invention;

2 is a schematic diagram of a binocular imaging principle in a displacement monitoring system of a mine hoisting device according to an embodiment of the present invention;

3 is a schematic diagram of an image coordinate transformation principle in a displacement monitoring system of a mine hoisting device according to an embodiment of the present invention;

4 is a schematic diagram of a displacement monitoring system for a steel wire rope of a multi-rope friction hoist in a first embodiment of the present invention;

5 is a schematic diagram of an image acquisition device in a displacement monitoring system of a steel wire rope of a multi-rope friction hoist in a first embodiment of the present invention;

6 is a schematic diagram of a control cabinet in a displacement monitoring system for a steel wire rope of a multi-rope friction hoist in a first embodiment of the present invention;

7 is a schematic structural diagram of a displacement monitoring system for a steel wire rope of a multi-rope friction hoist in a first embodiment of the present invention;

FIG. 8 is a schematic diagram of setting a frequency hopping of a wireless transmission device in a displacement monitoring system of a steel wire rope of a multi-rope friction hoist in a first embodiment of the present invention; FIG.

9 is a schematic flowchart of a method for monitoring a displacement of a steel wire rope of a hoisting equipment in a second mine according to an embodiment of the present invention;

10 is a schematic diagram of a displacement monitoring system of a multi-rope friction hoist wheel of a third mine in accordance with an embodiment of the present invention;

11 is a schematic structural diagram of a displacement monitoring system of a multi-rope friction hoist wheel of a third mine in accordance with an embodiment of the present invention;

12 is a schematic diagram of a three-dimensional target calibrated by an image acquisition device in a displacement monitoring system of a multi-rope friction hoist wheel of a third mine according to an embodiment of the present invention.

detailed description

An embodiment of the present invention provides a displacement monitoring system for a mine hoisting device. The system may include an image processing device, a laser scanner, and at least two image acquisition devices. The image processing device is separately connected to the laser scanner and The image acquisition equipment is electrically connected; each of the at least two image acquisition equipments is located at a different position, and during the lifting process of the mine lifting equipment, can photograph the to-be-detected part of the mine lifting equipment;

Here, the pixel attribute information may include: a pixel size, a color, a color depth, and the like; the imaging parameter may include a focal length, a photosensitive element area, and the like.

In this way, the displacement monitoring system of the mine hoisting equipment according to the embodiment of the present invention can monitor the displacement of the mine hoisting equipment due to vibration in real time, learn the working state of the mine hoisting equipment, and improve the safety of the working process; The scanner can help the image processing device quickly determine the characteristic part of each image located on the part to be detected, without the need to additionally set a background screen or acquire an image at a close distance.

As an implementation manner, the feature part includes a part having zoom invariance, translation invariance, rotation invariance, and illumination invariance.

As an implementation manner, the characteristic part includes points provided on the part to be detected and having invariance of zoom, translation, rotation, and illumination.

As an implementation manner, the feature part includes a part that is easy to perform image classification, image retrieval, and wide baseline matching.

As an implementation manner, the image acquisition device may be a camera, and the image processing device is a computer provided with an image processing application. More specifically, the image acquisition device may be an industrial camera.

As an implementation manner, the system may further include an image acquisition device that is connected to the image acquisition device and the image processing device respectively, and the image acquisition device collects an image from the image acquisition device and sends it to The image processing device.

The image acquisition device may be configured with a specified image acquisition card, and the image transmission interface between the image acquisition device and the image acquisition device or the image processing device includes: a composite video interface, such as an AV interface or a Video interface, an S-video The interface and the like support PAL and NTSC standards. The image acquisition mode of the image acquisition device includes: grayscale and color images.

As an implementation manner, the image acquisition device may be a multi-channel synchronous acquisition device, which can ensure that images are acquired simultaneously from multiple image acquisition devices, such as cameras. For example, two cameras can send shooting signals at the same time. The left and right cameras are imaged at the same frequency.

As an implementation manner, the system may further include a display for displaying an image acquired by the image acquisition device or data obtained after the image processing device processes the image.

As an implementation manner, the system may further include a first data transmission device, and the first data transmission device is respectively connected to the image acquisition device and the image processing device; the first data transmission device converts the image The images collected by the acquisition device are transmitted to the image processing device and the display. In order to facilitate better processing of the data, the image processing equipment is generally installed in the machine room and is far from the scene, that is, far from the image acquisition device, up to several kilometers. In order to ensure the transmission quality and efficiency, An image needs to be transmitted through the first data transmission device, and the first data transmission device may be a wired transmission or a wireless transmission.

As an implementation manner, the system may further include a second data transmission device that is connected to the image processing device and a display, respectively; the second data transmission device connects the image processing device to the image processing device. The data obtained after the image processing is transmitted to the display. In some cases, the distance between the display and the image processing device is relatively long. In order to ensure transmission quality and efficiency, data may be transmitted through a second data transmission device, which may be a wired transmission. Can be wireless transmission.

When the first data transmission device and the second data transmission device adopt wireless transmission, point-to-point wireless bridge transmission can be used, and digital microwave is used for signals, so that the transmission efficiency is high and the anti-interference ability is strong.

An embodiment of the present invention also provides a displacement monitoring method for a mine hoisting device. The method may be implemented by a computer provided with a scanner application and an image processing application. In this embodiment, it is an image processing device. FIG. 1 is the present invention. A schematic flowchart of a displacement monitoring method for a mine hoisting device according to an embodiment, as shown in FIG. 1, the method includes:

Step 201: sending a scanning instruction to a laser scanner; the laser scanner responds to the scanning instruction, scans a portion to be detected of the mine hoisting equipment, and sends contour data of the portion to be detected to the image processing device send;

Here, the laser scanner is a three-dimensional laser scanner, and the laser scanner is used for: determining a specific position of a part to be detected in a complex working environment, and facilitating an image processing device to extract a feature part on the part to be detected for Image processing, in this way, can help the image processing device to quickly determine the characteristic part of each image that is located on the part to be detected, without having to additionally set a background screen or acquire an image at a short distance.

The laser scanner is generally composed of a scanner, a controller, and a power supply system. The controller may be a computer on which the scanner application is installed, and the hardware portion of the computer may be the same as the computer hardware used by the image processing device. They can be used together or can be set separately. If they are set separately, the computer used by the laser scanner needs to establish a communication connection with the computer used for image processing. In this embodiment, the two share a computer.

The laser scanner also integrates a charge coupled device image sensor (CCD, Charge Coupled Device), which can record the image of the part to be detected. The specific scanning process is: within the instrument, the controller rotates quickly and orderly through two synchronous mirrors, sweeps the laser pulses emitted by the laser pulse emitter through the site to be detected in order, and measures each laser pulse The distance from the surface of the part to be detected to the laser scanner is used to calculate the distance; at the same time, the controller controls and measures the angle of each pulse laser, and finally calculates the three-dimensional coordinates of the laser point on the part to be detected, and scans according to the returned laser The laser pulse return time of the instrument obtains the contour data of the part to be detected and records it on the CCD.

Specifically, the image processing device sends a scanning instruction to the laser scanner through a connected wire or wireless communication; the laser scanner responds to the scanning instruction, scans the to-be-detected portion of the mine hoisting equipment, and obtains the to-be-detected portion The contour data is recorded on the CCD, and the contour data is sent to the image processing device.

Step 202: When the first monitoring cycle arrives, send a first shooting instruction to each of the at least two image acquisition devices;

Here, the image acquisition device is an industrial camera, and the first monitoring cycle may be during the working time of the mine hoisting device, and the to-be-detected components of the mine hoisting device may be within the working time of the mine hoisting device. Periodic vibration occurs and displacement occurs due to the vibration; therefore, the time length of the first monitoring period is shorter than the vibration period of the component to be detected.

Specifically, before the sending a first shooting instruction to each of the at least two image acquisition devices, the method further includes:

The image processing device performs camera calibration on the image acquisition device;

The image processing device acquires a static marker when the mine hoisting device is not running to acquire a reference object of the part to be detected.

In the process of image measurement and machine vision application, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space mine hoisting equipment and its corresponding point in the image, a geometric model of camera imaging must be established. These geometric model parameters are camera parameters . Under most conditions, these parameters must be obtained through experiments and calculations. This process of solving parameters is called camera calibration. Whether in image measurement or machine vision applications, the calibration of camera parameters is a very important link. The accuracy of the calibration results and the stability of the algorithm directly affect the accuracy of the results produced by the camera work.

After the image processing device calibrates the image acquisition device, the image processing device also needs to acquire a static marker when the mine hoisting device is not running, so as to obtain a suitable reference object for the part to be detected.

Obtaining a static marker can be understood as adjusting the shooting range, so that the first image taken includes the to-be-detected part of the mine hoisting equipment and a suitable background reference.

Further, the acquiring the image acquisition device in response to the first image captured by the first shooting instruction and including the to-be-detected part of the mine hoisting device, or acquiring the image acquisition device in response to the second The second image captured by the shooting instruction and including the part to be detected includes:

The image processing device acquires a single-frame image of a preset sequence number in the first image or the second image.

A single frame image is a still picture, and continuous frames form an animation. That is, when the image acquisition device acquires the first image or the second image, it takes a method of capturing video. However, the image processing device needs to process the still image according to the still image. For processing. In order to obtain a more stable picture and reduce the processing workload, it is necessary to obtain a single frame image of a predetermined sequence number, instead of processing all single frame images; the acquisition of a single frame image of a predetermined sequence number can be determined according to different shooting conditions and different shooting conditions. The next predetermined serial number can be determined based on multiple experiments, and can also be adjusted according to the actual processing effect.

Further, before the acquiring the pixel attribute information of the characteristic part in each first image or before the acquiring the pixel attribute information of the characteristic part in each second image, the method further includes:

The image processing device performs preprocessing for reducing a processing amount on a single frame image obtained from the first image or the second image.

More specifically, the preprocessing for reducing a processing amount of a single frame image obtained from the first image or the second image includes:

Performing grayscale processing on the single-frame image by the image processing device;

The image processing device performs noise reduction processing on a gray-scale processed image.

The image processing equipment performs grayscale processing and noise reduction processing on a single frame of image to remove factors that are not related to obtaining the displacement of the mine hoisting equipment, and to facilitate post-processing.

The image processing device calculating the first position information of the part to be detected includes: performing stereo vision matching and depth calculation on a pre-processed single frame image, that is, calculating the first position of the part to be detected by using a binocular imaging principle. For details, refer to FIG. 2. The image acquisition device is composed of two cameras, and the corresponding parameters of the left and right cameras are marked with subscripts l and r respectively in the figure. The image points of an object point A (X, Y, Z) in the world coordinate space on the imaging surfaces C _l and C _r of the left and right cameras are a _l (u _l , v _l ) and a _r (u _r , v _r ). These two image points are images of the same object point A in the world coordinate space and are called "conjugate points". Knowing these two conjugate image points, they are connected to the light centers O _l and _Or of the respective cameras, namely the projection lines a _l O _l and a _r O _r , and their intersections are in the world coordinate space. Object point A (X, Y, Z).

FIG. 3 is a schematic diagram of an image coordinate transformation principle in a displacement monitoring system of a mine hoisting device according to an embodiment of the present invention. As shown in FIG. 3, according to a correspondence relationship between a world coordinate system and a camera coordinate system, that is, a left camera coordinate system and a right camera coordinate system, By performing coordinate transformation, the depth of the object point in world coordinate space can be obtained. The solution process is as follows. Take a camera as an example:

Among them, [u, v, 1] ^T is the homogeneous coordinate of the image point m in space point M in the camera coordinate system, A is the internal parameter matrix of the camera, B is the external parameter matrix of the camera, and P is a 3 × 4 matrix ,

Is the projection matrix, which represents the homogeneous coordinates of M in the world coordinate system. In this way, the depth coordinate Zc of a point in space under camera coordinates can be calculated completely, and combined with the binocular stereo vision system coordinate system, the depth of the object point in world coordinate space can be obtained. Where (u ₀ , v ₀ ) are the coordinates of the origin of the camera coordinate system in the world coordinate system; f (x, y) is the focal length in pixels; the pixel point (x _w , y _w , z _w ) is Three-dimensional coordinates in the world coordinate system.

3 and Expression (1) are general principles of the binocular imaging principle and will not be described in detail.

Step 203: When the second monitoring cycle arrives, the image processing device sends a second shooting instruction to each of the at least two image acquisition devices;

The calculation of the second position information of the part to be detected by the image processing device is the same as step 202, and details are not described again.

Step 204: Determine a displacement of the part to be detected between the first monitoring period and the second monitoring period based on the first position information and the second position information; wherein, the first monitoring period And the second monitoring period is an adjacent or non-adjacent monitoring period.

The image processing device determines a displacement of the part to be detected between the first monitoring period and the second monitoring period based on the first position information and the second position information, and this displacement is the lift of the mine Results required for equipment displacement monitoring methods.

If the displacement monitoring system of the mine hoisting equipment is set with more than two monitoring cycles within a preset time, multiple displacement values can be determined, and the displacement within the preset time can be considered as the one with the largest displacement value.

The present invention is further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

Example one

FIG. 4 is a schematic diagram of a displacement monitoring system for a multi-rope friction hoist steel wire rope according to a first embodiment of the present invention. As shown in FIG. 4, the displacement monitoring system for the multi-rope friction hoist steel wire rope includes a laser scanner 15 and an image acquisition device , Image acquisition device 5, power supply box 6, signal transmitter 7, signal receiver 8, monitoring display 11, and industrial control cabinet 9.

Here, the mine multi-rope friction hoist wire rope displacement monitoring system is used to monitor the mine multi-rope friction hoist wire rope 16. One end of the wire rope 16 is fixed to the hoist wheel, and the other end is loaded with a hoisting container 17, and the hoisting The container 17 moves up and down in the mine 18 for conveying goods or miners. In order not to affect the operation of the multi-rope friction hoist of the mine, the displacement monitoring system will be far from the preset distance of the mine 18, and the farthest can be reached Above 100 meters.

The laser scanner 15 can help the image processing device to quickly determine the characteristic part of each image located on the part to be detected, without the need to additionally set a background screen or acquire an image at a short distance.

Wherein, as shown in FIG. 5, the image acquisition device includes: two industrial cameras, namely left camera 2, right camera 4, LED light source 1, and camera mount 3; as shown in FIG. 6; the industrial control cabinet 9 includes a cabinet 10. The monitoring display 11 and the industrial computer 13 are both installed in the cabinet 10. The industrial computer 13 is also provided with input devices, namely a keyboard 12 and a mouse (not shown in the figure). The cabinet 10 is also provided with There is a sound and light alarm device 14, and the sound and light alarm device 14 is electrically connected to the industrial computer 13.

The laser scanner 15 is configured to scan the contour of the steel wire rope 16 to obtain the contour data of the steel wire rope 16; in this way, the image acquisition device does not need to acquire an image at a close distance.

The left camera 2 and the right camera 4 are used to shoot a working video of the wire rope 16 and obtain video information of the wire rope 16;

The LED light source 1 is used to increase the brightness of the surface of the wire rope 16 so that the industrial camera can shoot more clearly;

The camera mount 3 is configured to fix the left camera 2 and the right camera 4;

The image acquisition device 5 is configured to collect the video information captured by the left camera 2 and the right camera 4; the image acquisition device 5 is a multi-channel synchronous acquisition device;

The signal transmitter 7 is configured to send the video information collected by the image acquisition device 5 to the industrial computer 13;

The signal receiver 8 is configured to receive the video information sent by the signal transmitter 7 and pass the video information to the industrial computer 13;

The industrial computer 13 is configured to obtain the displacement data of the steel wire rope 16 according to the contour data of the steel wire rope 16 and the video information of the steel wire rope 16 to process the contour data and the video information; The industrial computer 13 may be an industrial integrated computer with monitoring and analysis software.

The monitoring display 11 is configured to display the video information and the displacement data of the hoist rope;

The acousto-optic alarm device 14 is used for alarming when the vibration amplitude of the steel wire rope 16 changes greatly in a very short time or in other abnormal situations;

The power supply box 6 is configured to provide power to the left camera 2, the right camera 4, the LED light source 1, the signal transmitter 7, and the signal receiver 8. Since the multi-rope friction hoist steel wire rope of this embodiment is often used in flammable mines such as coal mines, the power box 6 uses a flameproof and intrinsically safe power box, specifically a flameproof and intrinsically safe power box. The rated voltage is 24V, with a capacity of 1536Wh.

Similarly, the industrial control cabinet 9 is an explosion-proof control cabinet.

The working process of the displacement monitoring system for the steel wire rope of the multi-rope friction hoist is: the image acquisition device 5 collects the outline data of the wire rope 16 outline scanned by the laser scanner 15 and sends it to the industrial computer 13 through the signal transmitter 7 The image acquisition device 5 collects video information captured by the left camera 2 and the right camera 4 and sends the video information to the industrial computer 13 through the signal transmitter 7; the industrial computer 13 processes the contour data and the video information to obtain The displacement data of the hoisting rope is used to judge the working state of the hoisting rope according to the displacement data. If the working state is abnormal, the sound and light alarm device 14 is triggered to give an alarm.

FIG. 7 is a schematic structural diagram of a displacement monitoring system for a multi-rope friction hoist wire rope of a mine according to a first embodiment of the present invention. As shown in FIG. 7, the hoist wire rope vibration displacement monitoring system includes a laser scanner 30, a left camera 31, and a right Camera 32, image acquisition device 33, data transmission device 34, industrial control cabinet 35, industrial computer 36, monitoring display 37 and sound and light alarm device 38;

The laser scanner 30 is configured to scan the contour of the hoist rope, obtain the contour data of the hoist rope, and send the profile data to the industrial computer 36;

The left camera 31 and the right camera 32 are used to shoot a working video of the hoist rope;

The image acquisition device 33 is configured to collect video information captured by the left camera 31 and the right camera 32;

The data transmission device 34 is configured to send video information collected by the image acquisition device 33 to the industrial computer 13, that is, the first data transmission device corresponding to the foregoing;

The industrial control cabinet 35 is used for installing an industrial computer 36 and protecting the industrial computer 36;

The industrial computer 36 is configured to process the video information according to the contour data of the hoist wire rope obtained by the laser scanner 30 and video information captured by the left camera 31 and the right camera 32 to obtain the lift Displacement data of the machine wire rope;

The monitoring display 37 is configured to display the video information and the displacement data of the hoist rope;

The acousto-optic alarm device 38 is used for alarming when the vibration amplitude of the hoist wire rope changes greatly within a short period of time or under other abnormal conditions.

FIG. 8 is a schematic diagram of setting a frequency hopping of a wireless transmission device in a displacement monitoring system of a steel wire rope of a mine hoist according to a first embodiment of the present invention. As shown in FIG. 8, at the transmitting end, the input signal is firstly subjected to baseband modulation, usually a frequency shift key. Frequency-shift keying (FSK) modulation, and then mixing or frequency conversion with a local oscillator signal generated by a frequency synthesizer controlled by a pseudo-random (PN) code. The local oscillator signal is a radio frequency carrier, which is obtained by inputting a PN code into a frequency synthesizer for variable frequency synthesis. At the receiving end, the local frequency synthesizer is controlled with the same PN code as the transmitting end, and the received signal is mixed with the signal of the local frequency synthesizer to obtain a baseband modulated signal, which is then demodulated to recover the signal. It can be seen from the principle that frequency-hopping communication is instantaneous narrow-band communication. During the dwell time of each frequency, the bandwidth of the occupied channel is very narrow. However, because the frequency hopping rate is relatively high, from a macro perspective The frequency hopping system is also a broadband system, that is, the spectrum is expanded. By setting the frequency modulation, the anti-interference ability of wireless signal transmission is greatly improved.

Here, the wireless transmission device is the aforementioned data transmission device using wireless communication technology. The wireless transmission device may be used when the distance between the image acquisition device and the industrial computer is long or it is not suitable to use a wired connection. In addition, the wireless transmission device may also be used for data transmission between an industrial computer and a monitor display, that is, corresponding to the aforementioned second data transmission device.

Example two

FIG. 9 is a schematic flow chart of a method for monitoring the displacement of a steel rope of a hoisting equipment in a second embodiment of the present invention. As shown in FIG. 9, the method for monitoring the displacement of a steel rope of a hoisting equipment includes the following steps:

Step 500: camera calibration and correction;

Calibrate and correct the left and right cameras before acquiring images to eliminate image distortion caused by the camera itself.

Step 501: Obtain a static marker;

Take static markers while the rope is not running to obtain a ruler.

Step 502: laser scanning;

The contour of the hoist rope is scanned to obtain contour data of the hoist rope.

Step 503: video stream shooting transmission;

After the monitoring is started, a video of the operation of the hoisting equipment wire rope is taken and transmitted to the industrial control cabinet. The video is transmitted to the industrial computer respectively, and the video or the industrial computer processing result is displayed on the monitoring display.

Step 504: extract a single frame image;

The image processing application of the industrial computer acquires a single frame image of the left and right cameras.

Step 505: image grayscale processing;

An image processing application of an industrial computer performs grayscale processing on a single frame of image.

Step 506: image noise reduction filtering;

The image processing application of the industrial computer performs noise reduction filtering on the grayscale processed image.

Step 507: stereo matching;

The image processing application of industrial computer performs stereo matching on the image after noise reduction and filtering.

Step 508: Three-dimensional depth calculation.

The image processing application of the industrial computer performs three-dimensional depth calculation on the stereo matched image.

Step 509: displacement acquisition;

After the three-dimensional depth calculation is completed, the image processing application of the industrial computer obtains the lateral and longitudinal amplitudes of the mine hoisting equipment, that is, the lateral and longitudinal displacements of the mine hoisting equipment.

Step 510: data saving;

The industrial computer saves the acquired lateral and longitudinal displacement data of the mine hoisting equipment for recall. The industrial computer may also make a “transverse vibration curve” and a “longitudinal vibration curve” of the mine hoisting equipment according to the monitoring results. The horizontal coordinate of the horizontal vibration curve is the monitoring time, and the vertical coordinate is the horizontal vibration displacement by default. The wire rope is displaced to the right, and the moving direction of the mine hoisting equipment can be customized.

In addition, the industrial computer can make a preliminary assessment of the health of the wire rope of the mine hoist by monitoring the wire rope during the lifting process, and generate daily reports, which can be printed directly or saved.

Step 511: abnormal alarm.

When the vibration amplitude of the hoist wire rope changes greatly in a very short period of time, the industrial computer judges that it is abnormal and triggers the sound and light alarm device to alarm; in addition, the analysis of the vibration displacement change curve can timely find abnormal vibration or sudden changes in vibration , Will also trigger the sound and light alarm device alarm.

Example three

FIG. 10 is a schematic diagram of a displacement monitoring system of a multi-rope friction hoist wheel of a third mine according to an embodiment of the present invention. As shown in FIG. 10, the displacement monitoring system of the multi-rope friction hoist wheel of the mine includes an image acquisition device and an industrial computer. 67. Signal transmitter 68, signal receiver 69, monitoring host 70, sound and light alarm 71, and printer 72.

The image acquisition device includes a laser scanner 60, an industrial camera, LED lighting 65, and a stereo target 66. The industrial camera includes a first camera 61, a second camera 62, a third camera 63, and a fourth camera 64.

The laser scanner 60 is configured to scan the contour of the sun wheel to obtain the contour data of the sun wheel;

The first camera 61, the second camera 62, the third camera 63, and the fourth camera 64 are used to capture a working video of the sky wheel to obtain video information;

The LED illuminating lamp 65 is used to increase the brightness of the surface of the sky wheel, so that the industrial camera can shoot more clearly;

The three-dimensional target 66 is used for calibrating and correcting an industrial camera to eliminate image distortion caused by the industrial camera itself;

The industrial computer 67 is configured to process the contour data and the video information to obtain displacement data of the sky wheel;

The signal transmitter 68 is configured to send the displacement data of the sun wheel obtained by the industrial computer 67 to the monitoring display 70;

The signal receiver 69 is configured to receive the displacement data of the sky wheel sent by the signal transmitter 68 and transmit the displacement data to the monitoring display 70;

The monitoring host 70 is configured to display displacement data of the sky wheel received by the signal receiver 69;

The acousto-optic alarm device 71 is used for alarming when the amplitude of the vibration of the skywheel changes greatly or in other abnormal conditions in a short time;

The printer 72 is configured to print out displacement data of the sun wheel.

FIG. 11 is a schematic structural diagram of a displacement monitoring system of a multi-rope friction hoist wheel of a third mine according to an embodiment of the present invention. As shown in FIG. 11, the displacement monitoring system of the multi-rope friction hoist wheel of the mine includes a stereo vision acquisition system. , Image processing system, data transmission system and display and operating system; among them,

The stereo vision acquisition system includes a laser scanner, an LED lighting lamp, a CCD camera, a three-dimensional target, and a multi-channel synchronous acquisition device; the laser scanner is used to scan the contour of the sky wheel to obtain the contour data of the sky wheel; The LED illuminating lamp is used to increase the brightness of the surface of the sky wheel so that the CCD camera can shoot more clearly; the CCD camera is used to record the working video of the sky wheel to obtain video information; the stereo target is used for The CCD camera is calibrated and corrected to eliminate image distortion caused by the CCD camera itself; the multi-channel synchronous acquisition device is used to collect contour data scanned by a laser scanner and video information captured by the CCD camera and send it to the image Processing system

The image processing system includes a protective case, an industrial integrated computer, and a memory; the protective case is installed on an outer surface of the industrial integrated computer to protect the industrial integrated computer; and the industrial integrated computer is provided with an image Identification and processing software for receiving contour data and video information transmitted by the multi-channel synchronous acquisition device, processing the contour data and video information, obtaining displacement data of the sky wheel; and the memory for storing Contour data, video information transmitted by the multi-channel synchronous acquisition device, and processing results of the industrial integrated computer, that is, displacement data of the sky wheel;

The data transmission system includes a wireless transmitting device and a wireless receiving device. The wireless transmitting device is configured to send the processing result of the industrial integrated computer to the display and operating system. The wireless receiving device is configured to receive all The processing result sent by the wireless transmitting device is transmitted to the display and operating system. In practical applications, the data transmission system uses a point-to-point wireless bridge device. See FIG. 10, including a wireless transmitting device 68 and a wireless receiving device 69. The best transmission distance is 0-3 kilometers, the maximum transmission rate is 300Mbps, and power over Ethernet (POE, Power Over Ethernet) power is used. A wireless transmitting device 68 is connected to the image processing system, and a wireless receiving device 69 is connected to the display and operating system.

The display and operating system includes a monitoring host, an acousto-optic alarm device, and a printer. The monitoring host is used to display the displacement data of the skywheel. The acousto-optic alarm device is used to vibrate the skywheel in a very short time. Alarm when the amplitude changes greatly or in other abnormal situations; the printer is used to print out the displacement data of the sun wheel.

Further, the displacement monitoring system of the mine multi-rope friction hoist wheel includes a power supply electrical system, the power supply electrical system includes a flameproof and intrinsically safe power box and electrical equipment, and the flameproof and intrinsically safe power box is rated The voltage is 24V and the capacity is 1536Wh.

FIG. 12 is a schematic diagram of a three-dimensional target calibrated by an image acquisition device in a displacement monitoring system of a multi-rope friction hoist wheel of a third mine according to an embodiment of the present invention. As shown in FIG. , A4, A5, and A6, the specific working process is: placing the stereo target in the camera lens, and using the standard calibration method to calibrate and correct the left and right cameras through the change relationship between the camera coordinate system, the world coordinate system, and the target coordinate system. To eliminate image distortion caused by the camera itself.

In the monitoring process of the displacement monitoring system of the multi-rope friction hoist pulley of the embodiment of the present invention, the steps described in the displacement monitoring method of the steel wire rope of the multi-rope friction hoist of the previous embodiment are also performed, and details are not described again.

The above description is only the preferred embodiments of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be included in Within the scope of the present invention.

Industrial applicability

The displacement monitoring system and method of the mine hoisting equipment according to the embodiments of the present invention can monitor the displacement of the mine hoisting equipment due to vibration in real time, learn the working state of the mine hoisting equipment, and improve the safety of the working process.

Claims

A displacement monitoring system for a mine hoisting device, the system comprising an image processing device, a laser scanner, and at least two image acquisition devices, the image processing device being electrically connected to the laser scanner and the image acquisition device, respectively; Each of the at least two image acquisition devices is located at a different position, and during the lifting process of the mine hoisting device, can photograph the to-be-detected part of the mine hoisting device;

The image processing device sends a scanning instruction to the laser scanner; in response to the scanning instruction, the laser scanner scans a to-be-detected portion of the mine hoisting equipment, and sends contour data of the to-be-detected portion to the The image processing equipment sends;

When the first monitoring cycle arrives, the image processing device sends a first shooting instruction to each of the at least two image acquisition devices;

Each image acquisition device responds to the first shooting instruction, captures a first image of a portion to be detected of the mine hoisting device, and sends the captured first image including the portion to be detected to the image processing device ;

The image processing device determines, based on the contour data of the part to be detected and the first image sent by the laser scanner, a feature part located on the part to be detected in each first image, and acquires each first part. Pixel attribute information of the characteristic part in an image, based on the pixel attribute information of the characteristic part, position information of each image acquisition device in the at least two image acquisition devices, and the at least two image acquisition devices Each image acquisition device in the image captures imaging parameters of the first image, and calculates first position information of the part to be detected;

When the second monitoring cycle arrives, the image processing device sends a second shooting instruction to each of the at least two image acquisition devices;

Each image acquisition device responds to the second shooting instruction, captures a second image of a portion to be detected of the mine hoisting device, and sends the captured second image including the portion to be detected to the image processing device ;

The image processing device determines, based on the contour data of the part to be detected and the second image sent by the laser scanner, a feature part located on the part to be detected in each second image, and acquires each first part. The pixel attribute information of the characteristic parts in the two images is based on the pixel attribute information of the characteristic parts, the position information of each image acquisition device in the at least two image acquisition devices, and the at least two image acquisition devices Each of the image acquisition devices in the image captures imaging parameters of the second image, and calculates second position information of the part to be detected;

The image processing device determines a displacement of the part to be detected between the first monitoring period and the second monitoring period based on the first position information and the second position information; wherein the first The monitoring period and the second monitoring period are adjacent or non-adjacent monitoring periods.
The displacement monitoring system of a mine hoisting device according to claim 1, wherein the characteristic portion includes a portion having a scaling invariance, a translation invariance, a rotation invariance, and a light invariance.
The displacement monitoring system of a mine hoisting device according to claim 1, wherein the characteristic portion includes a point provided on the portion to be detected and having invariance of zoom, translation, rotation, and illumination. .
The displacement monitoring system for a mine hoisting device according to claim 1, wherein the characteristic portion includes a portion where image classification, image retrieval, and wide baseline matching are easy to perform.
The displacement monitoring system for a mine hoisting device according to any one of claims 1 to 3, wherein the system further comprises a display for displaying an image acquired by the image acquisition device or an image processing device The data obtained after image processing are described.
A displacement monitoring method for mine hoisting equipment, the method includes:

Sending a scanning instruction to a laser scanner; in response to the scanning instruction, the laser scanner scans a portion to be detected of the mine hoisting equipment, and sends contour data of the portion to be detected to an image processing device;

When the first monitoring period arrives, sending a first shooting instruction to each of the at least two image acquisition devices;

Acquiring a first image captured by the image acquisition device in response to the first shooting instruction and including a portion to be detected of the mine hoisting device;

Determining, according to the contour data of the part to be detected and the first image sent by the laser scanner, a feature part located on the part to be detected in each of the first images, and acquiring all of the first images The pixel attribute information of the characteristic part is based on the pixel attribute information of the characteristic part, position information of each image acquisition device in the at least two image acquisition devices, and each image acquisition in the at least two image acquisition devices. The device takes imaging parameters of the first image, and calculates first position information of the part to be detected;

When the second monitoring period arrives, sending a second shooting instruction to each of the at least two image acquisition devices;

Acquiring a second image including the part to be detected, which is captured by the image acquisition device in response to the second shooting instruction;

Determining, according to the contour data of the part to be detected and the second image sent by the laser scanner, a feature part located on the part to be detected in each second image, and acquiring all the parts in each second image The pixel attribute information of the characteristic part is based on the pixel attribute information of the characteristic part, position information of each image acquisition device in the at least two image acquisition devices, and each image acquisition in the at least two image acquisition devices. The device takes an imaging parameter of the second image, and calculates second position information of the part to be detected;

Determining a displacement of the part to be detected between the first monitoring period and the second monitoring period based on the first position information and the second position information; wherein the first monitoring period and the The second monitoring period is an adjacent or non-adjacent monitoring period.
The method according to claim 6, wherein before the sending a first shooting instruction to each of the at least two image acquisition devices, the method further comprises:

Performing camera calibration on the image acquisition device;

Obtain a static marker when the mine hoisting equipment is not running to obtain a reference object for the site to be detected.
The method according to claim 6, wherein the acquiring the image acquisition device in response to the first shooting instruction includes a first image of a portion of the mine hoisting device to be detected, or acquires the image The second image including the part to be detected, which is captured by the acquiring device in response to the second shooting instruction, includes:

Acquire a single-frame image with a preset sequence number in the first image or the second image.
The method according to claim 6, 7, or 8, wherein in acquiring pixel attribute information of the characteristic portion in each first image or in acquiring pixels of the characteristic portion in each second image Before the attribute information, the method further includes:

A single frame image obtained from the first image or the second image is pre-processed to reduce a processing amount.
The method according to claim 9, wherein the preprocessing for reducing a processing amount of a single frame image obtained from the first image or the second image comprises:

Performing grayscale processing on the single frame image;

Denoise the grayscale processed image.