CN112707272A - Rope jitter detection method, device and system based on video intelligent identification - Google Patents
Rope jitter detection method, device and system based on video intelligent identification Download PDFInfo
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- CN112707272A CN112707272A CN202011530428.9A CN202011530428A CN112707272A CN 112707272 A CN112707272 A CN 112707272A CN 202011530428 A CN202011530428 A CN 202011530428A CN 112707272 A CN112707272 A CN 112707272A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1215—Checking means specially adapted for ropes or cables
- B66B7/1238—Checking means specially adapted for ropes or cables by optical techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- General Physics & Mathematics (AREA)
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- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention relates to a rope jitter detection method, device and system based on video intelligent identification. The jitter detection method comprises the following steps: acquiring a video image acquired by an image acquisition device within preset time, wherein the video image at least comprises a jitter image of rope segments of a preset interval on a rope in the preset time; according to the jitter image, recognizing the position of the rope section of the preset interval and calculating an image jitter amplitude value delta x' of the rope section of the preset interval in a jitter period; and converting the image jitter amplitude value Δ x' to an actual jitter amplitude value Δ x. The method can realize effective detection of the rope jitter amplitude value of the elevator, and avoids the problem that the detection cannot be realized due to the fact that the sensor is easy to fail caused by the influence of severe environment because various sensing elements are adopted for measurement in the prior art.
Description
Technical Field
The invention relates to the technical field of video identification and detection of rope jitter, in particular to a rope jitter detection method, device and system based on video intelligent identification.
Background
In the operation process of the steel wire rope of the mine hoist, the steel wire rope shakes under the excitation action of the vibration source. When the rope shakes greatly, the friction force is unstable directly, a rope slipping accident is easy to occur, the friction lining is damaged, and the damage of the friction lining aggravates the shaking of the steel wire rope, so that vicious circle is generated, and finally serious results are caused. The shaking phenomenon of the steel wire rope of the elevator is identified and detected, so that the hidden danger of equipment can be found, and accidents are avoided.
The existing detection technology adopts various sensing element measurement methods, the sensor has high requirements on the field environment, and the sensor is easy to lose efficacy under the severe environment of a coal mine, so that the condition of incapability of detection is caused. Meanwhile, in the prior art, detailed periodic recording is not carried out on the jitter condition of the steel wire rope of the elevator, so that the problem of failure safety of the elevator caused by untimely maintenance or the problem of resource waste caused by maintenance in advance is caused.
Disclosure of Invention
According to the first aspect of the invention, a rope shaking detection method based on intelligent video identification is provided. The jitter detection method comprises the following steps: acquiring a video image acquired by an image acquisition device within preset time, wherein the video image at least comprises a shaking image of a rope segment of a preset interval on the rope in the preset time; according to the jitter image, recognizing the position of the rope section of the preset interval and calculating an image jitter amplitude value delta x' of the rope section of the preset interval in a jitter period; and converting the image jitter amplitude value Δ x' into an actual jitter amplitude value Δ x.
Further, the one dithering cycle includes: the rope segment in the preset interval moves towards a first direction from an initial position at first, then turns to move towards a second direction and passes through the initial position to continue moving towards the second direction, and finally turns to move towards the first direction and returns to the initial position; the first direction is opposite to the second direction, and the initial position is the position of the rope section in the preset interval when the rope section does not shake.
Further, the step of identifying the position of the rope segment in the predetermined interval and calculating the image shaking amplitude value Δ x' of the rope segment in the predetermined interval in one shaking period includes: establishing a first rectangular coordinate system in the video image, taking the extending direction of the rope section of the preset interval when the rope section does not shake as the Y-axis extending direction, taking the first direction as the positive X-axis direction, and taking the second direction as the negative X-axis direction;
identifying the position of the predetermined interval rope segment and calculating the image jitter amplitude value delta x' under the first rectangular coordinate system:
wherein, XmaxAn X-axis coordinate value of a farthest position to which the predetermined interval rope portion initially moves in the first direction away from the initial position, as identified during the one bounce period; xminThe rope section of the preset interval is then converted into the X-axis coordinate value of the farthest position which moves towards the second direction and continues to move towards the second direction through the initial position, wherein the value is identified in the one shaking period;
the step of converting the image jitter amplitude value Δ x' into an actual jitter amplitude value Δ x includes:
and converting an actual jitter amplitude value delta x according to the image jitter amplitude value delta x':
and e is an actual distance value corresponding to a unit distance value in the first rectangular coordinate system.
Further, the jitter detection method further includes: dividing a plurality of preset jitter amplitude intervals, wherein the preset jitter amplitude intervals are not overlapped with each other; (ii) a
And when the actual jitter amplitude value delta x obtained by conversion falls into one of the preset jitter amplitude intervals, recording a first recording parameter corresponding to the falling interval.
Further, the jitter detection method further includes: when the first recording parameter corresponding to at least one preset jitter amplitude interval in the preset jitter amplitude intervals exceeds a first preset threshold value, triggering a corresponding first response action;
wherein the first predetermined threshold comprises: a first early warning threshold, a first alarm threshold, or a first emergency shutdown threshold; the first responsive action comprises: a first early warning action, a first alarm action or a first emergency shutdown action;
and the first warning action is triggered when the first recording parameter exceeds the first warning threshold, and the method comprises the following steps: sending out an early warning prompt to remind a person in a trunk system to pay attention to monitoring of the elevator and a control system thereof;
the first alarm action is triggered corresponding to the first recording parameter exceeding the first alarm threshold, and comprises: sending an alarm prompt to remind a person in line of charge to pay attention to the monitoring of the hoister and a control system thereof, and sending an operation signal to the control system to start corresponding processing equipment;
the first emergency shutdown action triggered corresponding to the first recording parameter exceeding the first emergency shutdown threshold, comprising: and controlling the hoister to stop and sending an alarm prompt to remind a person in the dry line.
Further, the first recording parameter includes: at least one of the accumulated falling frequency, the falling frequency and the accumulated falling duration;
when the first recording parameter corresponding to at least one preset jitter amplitude interval in the preset jitter amplitude intervals exceeds a first preset threshold value, triggering a first response action, wherein the step comprises the following steps;
and triggering the first response action when the accumulated falling times exceed the first preset threshold, or the falling frequency exceeds the first preset threshold, or the accumulated falling duration exceeds the first preset threshold.
Further, the rope section with the preset interval is a first rope section, or the rope section with the preset interval is a part of the first rope section;
wherein the first rope segment comprises a first end and a second end which are oppositely arranged along the extending direction of the first rope segment, and the first end and the second end are both non-free ends.
According to the second aspect of the present invention, there is also provided a rope shaking detection device based on video intelligent recognition, including:
the image acquisition module is used for acquiring a video image acquired by the image acquisition device within preset time, and the video image at least comprises a jitter image of a rope segment of a preset interval on the rope in the preset time;
the amplitude calculation module is used for identifying the position of the rope section of the preset interval according to the jitter image and calculating an image jitter amplitude value of the rope section of the preset interval in a jitter period; and converting the image jitter amplitude value into an actual jitter amplitude value.
Further, the detection device further comprises: the parameter recording module is used for dividing a plurality of preset jitter amplitude intervals, and the preset jitter amplitude intervals are not overlapped with each other; and when the actual jitter amplitude value obtained by conversion falls into one of the preset jitter amplitude intervals, recording a first recording parameter corresponding to the falling interval.
According to the third aspect of the present invention, there is also provided a system for detecting rope jiggling based on video intelligent recognition, including: the device comprises an image acquisition device and the rope shaking detection device based on the intelligent video identification.
The invention has the advantages that at least the following steps are included: (1) the method has the advantages that the effective detection of the rope jitter amplitude value of the elevator is realized by acquiring and identifying the video image, and the problem that the detection cannot be performed (such as in a coal mine environment) due to the failure of a sensor caused by the influence of a severe environment because various sensing elements are adopted for measurement in the prior art is avoided; (2) the method fully considers and comprises the causal relationship between adjacent jitter displacements in different directions to calculate the jitter amplitude value, so that the false alarm rate and the false alarm rate can be effectively reduced in the subsequent practical application of indicating or reminding the running condition of the elevator according to the jitter amplitude information of the rope strips; (3) the problem of elevator fault safety caused by untimely maintenance or resource waste caused by advanced maintenance due to the fact that detailed periodic recording is not carried out on the condition of the elevator steel wire rope jitter in the prior art is effectively solved; (4) by dividing the jitter amplitude interval and counting the parameters, powerful basis, reminding and preset processing can be provided for maintenance of the elevator in time, and safety accidents of the elevator caused by the failure of the steel wire rope are greatly reduced or avoided; (5) random fluctuation which is difficult to predict is effectively avoided/restrained, and tedious construction and high cost caused by adopting an image filtering device or applying an image filtering algorithm are avoided.
Drawings
FIG. 1 is a schematic flow chart of a rope jitter detection method based on video intelligent identification according to the present invention;
FIG. 2 is a schematic structural diagram of a system for detecting rope trembling based on video intelligent recognition according to the present invention;
fig. 3 is a schematic diagram of a position relationship of a rope segment of a predetermined interval on a rope in a video image within a shaking period and a conversion relationship between a unit distance value and an actual distance value in the video image in the rope shaking detection method based on video intelligent recognition.
FIG. 4 is a schematic structural diagram of a rope vibration detection device based on video intelligent recognition according to the present invention;
description of reference numerals:
1-a roller; 2-rope part between the drum wheels; 3-head sheave; 4-a container chassis; 5-balancing the tail rope portion; 6-high definition camera; 7-network connection; 8-intelligent recognition means; 9-rope part between wheel boxes.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It should be noted that the terms "first," "second," "third," and the like in the present disclosure are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
For the purpose of facilitating an understanding of the present invention, the following detailed description will be given of the technical solutions provided by the present invention with reference to specific embodiments. In the present invention, the technical features of the embodiments and the technical features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, a schematic flow chart of a rope-shaking detection method based on video intelligent identification is shown. The invention provides a rope jitter detection method based on intelligent video identification, which comprises the following steps:
(1) acquiring a video image acquired by an image acquisition device within preset time, wherein the video image at least comprises a jitter image of rope segments of a preset interval on a rope in the preset time; (2) according to the jitter image, recognizing the position of the rope section of the preset interval and calculating an image jitter amplitude value delta x' of the rope section of the preset interval in a jitter period; and, (3) converting the image jitter amplitude value Δ x' to an actual jitter amplitude value Δ x. As a non-limiting example, the rope of the present invention may be a steel wire rope.
Therefore, the method can realize effective detection of the rope vibration amplitude value of the elevator in a mode of acquiring and identifying the video image, and avoid the problem that the detection cannot be carried out (such as under the coal mine environment) due to the fact that the sensor is out of work because various sensing elements are adopted for measurement in the prior art and are easily influenced by the severe environment.
The following are specifically mentioned: it will be understood by those skilled in the art that the meaning of "predetermined interval rope portion" in the present invention shall include both "absolute" and "relative". The description of an "absolute" case may be exemplified by: the actual interval rope segments corresponding to the predetermined interval rope segments in the video image are not moved (it will be understood by those skilled in the art that "movement" discussed herein does not include "jitter" of the rope under study of the present invention). That is, in the video region where the predetermined section rope is observed in the video image for a predetermined time, the same actual section rope is always observed. The description of the "relative" case may be exemplified by: the actual section rope section corresponding to the predetermined section rope section is moved, for example, the image of the rope section 2 between the drum wheels between the drum 1 and the head sheave 3 in fig. 2 in the video image is collected as the predetermined section rope section, when the elevator works, the drum 1 rolls to drive the rope section 2 between the drum wheels to pull and move along the rolling direction. The predetermined section rope segment observed in the video image at the current moment a therefore corresponds to an actual section rope segment that is already different from the actual section rope segment corresponding to the previous moment B (because the actual rope segment has already undergone a drawing movement as the drum 1 rolls at the moment a with respect to the moment B). Regardless of the time a or the time B, the video areas of the predetermined section clips observed in the video image coincide. Therefore, it can be considered that although the actual section loop observed in the video area at different times moves and changes, the video area for observing the predetermined section loop is relatively unchanged (such as the size and position of the video area), which is called "relative".
As a preferred embodiment, one dithering cycle in the present invention includes: the rope segment in the preset interval moves towards the first direction from the initial position at first, then turns to move towards the second direction and continues to move towards the second direction through the initial position, and finally turns to move towards the first direction and returns to the initial position; the first direction is opposite to the second direction, and the initial position is the position of the rope section in the preset interval when the rope section does not shake.
The inventor of the application finds in research that: the rope tends to be displaced in opposite directions from the initial position (as shown in figure 3, of predetermined intervals of rope portion S1
And
the position is deviated from the initial position
Positions where dither displacements occur in opposite directions), and there is a direct memory between adjacent dither displacements in different directionsIn a causal relationship, and this is also the smallest process that reflects the causal relationship. This is often ignored in the prior art, and the prior art only concerns the jitter amplitude of the rope in a single-side direction when considering the jitter size of the rope, and thus the obtained or counted jitter amplitude information is incomplete. And the inventor further finds that when the operating condition of the hoisting machine (such as whether the hoisting machine is safely operated, whether a safety fault occurs or is possible) is indicated or reminded according to the vibration amplitude information of the rope, the situation that the indication or reminding information is not consistent with the actual situation often occurs. The invention therefore proposes, originally, the definition above in the meaning of "a jitter cycle" so as to include at least a minimum process capable of reflecting the cause and effect relationships described above. Therefore, when the running state of the elevator is indicated or reminded according to the vibration amplitude information of the rope strips, the false alarm rate and the false alarm rate can be effectively reduced.
As a preferred example of calculating the image shake amplitude value Δ x' and scaling the actual shake amplitude value Δ x, further reference is made to fig. 3. The rope section with the preset interval on the rope can be 1 or more. As shown in fig. 3, by way of non-limiting example, the rope may include 2 predetermined intervals of rope segments: s1 and S2, and the predetermined block rope segment S1 and the predetermined block rope segment S2 extend substantially parallel to each other in the plane of the captured video image (when neither is shaken, as shown in fig. 3).
First, a rectangular coordinate system is established in the video image. Alternatively, a rectangular coordinate system corresponding to each predetermined segment rope segment S1 and S2 may be established, or the predetermined segment rope segment S1 and the predetermined segment rope segment S2 may be set in the same rectangular coordinate system.
Referring to fig. 3, the predetermined block string segments S1 and the predetermined block string segments S2 are arranged in a rectangular coordinate system, which has the extending direction of the predetermined block string segments S1 or the predetermined block string segments S2 without shaking as the Y-axis extending direction, the first direction (corresponding to the rightward direction in fig. 3) as the positive X-axis direction, and the second direction (corresponding to the leftward direction in fig. 3) as the negative X-axis direction.
Referring to fig. 3, the above "one jitter cycle" can be exemplified in fig. 3 as: the "one shaking period" of the predetermined interval rope segment S1 includes: at the beginning of the predetermined interval the rope portion S1 departs from the initial position (corresponding to the X-axis coordinate value)
) Move in the X-axis forward direction (furthest to the X-axis coordinate value)
Corresponding position) and then shifted in the negative X-axis direction and past the initial position to continue moving in the negative X-axis direction (furthest to the X-axis coordinate value)
Corresponding position), and finally, the X-axis forward movement is turned to be carried out and the initial position is returned; alternatively, it can be exemplified as "one shaking period" of the predetermined interval rope segment S2 in fig. 3, and the process included in the "one shaking period" of the predetermined interval rope segment S1 is the same as that described above, and is not described again.
Then, the position of the rope section of the preset interval is identified under the rectangular coordinate system, and the image jitter amplitude value delta x' is calculated. Referring to fig. 3, the image jitter amplitude value Δ x is shown by taking the predetermined interval rope segment S1 as an example1' can be expressed as:
finally, the image jitter amplitude value Δ x' is converted into an actual jitter amplitude value Δ x. Referring to fig. 3, the predetermined interval rope segment S1 is taken as an example, and the actual jitter amplitude value Δ x is1Can be expressed as:
wherein e is an actual distance value corresponding to the unit distance value in the rectangular coordinate system. Preferably, e is in cm.
If it is in a predetermined areaThe rope section S2 is an example, and the image jitter amplitude value Deltax2' and actual jitter amplitude value Deltax2The calculation and conversion process is the same as the predetermined section rope segment S1, and will not be described again.
As a preferred embodiment, the above e can be determined as further shown in fig. 3: the actual distance L between the string segment S1 of the predetermined section and the string segment S2 of the predetermined section is actually measured (in a natural state where both are not shaken), the image distance between the string segment S1 of the predetermined section and the string segment S2 of the predetermined section (in a natural state where both are not shaken) is calculated in the video image (as shown in fig. 3), and then the ratio of the actual distance L to the image distance is obtained as e. Referring to fig. 3, e may be represented as:
wherein
Is the X-axis coordinate value corresponding to the initial position of the rope segment S2 in the preset interval.
Therefore, the calculation of the image jitter amplitude value and the conversion process of converting the actual jitter amplitude value are both fully considered and include the causal relationship between adjacent jitter displacements in different directions. Therefore, when the running state of the hoisting machine is indicated or reminded according to the vibration amplitude information of the rope strips in the follow-up process, the false alarm rate and the false alarm rate can be effectively reduced.
Preferably, the jitter detection method of the present invention further comprises: dividing a plurality of preset jitter amplitude intervals, wherein the preset jitter amplitude intervals are not overlapped with each other;
when the actual jitter amplitude value delta x obtained by conversion falls into one of a plurality of actual jitter amplitude intervals, recording a first recording parameter corresponding to the falling interval; the first recording parameter includes: the falling time, the falling duration, the accumulated falling times, the falling frequency, the accumulated falling duration and/or the time interval between the falling and the last falling.
Therefore, the invention can effectively overcome the problem of elevator fault safety caused by untimely maintenance or resource waste caused by advanced maintenance in the prior art because the detailed periodic record is not carried out on the condition of the elevator wire rope jitter.
Preferably, when a first recording parameter corresponding to at least one preset jitter amplitude interval in the preset jitter amplitude intervals exceeds a first preset threshold, triggering a corresponding first response action;
wherein the first predetermined threshold comprises: a first early warning threshold, a first alarm threshold, or a first emergency shutdown threshold; the first responsive action includes: a first early warning action, a first alarm action or a first emergency shutdown action;
and, the first early warning action is triggered when corresponding first record parameter surpasses first early warning threshold value, includes: sending out an early warning prompt to remind a person in a trunk system to pay attention to monitoring of the elevator and a control system thereof;
the first alarm action is triggered in response to the first recording parameter exceeding a first alarm threshold, and includes: sending an alarm prompt to remind a person in a line of charge to pay attention to monitoring of the elevator and a control system thereof, and sending an operation signal to the control system to start corresponding processing equipment;
the first emergency shutdown action is triggered corresponding to the first recording parameter exceeding a first emergency shutdown threshold, and comprises: and controlling the elevator to stop and sending an alarm prompt to remind the personnel in the line.
Therefore, the method can provide powerful basis, reminding and preset treatment for maintenance of the elevator in time through the division of the jitter amplitude interval and the parameter statistics, and greatly reduce or avoid safety accidents of the elevator caused by the failure of the steel wire rope.
As a preferred example of the above-mentioned jitter amplitude interval division and parameter recording trigger response action, a predetermined interval rope segment S1 in fig. 3 can be taken as an example for explanation:
actual jitter amplitude value Deltax according to predetermined interval rope segment S11N actual jitter amplitude intervals (n is a positive integer) can be divided according to the jitter amplitude values from small to large)：[Δxa1,Δxa2),[Δxa2,Δxa3),.....，[ΔxanInfinity), and the n actual jitter amplitude intervals may be made to correspond to the recording parameters: the number of falls, the frequency of falls, and the length of the fall are accumulated as shown in the following table:
further, the parameter information recorded as described above may be transmitted to a control system of the elevator to trigger a response action, including processing actions such as early warning, alarm, and/or emergency shutdown.
On the basis of the above table, with reference to FIG. 1, the interval [ Δ x ] followsanAnd ∞) as an example, a case where the parameter record triggers a response action is exemplified:
when the interval [ Delta x [ ]anInfinity) corresponding cumulative number of falls cnExceeding the warning threshold cEarly warning thresholdOr fall into frequency fnExceeding the pre-warning threshold fEarly warning thresholdOr accumulating the falling duration TnExceeding the early warning threshold TEarly warning thresholdIn time, a response action, an early warning action, is triggered, the early warning action comprising: and sending out early warning reminding to remind the personnel of the major to pay attention to the monitoring of the hoister and the control system thereof.
When the interval [ Delta x [ ]anInfinity) corresponding cumulative number of falls cnExceeding alarm threshold cAlarm thresholdOr fall into frequency fnExceeding the alarm threshold fAlarm thresholdOr accumulating the falling duration TnExceeding the alarm threshold TAlarm thresholdA response action-an alert action-is triggered, the alert action comprising: send out alarm prompt to remind the dry systemThe personnel attend to the monitoring of the hoisting machine and its control system and send operating signals to the control system to start the corresponding processing equipment.
When the interval [ Delta x [ ]anInfinity) corresponding cumulative number of falls cnExceeding emergency shutdown threshold cEmergency shutdown thresholdOr fall into frequency fnExceeding emergency shutdown threshold fEmergency shutdown thresholdOr accumulating the falling duration TnExceeding emergency shutdown threshold TEmergency shutdown thresholdA response action-an emergency shutdown action-is triggered, the emergency shutdown action including: and controlling the elevator to stop and sending an alarm prompt to remind the personnel in the line.
The invention provides a rope strip jitter detection system based on video intelligent identification, which comprises: the device comprises an image acquisition device and the rope shaking detection device based on the intelligent video identification.
Referring to fig. 2, the image capturing device is a high-definition camera 6, and is configured to capture a video image within a predetermined time, where the video image at least includes a shake image of a rope segment at a predetermined interval on the rope during the predetermined time.
Referring to fig. 2, the detection system further includes a hoist having a rope, the hoist including the rope, a drum 1, a head sheave 3, and a plurality of container boxes 4 (fig. 2 shows a case of 2 container boxes 4, and the following description will be given by taking 2 container boxes 4 as an example).
The rope comprises a rope part 2 between the drum wheels between the drum 1 and the head sheave 3, and two ends of the rope part 2 between the drum wheels are respectively in rolling contact with the drum 1 and the head sheave 3. The rope also comprises an interwheel rope part 9 between the head sheave 3 and the 2 container boxes 4, and a balance tail rope part 5 between the 2 container boxes 4. One end of a rope part 9 between the wheel boxes is in rolling contact with the head sheave 3, and the other end of the rope part is fixedly connected with the container case 4 and is suspended in the air. Two ends of the balance tail rope part 5 are respectively fixedly connected with the 2 container cases 4 (as shown in figure 2), and the 2 container cases 4 are all arranged in a suspended mode.
In the selection of the cord segment of the predetermined interval according to the present invention, it may be preferable to make it a cord segment whose both ends are non-free ends, or to make it a part of the cord segment. As an example, with reference to fig. 2, the predetermined-interval rope portion may be made to include the inter-drum rope portion 2, or the predetermined-interval rope portion may be a part of the inter-drum rope portion 2. In fig. 2, both ends of the rope portion 2 between the drum wheels are respectively in rolling contact with the drum 1 and the head sheave 3, and since the drum 1 and the head sheave 3 are relatively fixed in position, both ends of the rope portion 2 between the drum wheels can be kept in relatively stable positions (even in the case that the rope can be drawn and moved as the drum 1 and the head sheave 3 roll), both ends of the rope portion 2 between the drum wheels can be regarded as non-free ends. The end of the interwheel rope section 9 which is in rolling contact with the head sheave 3 can likewise be regarded as a non-free end, but the other end which is fixedly connected to the container box 4 is also regarded as a free end because the container box 4 is in a relatively free suspension arrangement. Similarly, the two ends of the balance tail rope part 5 are both regarded as free ends because of being fixedly connected with the container case 4 which is freely suspended relatively.
The inventor of the application finds that random fluctuation (such as irregular sudden change of the jitter amplitude) which is difficult to predict often occurs in the jitter detection research of the elevator rope, and the method is extremely unfavorable for the accuracy of the rope jitter detection and the subsequent practical application of indicating or reminding the running condition of the elevator according to the jitter amplitude information. The reason for this is not disclosed or suggested in the prior art, and the inventors of the present application have tried to eliminate the random fluctuation by adding an image filtering device or applying an image filtering algorithm, and so on, which is still not ideal. The inventor also researches the rope material, environmental conditions (such as temperature, humidity, wind speed and the like) and other factors, and originally finds that when two ends or one end of the rope section in a preset section is a free end, the random fluctuation has a large influence on the generation of random fluctuation, and particularly, the random fluctuation has different degrees along with the length of the free end from the non-free end and the weight and the gravity center position of a free end connecting object. Therefore, the rope section of the predetermined interval is preferably the rope section with two ends being non-free ends or can be a part of the rope section, so that the generation of random fluctuation which is difficult to predict can be effectively avoided/inhibited, and the complicated structure and high cost caused by adopting an image filtering device or applying an image filtering algorithm are avoided.
Referring to fig. 2, the detection system further includes an intelligent recognition device 8 (i.e., an upper computer) communicatively connected to the high definition camera 6 via a network connection 7 for transmitting the video images to the intelligent recognition device 8.
It should be noted that the network connection 7 may be a wired connection (e.g. a network cable) or a wireless connection, as non-limiting examples.
Referring to fig. 4, the present invention provides a rope jiggling detection device based on video intelligent recognition, which comprises:
the image acquisition module 101 is used for acquiring a video image acquired by the image acquisition device within a preset time, wherein the video image at least comprises a shaking image of a rope segment of a preset interval on a rope in the preset time;
the amplitude calculation module 102 is configured to identify a position of a rope segment in a predetermined interval according to the jitter image and calculate an image jitter amplitude value of the rope segment in the predetermined interval in a jitter period; and converting the image jitter amplitude value into an actual jitter amplitude value.
Referring to fig. 4, preferably, the detecting device further includes: the parameter recording module 103 is configured to divide a plurality of preset jitter amplitude intervals, where the preset jitter amplitude intervals are not overlapped with each other; and when the actual jitter amplitude value obtained by conversion falls into one of a plurality of preset jitter amplitude intervals, recording a first recording parameter corresponding to the falling interval.
In summary, the rope shaking detection method, device and system based on intelligent video identification provided by the invention at least can: (1) the method has the advantages that the effective detection of the rope jitter amplitude value of the elevator is realized by acquiring and identifying the video image, and the problem that the detection cannot be performed (such as in a coal mine environment) due to the failure of a sensor caused by the influence of a severe environment because various sensing elements are adopted for measurement in the prior art is avoided; (2) the method fully considers and comprises the causal relationship between adjacent jitter displacements in different directions to calculate the jitter amplitude value, so that the false alarm rate and the false alarm rate can be effectively reduced in the subsequent practical application of indicating or reminding the running condition of the elevator according to the jitter amplitude information of the rope strips; (3) the problem of elevator fault safety caused by untimely maintenance or resource waste caused by advanced maintenance due to the fact that detailed periodic recording is not carried out on the condition of the elevator steel wire rope jitter in the prior art is effectively solved; (4) by dividing the jitter amplitude interval and counting the parameters, powerful basis, reminding and preset processing can be provided for maintenance of the elevator in time, and safety accidents of the elevator caused by the failure of the steel wire rope are greatly reduced or avoided; (5) random fluctuation which is difficult to predict is effectively avoided/restrained, and tedious construction and high cost caused by adopting an image filtering device or applying an image filtering algorithm are avoided.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A rope strip jitter detection method based on video intelligent identification is characterized by comprising the following steps:
acquiring a video image acquired by an image acquisition device within preset time, wherein the video image at least comprises a shaking image of a rope segment of a preset interval on a rope in the preset time;
according to the jitter image, recognizing the position of the rope section of the preset interval and calculating an image jitter amplitude value delta x' of the rope section of the preset interval in a jitter period; and
and converting the image jitter amplitude value delta x' into an actual jitter amplitude value delta x.
2. The jitter detection method of claim 1, wherein the one jitter cycle comprises:
the rope segment in the preset interval moves towards a first direction from an initial position at first, then turns to move towards a second direction and passes through the initial position to continue moving towards the second direction, and finally turns to move towards the first direction and returns to the initial position;
the first direction is opposite to the second direction, and the initial position is the position of the rope section in the preset interval when the rope section does not shake.
3. The shake detection method according to claim 2, wherein the step of identifying the position of the predetermined section rope and calculating the image shake amplitude value Δ x' of the predetermined section rope in one shake period comprises:
establishing a first rectangular coordinate system in the video image, taking the extending direction of the rope section of the preset interval when the rope section does not shake as the Y-axis extending direction, taking the first direction as the positive X-axis direction, and taking the second direction as the negative X-axis direction;
identifying the position of the predetermined interval rope segment and calculating the image jitter amplitude value delta x' under the first rectangular coordinate system:
wherein, XmaxAn X-axis coordinate value of a farthest position to which the predetermined interval rope portion initially moves in the first direction away from the initial position, as identified during the one bounce period; xminThe rope section of the preset interval is then converted into the X-axis coordinate value of the farthest position which moves towards the second direction and continues to move towards the second direction through the initial position, wherein the value is identified in the one shaking period;
the step of converting the image jitter amplitude value Δ x' into an actual jitter amplitude value Δ x includes:
and converting an actual jitter amplitude value delta x according to the image jitter amplitude value delta x':
and e is an actual distance value corresponding to a unit distance value in the first rectangular coordinate system.
4. The jitter detection method according to any of claims 1-3, wherein the jitter detection method further comprises:
dividing a plurality of preset jitter amplitude intervals, wherein the preset jitter amplitude intervals are not overlapped with each other;
and when the actual jitter amplitude value delta x obtained by conversion falls into one of the preset jitter amplitude intervals, recording a first recording parameter corresponding to the falling interval.
5. The shake detection method according to claim 4, further comprising:
when the first recording parameter corresponding to at least one preset jitter amplitude interval in the preset jitter amplitude intervals exceeds a first preset threshold value, triggering a corresponding first response action;
wherein the first predetermined threshold comprises: a first early warning threshold, a first alarm threshold, or a first emergency shutdown threshold; the first responsive action comprises: a first early warning action, a first alarm action or a first emergency shutdown action;
and the first warning action is triggered when the first recording parameter exceeds the first warning threshold, and the method comprises the following steps: sending out an early warning prompt to remind a person in a trunk system to pay attention to monitoring of the elevator and a control system thereof;
the first alarm action is triggered corresponding to the first recording parameter exceeding the first alarm threshold, and comprises: sending an alarm prompt to remind a person in line of charge to pay attention to the monitoring of the hoister and a control system thereof, and sending an operation signal to the control system to start corresponding processing equipment;
the first emergency shutdown action triggered corresponding to the first recording parameter exceeding the first emergency shutdown threshold, comprising: and controlling the hoister to stop and sending an alarm prompt to remind a person in the dry line.
6. The jitter detection method according to claim 5, wherein the first recording parameter includes at least one of a cumulative falling number, a falling frequency, and a cumulative falling duration;
when the first recording parameter corresponding to at least one preset jitter amplitude interval in the preset jitter amplitude intervals exceeds a first preset threshold value, triggering a first response action, wherein the step comprises the following steps;
and triggering the first response action when the accumulated falling times exceed the first preset threshold, or the falling frequency exceeds the first preset threshold, or the accumulated falling duration exceeds the first preset threshold.
7. The shake detection method according to any one of claims 1 to 6, wherein the predetermined interval rope portion is a first rope portion, or the predetermined interval rope portion is a part of the first rope portion;
wherein the first rope segment comprises a first end and a second end which are oppositely arranged along the extending direction of the first rope segment, and the first end and the second end are both non-free ends.
8. The utility model provides a rope shake detection device based on video intelligent recognition which characterized in that includes:
the image acquisition module is used for acquiring a video image acquired by the image acquisition device within preset time, and the video image at least comprises a jitter image of a rope segment of a preset interval on the rope in the preset time;
the amplitude calculation module is used for identifying the position of the rope section of the preset interval according to the jitter image and calculating an image jitter amplitude value delta x' of the rope section of the preset interval in a jitter period; and converting the image jitter amplitude value Δ x' into an actual jitter amplitude value Δ x.
9. The shake detecting apparatus according to claim 8, further comprising:
the parameter recording module is used for dividing a plurality of preset jitter amplitude intervals, and the preset jitter amplitude intervals are not overlapped with each other; and when the actual jitter amplitude value obtained by conversion falls into one of the preset jitter amplitude intervals, recording a first recording parameter corresponding to the falling interval.
10. The utility model provides a rope shake detecting system based on video intelligent recognition which characterized in that includes: an image acquisition device and a rope shaking detection device based on intelligent video identification according to any one of claims 7-9.
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