Millimeter-Wave Radar-Based Tail Rope Swing and Kink Detection System and Detection Method

Abstract

The present invention discloses a tail rope swing and kink detection system and method based on a millimeter-wave radar. The working process of the tail rope swing and kink detection system based on the millimeter-wave radar includes the following steps: S1, environmental analysis; S2, equipment installation; S3, start of radar robot inspection; S4, analysis of the swing and kink of the tail rope; S5, abnormal handling of the swing and kink of the tail rope; S6, restoration of the radar detection device to resume inspection; S7, report generation. The detection method of the tail rope swing and kink detection system for a mine hoist based on the millimeter-wave radar of the present invention has the advantages of small propagation attenuation, good penetration effect for smoke, dust and water vapor underground, does not rely on light sources, can realize the detection of the swing and kink of the tail rope all-weather, and adapts to the lightless environment in the actual working conditions of the tail rope; it can realize the synchronous real-time detection of multiple hoist tail ropes, has high detection efficiency and good detection real-time performance, and can quickly give an early warning when a tail rope failure occurs.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection instrument and equipment, and particularly relates to a tail rope swing and kink detection system and detection method based on a millimeter wave radar. Background Art

[0002] A mine hoist is an important throat equipment for transporting ore from the bottom of a mine to the ground, and a hoisting tail rope is an important component borne by the hoist.

[0003] Many mineral mines adopt the shaft mining method, and the tail rope has the advantages of simple structure, stable high-speed operation, small ventilation resistance, convenient maintenance, etc., and is a widely used guide rope form in mine shaft hoisting. In shaft mining, a mine hoist is an important piece of equipment, mainly responsible for transporting personnel, equipment, and ore between the ground and the underground.

[0004] With the gradual increase in mines with large mining depths and large production scales, both the shaft depth and the hoisting scale have increased significantly. The large-scale hoisting equipment and high hoisting speed have led to a significant increase in the swing amplitude of the hoisting container. During the up and down operation of the hoisting container, it is prone to lateral displacement, causing kinking of the tail rope. When the container undergoes lateral displacement, it will increase the risk of collision between the container and the shaft wall, shaft beam, and container, endangering the safe operation of the hoisting container and even leading to major accidents, seriously affecting mine production.

[0005] Currently, in China, the detection of the swing and kink of the hoist tail rope usually uses the method of manual observation, which has great potential safety hazards, low detection efficiency, and large errors in judging the degree of swing and kink relying on experience. Some new detection methods have also been applied to the detection of the swing and kink of the mine hoist tail rope, but they have the following deficiencies:

[0006] 1. The hoist tail rope is located at the bottom of the mine, and the light conditions are very poor, making it difficult to obtain high-quality image information;

[0007] 2. When the hoist tail rope is working, it is in a normal swing state. The laser beam is prone to losing the target, and there is often dust, water vapor, etc. in the shaft, causing scattering of the laser beam;

[0008] 3. There is often some oil stain covering on the tail rope, reducing the reflection of the laser and affecting the effect of laser detection. Summary of the Invention

[0009] In order to solve the above problems, an embodiment of the present invention provides a tail rope swing and kink detection system and detection method based on a millimeter wave radar.

[0010] The kink and swing detection system of the tail rope based on millimeter-wave radar according to the embodiment of the present invention includes: a motor, which is arranged at the mine shaft opening; a T-shaped moving track, which is arranged on the mine shaft wall; a guide wheel, which is arranged at the mine shaft opening and is placed between the motor and the T-shaped moving track; a radar detection device, which is slidably connected to the T-shaped moving track and is connected to the guide wheel and the motor through a cable; an electric push rod, which is arranged inside the radar detection device and one end of which is rotatably connected to the bottom of the radar detection device; a millimeter-wave radar, which is arranged inside the radar detection device; a data acquisition card, which is arranged inside the radar detection device, and both the data acquisition card and the millimeter-wave radar are arranged on a support frame, one end of the support frame is connected to the electric push rod, and the other end of the support frame is rotatably connected to the side wall of the radar detection device; a wireless communicator, which is arranged inside the radar detection device; an industrial control computer, which is arranged inside the radar detection device and is respectively connected to the wireless communicator, the data acquisition card, and the millimeter-wave radar; a power supply module, which is respectively connected to the millimeter-wave radar, the data acquisition card, the electric push rod, the industrial control computer, and the wireless communicator; a terminal computer, which is connected to the industrial control computer through the wireless communicator.

[0011] In some embodiments, the millimeter-wave radar can adjust its direction through the electric push rod and can comprehensively scan the abnormal detection area of the radar.

[0012] In some embodiments, the radar detection device is provided with a T-shaped groove, which is matched with the T-shaped moving track.

[0013] The detection method of the kink and swing detection system of the tail rope based on millimeter-wave radar according to the embodiment of the present invention includes the following steps:

[0014] S1. Environmental analysis: Measure the mine diameter, the tail rope diameter, and the tail rope position, set the safety threshold for the tail rope swing, and input it into the tail rope swing and kink database in the terminal computer;

[0015] S2. Equipment installation: Fix the motor at the mine shaft opening, install the radar detection device on the T-shaped moving track, then connect one end of the cable to the motor, and the other end to the radar detection device through the guide wheel;

[0016] S3. Start of radar robot inspection: The terminal computer controls the operation of the motor, and the cable drives the radar detection device to move upward at a constant speed from the bottom of the well; the millimeter-wave radar starts its working mode, emits a frequency-modulated pulse signal to the target of the tail rope, and receives the radar signals reflected by multiple tail ropes within the radiation range; the data acquisition card transmits data to the industrial control computer in real time for analysis;

[0017] S4. Analysis of the swing and kink of the tail rope: The industrial control computer analyzes the data transmitted by the data acquisition card in step S3 to obtain the real-time point cloud information of the tail rope radar detection; uses the multi-target clustering tracking algorithm to process the obtained radar point cloud data to obtain the real-time fitting trajectory of the tail rope; judges the swing amplitude and kink degree of multiple tail ropes according to the position of the real-time fitting trajectory point cloud set;

[0018] S5. Abnormal handling of the swing and kink of the tail rope: Compare the tail rope swing safety threshold set in step S1 with the results of the swing amplitude and kink degree of the tail rope in step S4. When the swing amplitude of the tail rope exceeds the set tail rope swing safety threshold, the industrial control computer sends a warning message to the terminal computer through the wireless communicator; after receiving the warning message, the terminal computer controls the motor to stop running, and controls the millimeter-wave radar to re-inspect the tail rope warning area and adjacent areas in step S4; finally, the industrial control computer performs the multi-target clustering tracking algorithm on the re-inspection data of the millimeter-wave radar again, and transmits the detection result to the terminal computer through the wireless communicator;

[0019] S6. Resume inspection of the radar detection device: The terminal computer receives and stores the re-inspection result, restarts the motor to drive the radar detection device to continue moving upward at a constant speed; the millimeter-wave radar continues to emit a frequency-modulated pulse signal to the tail rope of the hoist to detect the swing of the tail rope; when the swing of the tail rope is abnormal again and causes a warning, repeat the operation process in step S5 until the detection of the swing and kink of the tail rope is completed;

[0020] S7. Report generation: The terminal computer generates a detection report based on the detection result of the radar detection device, and through the detection report of the swing and kink degree of the tail rope of the mine hoist, timely eliminate potential dangers in the mine and ensure production and personnel safety.

[0021] In some embodiments, the radar point cloud data in step S4 includes the conversion of the point cloud coordinate system, the setting of the point cloud boundary, the prediction of the point cloud state, and the point cloud correlation function.

[0022] In some embodiments, the method for detecting the tail rope using the millimeter-wave radar in steps S3, S5, and S6 includes the following steps:

[0023] a. Parameter determination: First, set the signal mode of the millimeter-wave radar according to the actual environment of the mine, and then establish a detection database to record the environmental parameters measured by the millimeter-wave radar and the signal mode of the radar.

[0024] b. Signal transmission and reception: Adjust the parameters of multiple transmitting antennas of the millimeter-wave radar to ensure the optimal range resolution between the tail rope and the millimeter-wave radar at a fixed position; adjust the installation angle of the millimeter-wave radar, select the positions where the tail rope swing and kink need to be detected, and make the millimeter-wave radar stably transmit a large bandwidth sawtooth wave perpendicular to the extension direction of the tail rope, and collect the reflected echo signal; filter the high-frequency part of the mixed-frequency signal through a low-pass filter to obtain the intermediate-frequency signal required for subsequent data analysis.

[0025] c. Swing and kink detection: First, use the fast Fourier transform to convert the obtained signal from the time domain to the frequency domain to obtain the distance information; then obtain the tail rope angle information; finally, through the azimuth information of the tail rope target point, use the multi-target clustering tracking algorithm for the radar point cloud to fit the motion trajectories of multiple tail ropes.

[0026] d. Data analysis: According to the fitted motion trajectory of the tail rope, judge the swing amplitude of the tail rope, and at the same time, according to the safety threshold of the tail rope swing, judge whether the swing is abnormal. According to the aggregation of the point cloud on the motion trajectory, judge the kink situation of the tail rope.

[0027] In some embodiments, the parameters of the transmitting antenna in step b include the signal start frequency f0, the frequency modulation slope S, the ADC sampling start time, the number of ADC samplings, the ADC sampling frequency, the frequency modulation period T0, and the chrip interval time.

[0028] In some embodiments, the specific content of the environmental database in step a includes: recording the number and diameter of the hoist tail ropes; marking the initial relative position distance D1 between each tail rope and the millimeter-wave radar and the distance D2 between each tail rope; setting the safety threshold of the tail rope swing amplitude; updating the environmental parameters before the detection starts and encoding and storing them in the detection database at the end of the detection.

[0029] In some embodiments, the multi-target clustering tracking algorithm in step S4, step S5, and step c includes the following steps:

[0030] (1) Perform coordinate transformation on each radar data processing frame, and transfer the observed values in the polar coordinate system to the Cartesian coordinate system through linearization processing.

[0031] (2) According to the relative distance between the millimeter-wave radar and the tail rope, establish the measurement boundary of the radar point cloud and remove the point cloud outside the boundary range.

[0032] (3) Design a prediction function to estimate the system state of the centroid of the point cloud at time n based on the point cloud state at time n-1.

[0033] (4) Select a threshold range, score the point cloud according to the association function, divide the point cloud into different sets in the coordinate system by analyzing the scoring results, and assign multiple sets to the movement trajectory of the tail rope.

[0034] (5) Process the next frame of point cloud data. The movement trajectory will be recalculated according to the set, and the movement trajectory of the tail rope will be updated.

[0035] Advantages of the present invention: 1. Millimeter waves have the advantage of small propagation attenuation, good penetration effect for underground smoke, dust and water vapor, do not rely on light sources, can detect the swing and kink of the tail rope all-weather, and adapt to the lightless environment in the actual working conditions of the tail rope; 2. It can realize the synchronous real-time detection of multiple hoist tail ropes, with high detection efficiency and good real-time detection, and can quickly give an early warning before the occurrence of tail rope faults; 3. The millimeter wave radar realizes the automatic adjustment of the angle with the help of an electric push rod, and the radar can obtain a larger detection range in the abnormal area; it realizes the detection of the adjacent area of the abnormal swing and kink of the hoist tail rope when the radar robot is stationary; 4. The track adopts a T-shaped moving track, which has the advantages of small volume, small occupied space, simple structure and easy installation, and adapts to the relatively difficult installation conditions underground. At the same time, the special T-shaped structure ensures the stable operation of the radar detection device when cooperating with the radar monitoring robot, and further improves the measurement accuracy during radar detection; 5. Use an industrial computer to control the adjustment of the working mode of the millimeter wave radar. During the detection of the swing and kink of the tail rope, the millimeter wave radar realizes the autonomous re-inspection of the abnormal swing area and the detection state switching, simplifies the operation process and improves the detection efficiency; 6. The whole set of system is controlled by a terminal computer, has a high level of automation, realizes the automatic export of detection results, improves the mine intelligent system, and ensures production safety. Description of the Drawings

[0036] Figure 1 is a schematic structural diagram of a mine hoist tail rope swing and kink detection system based on a millimeter wave radar according to an embodiment of the present invention.

[0037] Figure 2 is a schematic internal structure diagram of a radar monitoring device according to an embodiment of the present invention.

[0038] Figure 3 is a schematic installation diagram of a radar detection device according to an embodiment of the present invention.

[0039] Figure 4 is a top view and a front view of a T-shaped moving track according to an embodiment of the present invention.

[0040] Reference Numerals:

[0041] 1. Motor; 2. Guide wheel; 3. T-shaped moving track; 4. Mine; 5. Radar detection device; 6. Wireless communicator; 7. Connecting shaft; 8. Electric push rod; 9. Base rotating shaft; 10. Industrial control computer; 11. Millimeter-wave radar; 12. Data acquisition card; 13. Pin shaft; 14. Power supply module. Specific implementation manner

[0042] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0043] As Figures 1 - 4 shown, the tail rope swing and kink detection system based on millimeter-wave radar according to the embodiment of the present invention includes a motor 1, a T-shaped moving track 3, a guide wheel 2, a radar detection device 5, an electric push rod 8, a millimeter-wave radar 11, a data acquisition card 12, a wireless communicator 6, an industrial control computer 10, a power supply module 14 and a terminal computer (not shown). The motor 1 is arranged at the mine shaft opening; the T-shaped moving track 3 is arranged on the mine shaft wall; the guide wheel 2 is arranged at the mine shaft opening, a part of the guide wheel 2 extends out of the shaft wall, and the guide wheel 2 is placed between the motor 1 and the T-shaped moving track 3. The radar detection device 5 is slidably connected to the T-shaped moving track 3, and the radar detection device 5 is connected to the guide wheel 2 and the motor 1 through a cable. The guide wheel 2 is used to change the traction direction of the cable; the cable is used to connect the motor 1 and the radar monitoring device 5; the T-shaped moving track 3 is installed parallel to the tail rope on the mine shaft wall and is the moving track of the radar detection device 5. The T-shaped moving track is small in volume, occupies little space, has a simple structure and is convenient to install.

[0044] The radar detection device 5 is used to carry various types of detection equipment and auxiliary instruments. An electric push rod 8, a millimeter-wave radar 11, a data acquisition card 12, an industrial control computer 10, a wireless communicator 6 and a power supply module 14 are arranged inside the radar detection device 5. The radar detection device 5 is provided with a T-shaped groove and multiple groups of rollers, which can realize flexible cooperation with the track and ensure the smoothness of the millimeter-wave radar during the detection process. The T-shaped groove cooperates with the T-shaped moving track, enabling the radar detection device to move along the T-shaped moving track.

[0045] Both the millimeter-wave radar 11 and the data acquisition card 12 are arranged on the support frame. It can also be said that the millimeter-wave radar 11 and the data acquisition card 12 are connected by a connecting rod. The lower part of the support frame is arranged on the side wall of the radar detection device 5 through a pin shaft 13, and the support frame can rotate around the pin shaft 13; the upper part of the support frame is connected to the free end of the electric push rod 8 through a connecting shaft 7, that is, the support frame can rotate with the telescopic movement of the electric push rod 8. Therefore, both the millimeter-wave radar 11 and the data acquisition card 12 arranged on the support frame can rotate with the telescopic movement of the electric push rod 8 through the support frame and can rotate relative to the pin shaft 13. The fixed end of the electric push rod 8 is rotatably connected to the bottom of the radar detection device 5 through a base rotating shaft 9.

[0046] The model of the millimeter-wave radar 11 is IWR1642BOOST, which has two transmitting antennas and four receiving antennas, and has the detection ability in the dimensions of distance, speed and angle. It is used to radiate frequency-modulated pulse signals in a specific direction and receive the frequency-modulated pulse signals reflected by the tail rope. In actual application, the model of the millimeter-wave radar includes but is not limited to IWR1642BOOST, and there is no limit to the types and models of millimeter-wave radars with the function of multiple transmit and receive.

[0047] The data acquisition card 12 is used to receive and transmit the radar signals received by the millimeter-wave radar 11 in real time. The model of the data acquisition card 12 is DCA1000EVM, which can extract millimeter-wave radar data, calibrate time stamps for each frame of the collected data, and transmit them to the industrial control computer 10 through the network port.

[0048] The electric push rod 8 is used to adjust the working angle of the millimeter-wave radar 11, to calibrate the relative angle between the tail rope and the millimeter-wave radar 11 when the millimeter-wave radar 11 is working, so as to ensure that the tail rope is within the optimal detection resolution of the radar beam. At the same time, the electric push rod 8 is used to adjust the angle of the millimeter-wave radar 11 in the re-inspection step to detect the swing of the tail rope in the adjacent area of the previous target.

[0049] The wireless communicator 6 and the industrial control computer 10 are arranged at the top end inside the radar detection device 5, and the industrial control computer 10 is respectively connected to the wireless communicator 6, the data acquisition card 12, and the millimeter-wave radar 11; the power supply module 14 is placed at the bottom end inside the radar detection device 5, and the power supply module 14 is respectively connected to the millimeter-wave radar 11, the data acquisition card 12, the electric push rod 8, the industrial control computer 10 and the wireless communicator 6; the power supply module 14 is used to supply power to the millimeter-wave radar 11, the data acquisition card 12, the industrial control computer 10 and the wireless communicator 6; the terminal computer is placed in the wellhead computer room, and the terminal computer is connected to the industrial control computer 10 through the wireless communicator 6.

[0050] The industrial control computer 10 is used to receive and save the millimeter-wave radar signals transmitted by the data acquisition card 12, process the millimeter-wave radar signals, and can control the operating mode of the millimeter-wave radar 11; the wireless communicator 6 is used to transmit the millimeter-wave radar data saved by the industrial control computer 10 to the terminal computer, and implement the operation instructions of the terminal computer to the millimeter-wave radar 11; the terminal computer is used to obtain the processing result of the millimeter-wave radar signals of the industrial control computer 10 received by the wireless communicator 6, obtain the status information of the hoist tail rope, control the industrial control computer 10 to adjust the working mode of the millimeter-wave radar 11, and store data and generate a detection report.

[0051] In the tail rope swing and kink detection system based on millimeter-wave radar according to the embodiment of the present invention, the track adopts a T-shaped moving track, which has the advantages of small volume and easy installation, and is suitable for the relatively difficult installation conditions underground. At the same time, the special T-shaped structure ensures the stable operation of the radar detection device when cooperating with the radar detection device, and further improves the measurement accuracy during radar detection; the millimeter-wave radar realizes the automatic adjustment of the angle by means of an electric push rod, and the radar can obtain a larger detection range; it realizes the detection of the abnormal adjacent area of the hoist tail rope swing and kink when the radar robot is stationary.

[0052] The method for detecting the swing and kink of the hoist tail rope by using the millimeter-wave radar 11 includes the following steps:

[0053] a. Parameter determination: When detecting for the first time, first clarify parameters such as the size of the mine 4, the distance between the tail rope and the shaft wall, the number of tail ropes, and the diameter of the tail rope. Then, set the signal mode of the millimeter-wave radar 11 according to the actual environment of the mine to ensure that the tail rope is within the optimal detection range, improve the resolution of the tail rope detection, and finally establish a detection database to record the environmental parameters measured by the millimeter-wave radar 11 and the signal mode of the radar, and improve the analysis system for tail rope detection;

[0054] The detection database established according to the mine environment has the following specific content: record the number and diameter of the hoist tail ropes; mark the initial relative position distance D1 between each tail rope and the millimeter-wave radar 11 and the distance D2 between each tail rope; set the threshold value of the tail rope swing amplitude; update the environmental parameters before the detection starts, and encode and store them in the detection database when the detection ends.

[0055] b. Signal transmission and reception: Adjust the signal parameters of multiple transmitting antennas of the millimeter-wave radar 11: starting frequency f0, frequency modulation slope S, ADC sampling start time, ADC sampling number, ADC sampling frequency, frequency modulation period T0, chrip interval time, etc., to ensure that the optimal distance resolution is obtained between the tail rope and the millimeter-wave radar 11 at the fixed position of the tail rope;

[0056] Among them, the millimeter-wave radar 11 has two antennas, and the specific modulation content is as follows: Each antenna can independently transmit radar pulse signals of a specific form. According to actual needs, the two antennas can be paired with two kinds of radar signals to alternately or simultaneously transmit radar pulse signals;

[0057] Among them, the radar parameter modulation refers to the Nyquist sampling theorem, and it can be known that the maximum detection distance d max is limited by the ADC sampling frequency f ADC and the frequency modulation slope S. The formula is:

[0058]

[0059] In the formula, c is the speed of light. Therefore, the appropriate sampling frequency f ADC and the frequency modulation slope S can be selected according to the actual distance between the tail rope of the hoist and the millimeter-wave radar 11.

[0060] When analyzing the range resolution, since the frequency modulation period T0 is often greater than the ADC sampling time T ADC , the actual range resolution d res The formula should be:

[0061]

[0062] In the formula, B is the millimeter-wave bandwidth and c is the speed of light. To reduce the frequency modulation nonlinear error, the ADC sampling start time is set to be greater than the transmission antenna TX start time.

[0063] Adjust the installation angle of the millimeter-wave radar 11, select the position where the tail rope swing and kink need to be detected, so that the millimeter-wave radar 11 stably emits large-bandwidth sawtooth waves perpendicular to the extension direction of the tail rope, and collect the reflected echo signals. Pass through a low-pass filter to filter the high-frequency part of the mixed-frequency signal to obtain the intermediate-frequency signal required for subsequent data analysis.

[0064] c. Swing and kink detection: First, use the fast Fourier transform to convert the signal from the time domain to the frequency domain, and obtain the distance information through the fast Fourier transform of multiple frames of signals; then, calculate the arrival angle of the reflected signal through the path difference of the reflected signal of the tail rope reaching different antennas in the radar receiving antenna array to obtain the tail rope angle information; finally, through the azimuth information of the tail rope target point, use the multi-target clustering tracking algorithm for the radar point cloud to fit the moving trajectories of multiple tail ropes.

[0065] Among them, using the multi-target clustering tracking algorithm for the radar point cloud, the specific steps are as follows:

[0066] (1) Perform coordinate transformation on each radar data processing frame, and transfer the observed values in the polar coordinate system to the Cartesian coordinate system through linearization processing;

[0067] (2) Establish the measurement boundary of the radar point cloud based on the relative distance between the millimeter-wave radar and the tail rope, and remove the point cloud outside the boundary range;

[0068] (3) Design a prediction function to estimate the system state of the centroid of the point cloud at time n based on the state of the point cloud at time n-1;

[0069] (4) Select a threshold range, score the point cloud according to the association function, divide the point cloud into different sets in the coordinate system by analyzing the scoring results, and assign multiple sets to the movement trajectory of the tail rope;

[0070] (5) Process the next frame of point cloud data. The movement trajectory will be recalculated according to the set, and the movement trajectory of the tail rope will be updated.

[0071] d. Data analysis: According to the fitted movement trajectory of the tail rope, judge the swing amplitude of the tail rope, and at the same time judge whether there is an abnormality in the swing according to the safety threshold of the tail rope swing; according to the aggregation degree of the point cloud on the movement trajectory, judge the kink situation of the tail rope.

[0072] The working process of the mine hoist tail rope swing and kink detection system based on millimeter-wave radar according to the embodiments of the present invention specifically includes the following steps:

[0073] S1. Environmental analysis: Measure basic environmental parameters such as the diameter of the mine 4, the diameter of the tail rope, and the position of the tail rope, set the safety threshold for the swing of the tail rope, and enter it into the database of the terminal computer for the swing and kink of the mine hoist tail rope.

[0074] S2. Equipment installation: The motor 1 is fixed at a safe position at the wellhead of the mine 4, and the cable is connected to the main shaft of the motor 1; the radar detection device 11 is installed on the T-shaped moving track 3 through the T-shaped groove on the back to ensure the smooth operation of the radar detection device 11, reduce the vibration during movement, and improve the detection accuracy of the millimeter-wave radar 11; the cable is connected to the upper part of the radar detection device 5 through the guide pulley 2 to provide the power for the up and down movement of the radar detection device 5.

[0075] S3. Start the inspection of the radar detection device: The terminal computer controls the operation of the motor 1, and the cable drives the radar detection device 5 to move upward uniformly from the bottom of the well; the instruction of the terminal computer is transmitted to the industrial control computer 10 through the wireless communicator 6, and the industrial control computer 10 turns on the millimeter-wave radar 11; the millimeter-wave radar 11 starts the working mode, emits a frequency-modulated pulse signal to the tail rope target, and receives the radar signals reflected by multiple tail ropes within the radiation range; the data is transmitted to the industrial control computer 10 in real time through the data acquisition card 12 for analysis.

[0076] S4. Swing and kink analysis of the tail rope: First, the industrial control computer 10 analyzes the data transmitted by the data acquisition card in step 3 to obtain the real-time point cloud information detected by the tail rope radar. Second, the multi-target clustering and tracking algorithm is used to process the radar point cloud data, including the conversion of the point cloud coordinate system, the setting of the point cloud boundary, the prediction of the point cloud state, the point cloud association function, etc. The radar point cloud is divided into different sets according to the threshold range, and different point cloud sets are calibrated with reference to the relative position of the tail rope to obtain the real-time fitting trajectory of the tail rope. Then, the real-time fitting trajectory of the tail rope is obtained by updating and calculating each frame of the radar data. Finally, according to the position of the point cloud set of the fitting trajectory, the swing amplitude and kink degree of multiple tail ropes are judged.

[0077] S5. Abnormal handling of the swing and kink of the tail rope: First, the safety range of the tail rope swing set in step S1 is set as a threshold, and compared with the result of the swing and kink analysis of the tail rope in step S4. When the swing amplitude of the tail rope exceeds the set tail rope swing threshold, the industrial control computer 10 sends a warning message to the terminal computer through the wireless communicator 6. Second, after receiving the warning message, the terminal computer controls the motor 1 to stop running, and the radar detection device 5 stays at the position where the swing amplitude of the tail rope exceeds the threshold, preparing for re-inspection. Then, the industrial control computer 10 controls the electric push rod 8 to push the millimeter-wave radar 11 to rotate around the pin shaft, and the millimeter-wave radar 11 re-inspects the warning area and adjacent areas of the tail rope in step S4. Finally, the industrial control computer 10 performs the multi-target clustering and tracking algorithm on the re-inspection data of the millimeter-wave radar 11 again, determines that the swing amplitude of the relevant position of the abnormal tail rope swing in step S4 exceeds the safety threshold set in step S1, and transmits the detection result to the terminal computer through the wireless communicator 6.

[0078] S6. Radar detection device resumes patrol inspection: First, the terminal computer receives and stores the re-inspection result, and restarts the motor 1 to drive the radar detection device 5 to continue moving upward at a constant speed. Second, the millimeter-wave radar 11 continues to transmit frequency-modulated pulse signals to the tail rope of the hoist to detect the swing of the tail rope. When the warning is caused by the abnormal swing of the tail rope again, repeat the operation process in step S5 until the detection of the swing and kink of the tail rope is completed.

[0079] S7. Report generation: The terminal computer generates a tail rope detection report according to the detection result of the radar detection device 5, indicating the azimuth and specific swing range where the swing of multiple tail ropes exceeds the safety threshold, indicating the time of the swing and kink of the tail rope and the mine 4 label of the detected tail rope. Through the detection report of the swing and kink degree of the tail rope of the mine hoist, the potential dangers existing in the mine are eliminated in time to ensure production and personnel safety.

[0080] In the present invention, unless otherwise clearly specified or limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0081] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0082] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0083] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present invention.

Claims

1. A tail rope swing and kink detection system based on a millimeter-wave radar, characterized in that Comprising: A motor, which is arranged at the mine shaft opening; A T-shaped moving track, which is arranged on the mine shaft wall; A guiding wheel, which is arranged at the mine shaft opening and is placed between the motor and the T-shaped moving track; A radar detection device, which is slidably connected to the T-shaped moving track and is connected to the guiding wheel and the motor through a cable; An electric push rod, which is arranged inside the radar detection device, and one end of the electric push rod is rotatably connected to the bottom of the radar detection device; A millimeter-wave radar, which is arranged inside the radar detection device; A data acquisition card, which is arranged inside the radar detection device, and both the data acquisition card and the millimeter-wave radar are arranged on a support frame. One end of the support frame is connected to the electric push rod, and the other end of the support frame is rotatably connected to the side wall of the radar detection device; A wireless communicator, which is arranged inside the radar detection device; An industrial control computer, which is arranged inside the radar detection device, and the industrial control computer is respectively connected to the wireless communicator, the data acquisition card, and the millimeter-wave radar; A power supply module, which is respectively connected to the millimeter-wave radar, the data acquisition card, the electric push rod, the industrial control computer, and the wireless communicator; A terminal computer, which is connected to the industrial control computer through the wireless communicator; The industrial control computer analyzes the data transmitted by the data acquisition card to obtain the real-time point cloud information of the tail rope radar detection; uses a multi-target clustering and tracking algorithm to process the obtained radar point cloud data to obtain the real-time fitting trajectory of the tail rope; and judges the swing amplitude and kink degree of multiple tail ropes according to the position where the real-time fitting trajectory point cloud set is located.

2. The kink and swing detection system for a tail rope based on a millimeter-wave radar according to claim 1, wherein The millimeter-wave radar can adjust its direction through the electric push rod and can comprehensively scan the abnormal area of the radar detection.

3. The kink and swing detection system for the tail rope based on the millimeter-wave radar according to claim 2, wherein The radar detection device has a T-shaped groove, and the T-shaped groove is matched with the T-shaped moving track.

4. The working process of a tail rope swing and kink detection system based on a millimeter-wave radar as described in claim 3, characterized in that, Including the following steps: S1. Environmental analysis: Measure the mine diameter, tail rope diameter, and tail rope position, set the safety threshold for the tail rope swing, and input it into the tail rope swing and kink database in the terminal computer; S2. Equipment installation: Fix the motor at the mine shaft opening, install the radar detection device on the T-shaped moving track, then connect one end of the cable to the motor, and the other end to the radar detection device through the guiding wheel; S3. Start the radar robot inspection: The terminal computer controls the motor to operate, and the cable drives the radar detection device to move upward uniformly from the bottom of the well; the millimeter-wave radar starts to work, and transmits data to the industrial control computer for analysis in real time through the data acquisition card; S4. Swing and kink analysis of the tail rope: The industrial control computer analyzes the data transmitted by the data acquisition card in step S3 to obtain the real-time point cloud information detected by the tail rope radar; uses the multi-target clustering tracking algorithm to process the obtained radar point cloud data to obtain the real-time fitting trajectory of the tail rope; and determines the swing amplitude and kink degree of multiple tail ropes according to the position of the real-time fitting trajectory point cloud set. S5. Abnormal handling of tail rope swing and kink: Compare the tail rope swing safety threshold set in step S1 with the results of the swing amplitude and kink degree of the tail rope in step S4. When the swing amplitude of the tail rope exceeds the set tail rope swing safety threshold, the industrial control computer sends a warning message to the terminal computer through the wireless communicator; after receiving the warning message, the terminal computer controls the motor to stop running and controls the millimeter wave radar to re-inspect the tail rope warning area and adjacent areas in step S4; finally, the industrial control computer performs the multi-target clustering tracking algorithm on the re-inspection data of the millimeter wave radar again and transmits the detection result to the terminal computer through the wireless communicator. S6. Radar detection device resumes inspection: The terminal computer receives and stores the re-inspection result, restarts the motor to drive the radar detection device to continue moving upward at a constant speed; the millimeter wave radar continues to transmit frequency-modulated pulse signals to the hoist tail rope for detecting the tail rope swing. When a warning is caused by abnormal tail rope swing again, repeat the operation process in step S5 until the detection of tail rope swing and kink is completed. S7. Report generation: The terminal computer generates a detection report based on the detection results of the radar detection device, and through the detection report of the hoist tail rope swing and kink degree, timely eliminates potential dangers in the mine to ensure production and personnel safety.

5. The working process of the tail rope swing and kink detection system based on millimeter-wave radar according to claim 4, characterized in that The radar point cloud data in step S4 includes the conversion of the point cloud coordinate system, the boundary setting of the point cloud, the prediction of the point cloud state, and the point cloud correlation function.

6. The working process of the tail rope swing and kink detection system based on millimeter wave radar according to claim 4, characterized in that, The methods for detecting the tail rope using the millimeter wave radar in steps S3, S5, and S6 include the following steps: a. Parameter determination: First, set the signal mode of the millimeter wave radar according to the actual environment of the mine, and then establish a detection database to record the environmental parameters measured by the millimeter wave radar and the signal mode of the radar. b. Signal transmission and reception: Adjust the parameters of multiple transmitting antennas of the millimeter wave radar to ensure the optimal range resolution between the tail rope and the millimeter wave radar at a fixed position; adjust the installation angle of the millimeter wave radar, select the positions where the tail rope swing and kink need to be detected, and keep the millimeter wave radar perpendicular to the extension direction of the tail rope to stably transmit a large bandwidth sawtooth wave and collect the reflected echo signal; filter the high-frequency part of the mixed-frequency signal through a low-pass filter to obtain the intermediate-frequency signal required for subsequent data analysis. c. Swing and kink detection: First, use the fast Fourier transform to convert the obtained signal from the time dimension to the frequency dimension to obtain distance information; then obtain the tail rope angle information; finally, use the azimuth information of the tail rope target point and apply a multi-target clustering tracking algorithm to the radar point cloud to fit the motion trajectories of multiple tail ropes. d. Data analysis: Based on the fitted motion trajectories of the tail ropes, judge the swing amplitude of the tail ropes. At the same time, according to the safety threshold of the tail rope swing, judge whether there is an abnormality in the swing. According to the aggregation of the point cloud on the motion trajectory, judge the kink situation of the tail ropes.

7. The working process of the tail rope swing and kink detection system based on millimeter wave radar according to claim 6, characterized in that The parameters of the transmitting antenna described in step b include the signal start frequency , frequency modulation slope S, ADC sampling start time, number of ADC samplings, ADC sampling frequency, frequency modulation period , chrip interval time.

8. The working process of the tail rope swing and kink detection system based on millimeter-wave radar according to claim 6, characterized in that, The specific content of the detection database described in step a includes: recording the number and diameter of the hoist tail ropes; marking the initial relative position distance D1 between each tail rope and the millimeter-wave radar and the spacing D2 between each tail rope; setting the safety threshold for the swing amplitude of the tail ropes; updating the environmental parameters before the detection starts and encoding and storing them in the detection database when the detection ends.

9. The working process of the tail rope swing and kink detection system based on millimeter wave radar according to claim 4 or 6, characterized in that, The multi-target clustering tracking algorithm described in step S4, step S5, and step c includes the following steps: (1) Perform coordinate transformation on each radar data processing frame, and transfer the observations in the polar coordinate system to the Cartesian coordinate system through linearization processing. (2) Establish the measurement boundary of the radar point cloud according to the relative distance between the millimeter-wave radar and the tail ropes, and remove the point cloud outside the boundary range. (3) Design a prediction function to estimate the system state of the centroid of the point cloud at time n based on the state of the point cloud at time n - 1. (4) Select a threshold range, score the point cloud according to the association function, divide the point cloud into different sets in the coordinate system by analyzing the scoring results, and assign multiple sets to the movement trajectories of the tail ropes. (5) Process the next frame of point cloud data, and the movement trajectory will be recalculated according to the set, and the movement trajectory of the tail rope will be updated.

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