Cableway cable position deviation detection method based on image recognition

Abstract

The invention belongs to the technical field of cableway safety monitoring, and discloses a cableway cable position deviation detection method based on image recognition. According to the method, the load influence hot spot area is identified based on the load data of the cable and the structural point cloud model, the specific area with abnormal stress of the cable is accurately locked, and hidden danger positions such as local wear and stress concentration are efficiently positioned, so that the detection analysis is more practical, the result accuracy is improved, and the unnecessary maintenance cost is reduced; and optimal utilization of resources and improvement of operation and maintenance efficiency are realized. The ropeway cable position deviation degree is corrected based on the wind load nonuniformity and the ropeway cable abrasion condition, the one-sidedness of single parameter analysis is avoided, the multi-factor synergistic effect is quantified, the correction result is closer to the real working condition, the adaptability to the complex environment is improved, the deviation level is accurately recognized, and the accuracy of the correction result is improved. And the detection comprehensiveness and reliability are enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of ropeway safety monitoring, and relates to a method for detecting the position deviation of a ropeway cable based on image recognition. Background Art

[0002] The ropeway cable is one of the core components of the ropeway system. The ropeway cable integrates functions such as load-bearing, traction, guiding, safety, and structural support, and its performance directly determines the reliability, transportation efficiency, and safety of the ropeway system. The detection of the position deviation of the ropeway cable can prevent safety accidents such as cable breakage and structural collision, ensure the safety of life and property, and at the same time can ensure the stable operation of the system, reduce downtime losses and maintenance costs, extend the equipment life, and optimize the maintenance strategy and system design. Therefore, the research on the detection of the position deviation of the ropeway cable based on image recognition is of great significance.

[0003] In the prior art, there are also technical solutions for ropeway safety monitoring. For example, a Chinese invention patent application for a method and system for monitoring and warning the force on a detour ropeway with the publication number of CN119688501A includes: the method sets sensors at the monitoring points of the ropeway cable, collects force, load, and image data in real time, and calculates the initial force index; collects environmental data to obtain an adjustment factor, calculates the actual force index according to it, dynamically adjusts the safety threshold, and then gives a warning reminder according to the two to improve the monitoring accuracy and the safety of the ropeway.

[0004] Although the above solution proposes some solutions for ropeway safety monitoring, there are still certain limitations. For example, on the one hand, the above solution lacks the recognition of the hot spots affected by the load, does not fully combine the dynamic distribution characteristics of the load, may lead to the inability to accurately locate the high-risk sections, and it is difficult to effectively analyze the local deviation problems in the load concentration areas, affecting the refinement degree of the detection results and the accuracy of the maintenance decision-making.

[0005] On the other hand, the prior art solutions only correct through environmental factors, lack comprehensive corrections based on the wind load non-uniformity, the lateral wear amount of the pulley, and the wear amount of the cable contact surface, and cannot fully reflect the coupling effect of structural damage and environmental load, easily miss the deviation risks caused by wear accumulation or wind field asymmetry, resulting in a deviation between the correction result and the actual state, reducing the detection accuracy and the reliability of the safety assessment. Summary of the Invention

[0006] In view of this, in order to solve the problems raised in the above background art, a method for detecting the position deviation of a ropeway cable based on image recognition is proposed.

[0007] The object of the present invention can be achieved by the following technical solutions: A method for detecting the position deviation of a cableway cable based on image recognition, comprising: acquiring an image of the cableway cable using an image acquisition device, constructing a three-dimensional contour distribution model of the cableway cable based on the image, and analyzing the position deviation degree of the cableway cable based on the three-dimensional contour distribution model of the cableway cable.

[0008] The load data and the structural point cloud model of the cableway cable are respectively obtained by using a distributed weight acquisition device and a three-dimensional scanning device. Based on this, the hot spots affected by the load are identified, and the wind load distribution matrix of this area is constructed and the wind load non-uniformity is analyzed.

[0009] The pulley-cable contact surface parameters and the transverse diameter data of the cableway cable are extracted based on the three-dimensional contour distribution model of the cableway cable, and the transverse wear amount of the pulley and the wear amount of the cable contact surface are analyzed.

[0010] Based on the wind load non-uniformity, the transverse wear amount of the pulley and the wear amount of the cable contact surface, a correction model for the position deviation degree of the cableway cable is constructed and the corrected position deviation degree of the cableway cable is output, and the deviation level is identified.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) By identifying the hot spots affected by the load based on the load data and the structural point cloud model of the cable, the specific area where the cable is abnormally stressed is accurately locked, the hidden danger positions such as local wear and stress concentration are efficiently located, the detection and analysis are more in line with the actual situation, the accuracy of the results is improved, the unnecessary maintenance cost is reduced, and the optimal utilization of resources and the improvement of operation and maintenance efficiency are realized.

[0012] (2) By correcting the position deviation degree of the cableway cable based on the wind load non-uniformity and the wear condition of the cableway cable, the one-sidedness of single-parameter analysis is avoided, the synergistic effect of multiple factors is quantified, the corrected result is closer to the actual working condition, the adaptability to complex environments is improved, the deviation level is accurately identified, and the comprehensiveness and reliability of the detection are enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic diagram of the implementation steps of the method of the present invention.

[0015] Figure 2 It is a schematic flow chart of the cableway cable position deviation degree analysis method corresponding to an embodiment provided by the present invention.

[0016] Figure 3 Schematic diagram of positioning the reference position point corresponding to the vertical deviation monitoring point according to an embodiment provided by the present invention.

[0017] Figure 4 Schematic diagram of analyzing the lateral wear amount of the pulley according to an embodiment provided by the present invention.

[0018] Reference numerals: 1 - load, 2 - contour of the cableway cable, 3 - reference contour of the cableway cable, 4 - vertical deviation monitoring point, 5 - reference position point, 6 - initial width of the pulley groove, 7 - monitored groove width, 8 - unworn groove, 9 - groove in use. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figure 1 As shown, the present invention provides a method for detecting the position deviation of a cableway cable based on image recognition, including: obtaining a cableway cable image by using an image acquisition device, constructing a three-dimensional contour distribution model of the cableway cable based on the image, and analyzing the position deviation degree of the cableway cable based on the three-dimensional contour distribution model of the cableway cable.

[0021] In a preferred embodiment of the present invention, please refer to Figure 2 As shown, the specific steps for analyzing the position deviation degree of the cableway cable are as follows: A1. Extract the cableway cable image and locate the cable area, arrange monitoring points along the cable direction at equal interval distances, count the number of monitoring points, and generate unique pixel coordinates for each pixel point.

[0022] A2. Obtain the actual pixel coordinates and theoretical pixel coordinates of each monitoring point, and at the same time obtain the maximum length of the cable area in the cableway cable image.

[0023] It should be noted that the theoretical pixel coordinates are the ideal coordinates of each monitoring point in the image obtained through geometric modeling or simulation calculation based on the cableway design drawing or the cable position in the ideal state.

[0024] It should be explained that the maximum length of the cable area refers to the maximum distance between the two end points of the cable measured along the cable extension direction in the cableway cable image captured by the image acquisition device.

[0025] A3. Obtain the pixel - physical unit conversion coefficient based on the specific device parameters of the image acquisition device.

[0026] It should be noted that the pixel-physical unit conversion coefficient refers to the proportional relationship between the pixel coordinates in the image and the actual physical unit. In the detection of the deviation of the cableway cable position, through this coefficient, the pixel deviation obtained from image analysis can be converted into the actual physical deviation, so as to quantify the degree of deviation of the cable position and provide a scientific basis for subsequent safety assessment. The core parameters of the image acquisition device determine the mapping relationship between pixels and physical units. Exemplarily, if 100 pixels in the image correspond to 1 meter in reality, then .

[0027] A4. Calculate the absolute deviation between the actual pixel coordinates and the theoretical pixel coordinates of each monitoring point, and then combine the maximum length of the cable area and the pixel-physical unit conversion coefficient to comprehensively analyze and obtain the deviation degree of the cableway cable position based on the calculation formula of the deviation degree of the cableway cable position.

[0028] Preferably, the calculation formula of the deviation degree of the cableway cable position is as follows: , where represents the deviation degree of the cableway cable position, represents the actual pixel coordinates of each monitoring point, represents the theoretical pixel coordinates of each monitoring point, represents the number of the monitoring point, , represents the number of monitoring points, represents the maximum length of the cable area, represents the pixel-physical unit conversion coefficient.

[0029] It should be noted that the core logic of the above formula is to calculate the percentage of the overall position deviation of the cable from the theoretical state through the mean value of the monitoring point deviation and length normalization, so as to quantify the degree of deviation. Each percentage deviation represents the proportion of the offset of the actual position of the cable relative to the theoretical position in the total length of the cable.

[0030] It should be added that in the formula is the Euclidean distance between the actual pixel coordinates and the theoretical pixel coordinates. In the present invention, the horizontal distance analysis is mainly carried out. is to normalize the pixel deviation of a single monitoring point into a proportion relative to the total length of the cable. Through the coefficient the pixel ratio is converted into the actual physical unit. Among them The larger it is, the denser the monitoring points are, the higher the sensitivity of the formula to local deviations, and the higher the detection accuracy.

[0031] The load data of the cableway cable and the structural point cloud model are obtained by using a distributed weight acquisition device and a three-dimensional scanning device respectively. Based on this, the hot spots affected by the load are identified, and the wind load distribution matrix of this area is constructed and the wind load non-uniformity is analyzed.

[0032] In a preferred embodiment of the present invention, please refer to Figure 3 As shown, the specific process of identifying the hot spots affected by the load is as follows: Based on the structural point cloud model of the cableway cable, a lateral view contour image of the cableway cable is generated.

[0033] Based on the starting position point and the ending position point in the view located from the lateral view contour image, the reference cableway cable contour is located.

[0034] It should be noted that the reference cableway cable contour is an ideal straight line contour generated by linear fitting based on the starting point and the ending point, representing the theoretical position of the cable without the influence of the load.

[0035] Based on a preset equal interval distance, the cableway cable contour is divided to obtain a number of vertical deviation monitoring points, and the intersection points of the vertical directions where the vertical deviation monitoring points are located and the reference cableway cable contour are recorded as the reference position points corresponding to the vertical deviation monitoring points.

[0036] The distance from each vertical deviation monitoring point to the corresponding reference position point is obtained and recorded as the vertical deviation distance.

[0037] The vertical deviation distance is compared with a preset vertical deviation distance threshold, and the monitoring points with the vertical deviation distance greater than the vertical deviation distance threshold are recorded as deviation hot spots.

[0038] It should be added that if the vertical deviation distance is greater than the vertical deviation distance threshold, it is determined that the monitoring point is a deviation hot spot, indicating that the load influence here is significant and abnormal deformation may exist. The vertical deviation distance threshold is determined based on the cableway design specifications or historical data statistics, combined with safety redundancy.

[0039] Arrange the deviation hot spots in the order of their positions, and the area between the first deviation hot spot and the last deviation hot spot is recorded as the hot spot area affected by the load.

[0040] It should be noted that the cable within the hot spot area affected by the load deviates from the theoretical position beyond the safety threshold due to the load influence, and the wind load and wear conditions need to be monitored key points.

[0041] In a preferred embodiment of the present invention, the specific analysis method of the wind load distribution matrix is as follows: Based on a preset rectangular grid array, a number of wind speed monitoring points are arranged on the load surface, and based on an equal interval length, a number of wind speed monitoring points are arranged on the radial center line monitoring points of the cableway cable.

[0042] The distributed wind speed monitoring array is used to embed the wind speed monitoring points to obtain the real-time wind speed and wind direction of each monitoring point.

[0043] The wind speed of each wind speed monitoring point is decomposed to obtain the decomposed wind speed perpendicular to the plane where the cableway cable and the load are located.

[0044] It should be explained that the influence of the wind load on the cableway cable is mainly reflected in the direction perpendicular to the plane where the cable and the load are located, that is, the lateral force, which may cause the cable to shift or the load to shake. Therefore, the three-dimensional wind speed vector of each monitoring point needs to be decomposed into components perpendicular to this plane.

[0045] In a preferred embodiment of the present invention, the specific analysis method for analyzing the wind load non-uniformity is as follows: Locate the positions of each wind speed monitoring point of the cableway cable and the connection positions of the load and the cableway cable, record the connection positions as reference positions, obtain the distances from the positions of each wind speed monitoring point of the cableway cable to the reference positions, and classify each wind speed monitoring point of the cableway cable according to the wind direction corresponding to the decomposed wind speed based on a predefined wind direction classification method to obtain a set of positive wind speed monitoring points and a set of negative wind speed monitoring points, and respectively locate the force centers corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points.

[0046] It should be noted that the purpose of classifying each wind speed monitoring point of the cableway cable according to the wind direction corresponding to the decomposed wind speed is to quantify the distribution difference of the wind load in different directions. Preferably, the positive wind speed monitoring point refers to the wind speed monitoring point perpendicular to the plane where the cable and the load are located and inward, and the negative wind speed monitoring point refers to the wind speed monitoring point perpendicular to the plane where the cable and the load are located and outward. Through classification, the key positions of asymmetric force can be intuitively identified.

[0047] It should be explained that the force centers corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points are to calculate the force centers for each wind direction set, which is equivalent to the concentrated action point of the wind load in this direction.

[0048] Obtain the distance between the force centers corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points, and at the same time calculate the total positive wind speed and the total negative wind speed, and calculate the difference between the total positive wind speed and the total negative wind speed to obtain the wind speed deviation amount corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points.

[0049] It should be noted that the distance between the stress centers corresponding to the positive wind speed monitoring point set and the negative wind speed monitoring point set reflects the spatial dispersion degree of the positive and negative wind loads. The greater the distance, the farther apart the action centers of the positive and negative wind loads are, the more uneven the wind field is in spatial distribution, and the greater the influence on the lateral torque or offset of the cable.

[0050] The average wind speed on the load surface is obtained by calculating the average value of the decomposed wind speeds of each wind speed monitoring point on the load surface.

[0051] The distance between the stress centers corresponding to the positive wind speed monitoring point set and the negative wind speed monitoring point set, the wind speed deviation amount, and the average wind speed on the load surface are substituted into the wind load unevenness coefficient calculation formula to obtain the wind load unevenness coefficient.

[0052] Preferably, the wind load unevenness coefficient calculation formula is as follows: , where represents the wind load unevenness coefficient, represents the distance between the stress centers corresponding to the positive wind speed monitoring point set and the negative wind speed monitoring point set, represents the wind speed deviation amount between the positive wind speed monitoring point set and the negative wind speed monitoring point set, represents the sum of the positive total wind speed and the negative total wind speed, represents the average wind speed on the load surface, represents the safety working wind speed threshold of the cableway.

[0053] It should be noted that the core logic of the above formula is to quantify the uneven degree of the wind load through the product of the normalized parameters in three dimensions: spatial dispersion, intensity difference, and relative wind speed. The larger the value, the more dispersed the wind load is in spatial distribution, the more significant the intensity difference is, and the closer the current wind speed is to the safety threshold, the greater the influence on the deviation of the cableway cable.

[0054] It should be added that the spatial dispersion factor in the above formula reflects the offset degree of the wind load action center. The larger the ratio, the stronger the asymmetry of the wind field. The intensity difference factor The larger it is, the stronger the unidirectionality of the wind load. For example, if it is all positive wind or negative wind, the lateral thrust on the cable is more significant. The maximum value is 1. The relative wind speed factor is used to amplify the influence of unevenness in high wind speed scenarios. The closer the wind speed is to the threshold, the higher the risk caused by the same unevenness.

[0055] It should be noted that the present invention identifies load-affected hot spots based on the load data of the cable and the structural point cloud model, accurately locks the specific areas where the cable is subjected to abnormal stress, and efficiently locates hidden dangers such as local wear and stress concentration, making the detection and analysis more practical, improving the accuracy of the results, reducing unnecessary maintenance costs, and achieving optimal resource utilization and improved operation and maintenance efficiency.

[0056] The pulley-cable contact surface parameters and the lateral diameter data of the cable are extracted based on the three-dimensional profile distribution model of the cableway, and the lateral wear of the pulley and the wear of the cable contact surface are analyzed.

[0057] In a preferred embodiment of the present invention, please refer to Figure 4 As shown, the specific analysis method of the lateral wear of the pulley is as follows: extract the pulley-cable contact surface parameters, locate the wear direction of each pulley based on equally spaced angles, obtain the wheel groove width in each wear direction, compare the wheel groove width in each wear direction, and select the maximum wheel groove width as the monitoring wheel groove width of the pulley.

[0058] It should be explained that the circumference of the wheel groove is divided into a number of equally spaced angle intervals based on the pulley center axis, and each interval corresponds to a wear monitoring direction. For example, every 30° is a direction, for a total of 12 directions.

[0059] It should be noted that the maximum groove width is selected as the monitoring groove width of the pulley because the maximum width is the area where the pulley is most severely worn, which determines the lower limit of the structural strength of the pulley and is a key indicator for evaluating safety.

[0060] The lateral wear thickness of each pulley is obtained by performing a difference calculation between the pre-collected initial width of the pulley groove and the width of each pulley groove, and then the lateral wear amount of the pulley is obtained by performing an average calculation.

[0061] It should be noted that the purpose of analyzing the lateral wear of the pulley is: long-term contact between the pulley and the cable will cause wear of the wheel groove, which is manifested as a decrease in the width of the wheel groove and an increase in surface roughness. If the wear exceeds the threshold, it may cause local wear and cause pulley eccentricity, aggravating the vibration and deviation of the cable. Pulley wear causes the geometric shape of the contact surface between the wheel groove and the cable to change, destroying the ideal fit between the two and causing the cable to deviate laterally during operation.

[0062] In a preferred embodiment of the present invention, the specific analysis method of the cable contact surface wear is as follows: extract the transverse diameter data of the ropeway cable, arrange the wear monitoring points of the ropeway cable based on equal intervals, obtain the transverse thickness corresponding to each wear monitoring point, and calculate the difference between the pre-collected initial transverse thickness of the cable and the transverse thickness corresponding to each wear monitoring point to obtain the cable contact surface wear thickness of each wear monitoring point.

[0063] Calculate the average wear thickness of the cable contact surface at each wear monitoring point to obtain the cable contact surface wear amount.

[0064] It should be noted that the purpose of analyzing the cable contact surface wear amount is as follows: The wear of the cable causes a change in the cross-sectional geometry, resulting in a decrease in the fitting degree with the pulley, and it is prone to lateral sliding or deviation during operation.

[0065] Based on the wind load non-uniformity, the lateral wear amount of the pulley, and the cable contact surface wear amount, construct a cable position deviation correction model for the cableway and output the corrected cable position deviation of the cableway, and identify the deviation level.

[0066] In a preferred embodiment of the present invention, the specific method for constructing the cable position deviation correction model for the cableway and outputting the corrected cable position deviation of the cableway is as follows: Substitute the wind load non-uniformity coefficient, the lateral wear amount of the pulley, and the cable contact surface wear amount into the pre-constructed cable position deviation correction model for the cableway, perform non-dimensional normalization processing on the wear amounts of the pulley and the cable, combine the differential influence weights of pulley wear and cable wear fitted through historical measured data, introduce a non-linear coupling algorithm to describe the synergistic effect of multiple factors, and generate a cable position deviation correction coefficient for the cableway.

[0067] Preferably, the cable position deviation correction model for the cableway is as follows: , where represents the cable position deviation correction coefficient for the cableway, represents the lateral wear amount of the pulley, represents the cable contact surface wear amount, represents the maximum allowable value of the lateral wear of the pulley, represents the maximum allowable value of the cable contact surface wear.

[0068] It should be noted that the core logic of the above formula is to generate a deviation correction coefficient through the coupling calculation of the wind load non-uniformity coefficient and the wear amount normalization parameter, amplify or adjust the original deviation, and reflect the comprehensive influence of multiple physical factors on the cable position during actual operation. When the correction coefficient is greater than 1, it indicates that the wind load and wear jointly exacerbate the cable deviation; when it is close to 1, it shows that the factor influence is small and the credibility of the original deviation is high.

[0069] It should be added that in the above formula as the basic amplification factor of the model, it quantifies the direct influence of the wind field asymmetry on the cable deviation. The pulley wear normalization parameter Convert the pulley wear amount into a ratio relative to the safety limit to reflect the attenuation degree of the pulley structure strength, which results from the decrease in the fit degree between the pulley groove and the cable due to pulley wear, causing lateral sliding or eccentric load during operation and amplifying the deviation degree. The cable wear normalization parameter Reflect the influence of the surface wear of the cable on its mechanical properties. The cable wear causes the cross-sectional area to decrease and the surface roughness to change, exacerbating vibration and deviation.

[0070] Multiply the cableway cable position deviation correction coefficient by the cableway cable position deviation to obtain the cableway cable position deviation correction amount, and then sum it with the cableway cable position deviation to obtain the corrected cableway cable position deviation.

[0071] In a preferred embodiment of the present invention, the specific analysis method of the deviation level is as follows: Compare the corrected cableway cable position deviation with each preset cableway cable position deviation threshold respectively to identify the deviation level.

[0072] It should be noted that this is the terminal decision-making link of the estimation. Its core purpose is to convert the abstract detection data into an intuitive safety status level by quantifying the deviation degree, guiding the operation and maintenance personnel to take targeted measures.

[0073] Exemplarily, if the corrected cableway cable position deviation is greater than or equal to the first cableway cable position deviation threshold, the deviation level is identified as level one; if the corrected cableway cable position deviation is less than the first cableway cable position deviation threshold and greater than or equal to the second cableway cable position deviation threshold, the deviation level is identified as level two; if the corrected cableway cable position deviation is less than the second cableway cable position deviation threshold, the deviation level is identified as level three.

[0074] It should be noted that the present invention corrects the cableway cable position deviation based on the wind load unevenness and the cable wear condition of the cableway, avoiding the one-sidedness of single-parameter analysis, quantifying the synergistic effect of multiple factors, making the correction result closer to the actual working condition, improving the adaptability to complex environments, accurately identifying the deviation level, and enhancing the comprehensiveness and reliability of the detection.

[0075] It should be noted that the overall logic of the present invention is based on pre-analysis of the deviation degree, correction analysis of influencing factors, and abnormal identification of the deviation degree. Specifically, first pre-analyze the deviation degree based on a three-dimensional model, then correct it in combination with multiple factors such as wind load and wear, and finally accurately identify the deviation level. This process realizes a closed-loop from preliminary detection to dynamic correction and then to risk grading, avoiding misjudgment caused by a single factor, improving the comprehensiveness and accuracy of the detection results, and providing a scientific and reliable decision-making basis for the safety assessment of the cableway.

[0076] The above content is only an example and illustration of the concept of the present invention. Those skilled in the art of the present technology can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A method for detecting the position deviation of a cableway cable based on image recognition, characterized in that, Including: Obtaining an image of the cableway cable using an image acquisition device, constructing a three-dimensional contour distribution model of the cableway cable based on the image, and analyzing the position deviation degree of the cableway cable based on the three-dimensional contour distribution model of the cableway cable; Obtaining the load data and the structural point cloud model of the cableway cable using a distributed weight acquisition device and a three-dimensional scanning device respectively, identifying the hot spots affected by the load based on this, constructing a wind load distribution matrix for this area and analyzing the wind load non-uniformity; Extracting the pulley-cable contact surface parameters and the lateral diameter data of the cableway cable based on the three-dimensional contour distribution model of the cableway cable, and analyzing the lateral wear amount of the pulley and the wear amount of the cable contact surface; Constructing a position deviation degree correction model of the cableway cable based on the wind load non-uniformity, the lateral wear amount of the pulley and the wear amount of the cable contact surface, outputting the corrected position deviation degree of the cableway cable, and identifying the deviation level.

2. The method for detecting the position deviation of a cableway cable based on image recognition according to claim 1, characterized in that: The specific steps for analyzing the position deviation degree of the cableway cable are as follows: A1. Extracting the image of the cableway cable and locating the cable area, arranging monitoring points along the cable direction at equal interval distances, counting the number of monitoring points, and generating unique pixel coordinates for each pixel point; A2. Obtaining the actual pixel coordinates and the theoretical pixel coordinates of each monitoring point, and simultaneously obtaining the maximum length of the cable area in the cableway cable image; A3. Obtaining the pixel-physical unit conversion coefficient based on the specific device parameters of the image acquisition device; A4. Calculating the absolute deviation between the actual pixel coordinates and the theoretical pixel coordinates of each monitoring point, and then combining the maximum length of the cable area and the pixel-physical unit conversion coefficient, and comprehensively analyzing to obtain the position deviation degree of the cableway cable based on the calculation formula of the position deviation degree of the cableway cable.

3. The method for detecting the position deviation of a cableway cable based on image recognition according to claim 1, wherein: The specific process for identifying the hot spots affected by the load is as follows: Generating a lateral view contour image of the cableway cable based on the structural point cloud model of the cableway cable; Locating the starting position point and the ending position point in the view based on the lateral view contour image, and locating the reference cableway cable contour based on the starting position point and the ending position point; Dividing the cableway cable contour at preset equal interval distances to obtain a number of vertical deviation monitoring points, and recording the intersection point of the vertical direction where each vertical deviation monitoring point is located and the reference cableway cable contour as the reference position point corresponding to each vertical deviation monitoring point; Obtaining the distance from each vertical deviation monitoring point to the corresponding reference position point and recording it as the vertical deviation distance; Comparing the vertical deviation distance with the preset vertical deviation distance threshold, and recording the monitoring points with the vertical deviation distance greater than the vertical deviation distance threshold as the deviation hot spots; Arranging the deviation hot spots in the order of position, and recording the area between the first deviation hot spot and the last deviation hot spot as the hot spot area affected by the load.

4. The method for detecting the position deviation of a cableway cable based on image recognition according to claim 1, wherein: The specific analysis method of the wind load distribution matrix is as follows: Arranging monitoring points on the load surface based on a preset rectangular grid array to obtain a number of wind speed monitoring points, and arranging monitoring points on the radial center line of the cableway cable at equal interval lengths to obtain a number of wind speed monitoring points; Embedding the wind speed monitoring points using a distributed wind speed monitoring array to obtain the real-time wind speed and wind direction of each monitoring point; Decompose the wind speeds at each wind speed monitoring point to obtain the decomposed wind speeds perpendicular to the plane where the cableway cable and the load are located.

5. The method for detecting the position deviation of the cableway cable based on image recognition according to claim 4, wherein: The specific analysis method for analyzing the wind load non-uniformity is as follows: Locate the positions of each wind speed monitoring point on the cableway cable and the connection position between the load and the cableway cable. Denote the connection position as the reference position. Obtain the distances from the positions of each wind speed monitoring point on the cableway cable to the reference position. Classify each wind speed monitoring point on the cableway cable according to the wind direction corresponding to the decomposed wind speed based on a predefined wind direction classification method to obtain a set of positive wind speed monitoring points and a set of negative wind speed monitoring points. Locate the stress center points corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points respectively; Obtain the distance between the stress center points corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points. At the same time, calculate the total positive wind speed and the total negative wind speed. Calculate the difference between the total positive wind speed and the total negative wind speed to obtain the wind speed deviation amount corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points; Calculate the average value of the decomposed wind speeds at each wind speed monitoring point on the load surface to obtain the average wind speed on the load surface; Substitute the distance between the stress center points corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points, the wind speed deviation amount, and the average wind speed on the load surface into the wind load non-uniformity coefficient calculation formula to obtain the wind load non-uniformity coefficient.

6. The method for detecting the position deviation of the cableway cable based on image recognition according to claim 1, characterized in that: The specific analysis method for the lateral wear amount of the pulley is as follows: Extract the pulley-cable contact surface parameters. Locate the wear directions of each pulley based on equally spaced angles. Obtain the groove widths in each wear direction. Compare the groove widths in each wear direction and select the maximum groove width as the monitored groove width of the pulley; Calculate the difference between the initially collected groove width of the pulley groove and the groove widths of each pulley to obtain the lateral wear thickness of each pulley, and then calculate the average value to obtain the lateral wear amount of the pulley.

7. The method for detecting the position deviation of the cableway cable based on image recognition according to claim 1, characterized in that: The specific analysis method for the wear amount of the cable contact surface is as follows: Extract the transverse diameter data of the cableway cable. Arrange wear monitoring points on the cableway cable based on equally spaced lengths. Obtain the transverse thickness corresponding to each wear monitoring point. Calculate the difference between the initially collected transverse thickness of the cable and the transverse thickness corresponding to each wear monitoring point to obtain the wear thickness of the cable contact surface at each wear monitoring point; Calculate the average value of the wear thicknesses of the cable contact surfaces at each wear monitoring point to obtain the wear amount of the cable contact surface.

8. The method for detecting the position deviation of the cableway cable based on image recognition according to claim 5, wherein: The specific method for constructing the deviation degree correction model of the cableway cable position and outputting the corrected deviation degree of the cableway cable position is as follows: Substitute the wind load non-uniformity coefficient, the lateral wear amount of the pulley, and the wear amount of the cable contact surface into the previously constructed deviation degree correction model of the cableway cable position. Perform dimensionless normalization processing on the wear amounts of the pulley and the cable. Combine the differential influence weights of pulley wear and cable wear fitted through historical measured data. Introduce a non-linear coupling algorithm to describe the synergistic effect of multiple factors to generate a deviation degree correction coefficient of the cableway cable position; Calculate the product of the deviation degree correction coefficient of the cableway cable position and the deviation degree of the cableway cable position to obtain the deviation degree correction amount of the cableway cable position, and then calculate the sum with the deviation degree of the cableway cable position to obtain the corrected deviation degree of the cableway cable position.

9. The method for detecting the position deviation of a cableway cable based on image recognition according to claim 1, wherein: The specific analysis method for the deviation level is as follows: Compare the deviation degree of the position of the corrected cableway cable with the pre-set deviation degree thresholds of the positions of each cableway cable respectively to identify the deviation level.

10. A method for detecting the position deviation of a cableway cable based on image recognition according to claim 8, characterized in that: The calculation formula for the deviation degree of the position of the cableway cable is as follows: , where represents the deviation degree of the cableway cable position, represents the actual pixel coordinates of each monitoring point, represents the theoretical pixel coordinates of each monitoring point, represents the number of the monitoring point, , represents the number of monitoring points, represents the maximum length of the cable area, represents the pixel - physical unit conversion coefficient; The calculation formula for the wind load non-uniformity coefficient is as follows: , where represents the wind load non-uniformity coefficient, represents the distance between the stress centers corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points, represents the wind speed deviation amount corresponding to the set of positive wind speed monitoring points and the set of negative wind speed monitoring points, represents the sum of the positive total wind speed and the negative total wind speed, represents the average wind speed on the load surface, represents the threshold value of the safe working wind speed of the cableway; The deviation degree correction model of the cableway cable is as follows: , where represents the correction coefficient of the deviation degree of the cableway cable position, represents the lateral wear amount of the pulley, represents the wear amount of the cable contact surface, represents the maximum allowable value of the lateral wear of the pulley, represents the maximum allowable value of the wear of the cable contact surface.

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