Vision-based steel wire rope detection device and control method

Abstract

The invention relates to the field of detection equipment, in particular to a vision-based steel wire rope detection device and a control method.The vision-based steel wire rope detection device comprises an excitation part, a constant-speed rotating ring part, a sliding rotating ring part and a positioning wheel part, the excitation part comprises a left excitation part and a right excitation part, a first fixing semi-ring is arranged at the end of the left excitation part, and first fixing holes are formed in the two end faces of the left excitation part respectively; a penetrating motor shaft hole is formed in the end face of the left excitation part, a penetrating electric cylinder rod hole is formed in the position adjacent to the motor shaft hole, two threaded rod fixing bases are arranged on the outer circumferential face of the left excitation part, threaded rod holes are symmetrically formed in the side faces of the threaded rod fixing bases respectively, and a sliding gear groove is formed in one side of each threaded rod fixing base. According to the steel wire rope detection device, the image recognition technology is synchronously utilized, the steel wire rope is detected in combination with the fixed camera and the movable camera, and the applicability and the detection precision of the steel wire rope detection device are improved through the method.

Description

Technical Field

[0001] The present invention relates to the field of detection equipment, and in particular to a vision-based steel wire rope detection device and a control method. Background Art

[0002] The hoisting wire rope used in the mine hoisting system is related to the stability and safety of mine operations, and is closely related to the life safety of mine workers. It is necessary to cooperate with the hoisting wire rope positioning device and detection mechanism to detect it, eliminate defects in time and replace it to ensure the safety of the hoisting wire rope.

[0003] With the continuous advancement of machine vision technology, wire rope inspection equipment utilizing this technology has begun to gain industry attention. By capturing and processing images, this technology enables efficient and accurate non-contact inspection of wire rope health, enabling automated operation. By analyzing wire rope images and applying specific algorithms, the degree of damage can be quantitatively assessed and determined, providing critical data support for preventive maintenance and fault analysis.

[0004] When existing wire rope inspection equipment is combined with a camera, the captured images may be unclear or not located in the center, resulting in a decrease in image accuracy during subsequent comparison. Summary of the Invention

[0005] Therefore, the present invention is made in view of the above problems. The present invention combines image recognition for synchronous analysis and uses a fixed camera group and a mobile camera group to collect wire ropes at the same time. The fixed camera collects large-area images, and the mobile camera performs high-precision positioning and captures images, thereby enhancing the applicability and accuracy of the wire rope detection equipment:

[0006] A vision-based wire rope detection device includes: an excitation part, a uniform speed rotating ring part, a sliding rotating ring part, and a positioning wheel part. The excitation part includes: a left excitation part and a right excitation part. The end of the left excitation part is provided with a fixed half ring, and the two end faces of the left excitation part are respectively provided with a fixing hole. The end face of the left excitation part is provided with a through motor shaft hole, and the position adjacent to the motor shaft hole is provided with a through electric cylinder rod hole. The outer circumference of the left excitation part is provided with two threaded rod fixing seats, and the side faces of the threaded rod fixing seats are respectively symmetrically provided with threaded rod holes. One side of the threaded rod fixing seat is provided with a sliding gear groove, the outer circumference of the left excitation part is provided with a sliding groove, the outer circumference of the left excitation part is provided with a left handle, and the inner circumference of the left excitation part is provided with a left handle. An excitation half ring is provided at both ends of the circumference, a limiting ring groove is provided on the inner circumference of the fixed half ring, the right excitation part is fixedly arranged on the side of the left excitation part, and the uniform speed rotating ring part is fixedly arranged on the excitation part. The uniform speed rotating ring part includes: a uniform speed camera ring, a motor, a fixed motor gear, a sliding gear, an electric cylinder, and a connecting piece. The uniform speed camera ring is rotatably arranged in the limiting ring groove, a fixed motor gear is provided on the motor shaft of the motor, the sliding gear is slidingly arranged on the motor shaft of the motor, the electric cylinder is fixedly arranged on the fixed half ring near the sliding gear, one end of the connecting piece is fixedly arranged on the moving end of the electric cylinder, the sliding rotating ring part is rotatably arranged on the excitation part, and the positioning wheel part is fixedly arranged on the end of the excitation part.

[0007] Preferably, a fixed half ring 2 is provided at the end of the right excitation part, a right handle is provided on the outer circumferential surface of the right excitation part, two symmetrical fixing holes 2 are provided on the side of the fixed half ring 2, a limiting ring groove 2 is provided on the inner circumferential surface of the fixed half ring 2, a penetrating motor shaft hole 2 is provided on the end face of the fixed half ring 2, a penetrating motor gear groove 2 is provided on the outer circumferential surface of the fixed half ring 2, and two symmetrical fixed half rings 3 are provided at both ends of the inner circumferential surface of the right excitation part.

[0008] Preferably, the second limiting ring groove and the first limiting ring groove form a complete annular slideway, and the third fixed half ring and the excitation half ring form a complete excitation ring.

[0009] Preferably, the uniform speed camera ring is a circular ring structure greater than 180°, and is rotatably arranged in a complete annular slideway composed of limiting ring groove 2 and limiting ring groove 1. A circumferential tooth 1 is provided on the outer circumferential surface of the uniform speed camera ring, and two cameras 1 are symmetrically provided on the inner circumferential surface of the uniform speed camera ring.

[0010] Preferably, the number of the motors is two, which are fixedly arranged on the sides of the fixed half ring one and the fixed half ring two respectively, and the motor shaft is rotatably arranged in the motor shaft hole and the motor shaft hole two, and the end of the sliding gear is provided with a limit end, one end of the connecting piece is fixedly arranged on the moving end of the electric cylinder, and the other end is sleeved on the limit end.

[0011] Preferably, the sliding excitation part includes: a threaded rod, a threaded rod gear, a sliding frame, a swinging camera ring, motor 2, and a sliding frame gear. The threaded rod is rotatably set in the threaded rod hole, the threaded rod gear is fixedly set at the end of the threaded rod, and the sliding gear is engaged with the threaded rod gear. The sliding frame is slidably set in the sliding groove, motor 2 is fixedly set on the side of the sliding frame, and the sliding frame gear is fixedly set on the motor shaft of motor 2.

[0012] Preferably, a sliding frame ring is provided at the end of the sliding frame, a gear groove is provided in the middle of the sliding frame ring, an annular limiting protrusion is provided in the gear groove, a motor shaft hole three is provided on the side of the sliding frame, a threaded hole is provided on the side of the sliding frame, and the threaded rod is rotatably arranged in the threaded hole.

[0013] Preferably, the swinging camera ring is swingably set in the gear groove, and a circumferential tooth 2 is provided on the outer circumferential surface of the swinging camera ring. An annular limiting groove is symmetrically provided on the side of the circumferential tooth 2, and the limiting protrusion is rotatably set in the limiting groove, and two cameras 2 are symmetrically provided on the inner circumferential surface of the swinging camera ring.

[0014] Preferably, the motor shaft of the second motor is rotatably arranged in the motor shaft hole three, the sliding frame gear is rotatably arranged in the gear groove, and the sliding frame gear is always engaged with the peripheral gear two;

[0015] Preferably, the positioning wheel portion comprises four groups, each group of positioning wheel portions being fixed at both ends of the left excitation portion and the right excitation portion, respectively. The number of positioning frames is four, each being fixed in the second fixing hole and the first fixing hole of the left excitation portion and the right excitation portion, respectively. The number of positioning rollers is four, each being rotatably mounted on the positioning frames.

[0016] The present invention also provides a control method for a vision-based wire rope detection device, the control method comprises the following steps:

[0017] Step S1: input uniform speed camera ring image data;

[0018] Step S2: The cameras on both sides of the uniform speed camera ring capture images of the wire rope;

[0019] Step S3: Determine whether the wire rope in the image is damaged. If the wire rope surface is damaged, proceed to step S5; if not, proceed to step S4.

[0020] Step S5: Determine whether the damaged image is complete and clear. If the image is complete and clear, proceed to step S7; if the image is incomplete and clear, proceed to step S6.

[0021] Step S6: Determine whether the wire rope has relative motion. If the wire rope has relative motion relative to the detection device, proceed to step S2. If the wire rope has no relative motion relative to the detection device, terminate the determination process.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention uses image recognition technology to simultaneously detect wire ropes using a fixed camera and a mobile camera. The fixed camera is responsible for large-scale image acquisition, while the mobile camera is responsible for precise capture and imaging. This method improves the applicability and detection accuracy of wire rope detection equipment.

[0024] 2. It integrates advanced image recognition capabilities and can deeply analyze the curve graphs generated during the inspection process, accurately identify defect signals, and precisely determine the specific location and distribution of these signals, thereby conducting accurate qualitative analysis. After completing the entire identification and analysis process, the system automatically integrates the data and outputs a detailed inspection report, significantly improving the convenience of the inspection equipment and the accuracy of the inspection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The overall structure of the present invention is schematically shown Figure 1 .

[0026] Figure 2 The overall structure of the present invention is schematically shown Figure 2 .

[0027] Figure 3 A partial view of the gear portion of the present invention Figure 1 .

[0028] Figure 4 A partial view of the gear portion of the present invention Figure 2 .

[0029] Figure 5 The overall structure of the left excitation part of the present invention is shown in FIG. Figure 1 .

[0030] Figure 6 The overall structure of the left excitation part of the present invention is shown in FIG. Figure 2 .

[0031] Figure 7 The overall structure of the left excitation part of the present invention is shown in FIG. Figure 3 .

[0032] Figure 8 The overall structure of the right excitation part of the present invention is shown in FIG. Figure 1 .

[0033] Figure 9 The overall structure of the right excitation part of the present invention is shown in FIG. Figure 2 .

[0034] Figure 10 It is a schematic diagram of the overall structure of the uniform speed camera ring of the present invention.

[0035] Figure 11 Schematic diagram of the overall structure of the sliding frame of the present invention.

[0036] Figure 12 It is a schematic diagram of the overall structure of the mobile camera ring of the present invention.

[0037] Figure 13 It is the overall framework diagram of the present invention.

[0038] Figure 14 It is a control flow chart of the present invention.

[0039] Description of reference numerals:

[0040] 1. Excitation unit; 11. Left excitation unit; 1101. Fixed half ring 1; 1102. Fixed hole 1; 1103. Motor shaft hole; 1104. Cylinder rod hole; 1105. Fixed seat; 1106. Threaded rod fixed seat; 1107. Threaded rod hole; 1108. Sliding gear groove; 1109. Sliding groove; 1110. Left handle; 1111. Excitation half ring; 1112. Limiting ring groove 1; 12. Right excitation unit; 121. Fixed half ring 2; 122. Right handle; 123. Fixed hole 2; 124. Limiting ring groove 2; 125. Motor shaft hole 2; 126. Motor gear groove 2; 127. Fixed half ring 3; 2. Constant speed ring unit ;21. Uniform speed camera ring;211. Circular gear one;212. Camera one;22. Motor one;23. Fixed motor gear;24. Sliding gear;241. Limit end;25. Electric cylinder;26. Connector;3. Sliding swivel part;31. Threaded rod;32. Threaded rod gear;33. Sliding frame;331. Sliding frame ring;332. Gear groove;333. Limiting protrusion;334. Motor shaft hole three;335. Threaded hole;34. Swinging camera ring;341. Circular gear two;342. Limiting groove;343. Camera two;35. Motor two;36. Sliding frame gear;4. Positioning wheel part;41. Positioning frame;42. Positioning roller. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that it is easy for a person skilled in the art to implement these embodiments. However, the present invention can also be implemented in various different forms. Therefore, the present invention is not limited to the embodiments described below. In addition, in order to more clearly describe the present invention, parts that are not connected with the invention will be omitted from the accompanying drawings.

[0042] like Figure 1 、 2 As shown, a vision-based wire rope detection device includes: an excitation part 1, a constant speed swivel part 2, a sliding swivel part 3, and a positioning wheel part 4;

[0043] The excitation part 1 is the structural support of the entire device;

[0044] The excitation part 1 shown includes: a left excitation part 11 and a right excitation part 12;

[0045] like Figure 5 、 6 As shown in FIG. 7 , a fixed half ring 1101 is provided at the end of the left excitation part 11;

[0046] The two end surfaces of the left excitation part 11 are respectively provided with a fixing hole 1102;

[0047] The end surface of the left excitation part 11 is provided with a motor shaft hole 1103 passing through;

[0048] An electric cylinder rod hole 1104 is provided on the end surface of the left excitation part 11 and adjacent to the motor shaft hole 1103;

[0049] Two threaded rod fixing seats 1106 are provided on the outer circumference of the left excitation part 11;

[0050] The side surfaces of the threaded rod fixing seat 1106 are symmetrically provided with threaded rod holes 1107;

[0051] The threaded rod fixing seat 1106 is provided with a sliding gear groove 1108 near the fixing half ring 1101;

[0052] A sliding groove 1109 is provided on the outer circumferential surface of the left excitation part 11;

[0053] A left handle 1110 is provided on the outer circumference of the left excitation part 11;

[0054] The two ends of the inner circumference of the left excitation part 11 are provided with excitation half rings 1111;

[0055] A limiting ring groove 1112 is provided on the inner circumferential surface of the fixed half ring 1101;

[0056] The right excitation part 12 is fixedly arranged on the side of the left excitation part 11 and constitutes a complete wire rope detection device;

[0057] like Figure 8 、 9 As shown, the end of the right excitation part 12 is provided with a second fixed half ring 121;

[0058] A right handle 122 is provided on the outer circumference of the right excitation part 12;

[0059] The side surface of the second fixing half ring 121 is provided with two symmetrical second fixing holes 123;

[0060] The inner circumference of the second fixed half ring 121 is provided with a second limiting ring groove 124, and the second limiting ring groove 124 and the first limiting ring groove 1112 form a complete annular slideway;

[0061] The end surface of the second fixed half ring 121 is provided with a second motor shaft hole 125 passing through;

[0062] The outer circumferential surface of the second fixed half ring 121 is provided with a second motor gear groove 126;

[0063] Two symmetrical fixed half rings 127 are provided at both ends of the inner circumference of the right excitation part 12, and the fixed half ring 127 and the excitation half ring 1111 form a complete excitation ring;

[0064] The uniform speed rotating ring part 2 is fixedly arranged on the excitation part 1;

[0065] The uniform speed rotating ring part 2 includes: a uniform speed camera ring 21, a motor 22, a fixed motor gear 23, a sliding gear 24, an electric cylinder 25, and a connecting piece 26;

[0066] The uniform speed camera ring 21 is a circular ring structure with an angle greater than 180° and is rotatably arranged in a complete annular slideway formed by the second limiting ring groove 124 and the first limiting ring groove 1112;

[0067] like Figure 10 As shown, the outer circumferential surface of the uniform speed camera ring 21 is provided with a circumferential tooth 211;

[0068] Two cameras 212 are symmetrically provided on the inner circumference of the uniform speed camera ring 21;

[0069] There are two motors 22, which are fixed on the sides of the fixed half ring 1101 and the fixed half ring 2 121 respectively, and the motor shafts are rotatably arranged in the motor shaft hole 1103 and the motor shaft hole 2 125;

[0070] There are two fixed motor gears 23, which are fixed on the motor shaft of the motor 1 22 and rotatably arranged in the groove formed by the motor gear groove 2 126, the fixing seat 1105 and the threaded rod fixing seat 1106;

[0071] like Figure 3 、 4 As shown, the sliding gear 24 is slidably arranged on the motor shaft of the motor 1 22 near the fixed seat 1105;

[0072] The end of the sliding gear 24 is provided with a limiting end 241;

[0073] The electric cylinder 25 is fixedly mounted on the fixed half ring 1101 near the sliding gear 24, and the movable end of the electric cylinder 25 extends to the other end of the fixed half ring 1101 through the electric cylinder rod hole 1104;

[0074] One end of the connecting member 26 is fixedly arranged on the moving end of the electric cylinder 25, and the other end is sleeved on the limiting end 241;

[0075] The sliding swivel part 3 is rotatably arranged on the excitation part 1;

[0076] The sliding excitation unit 3 includes: a threaded rod 31, a threaded rod gear 32, a sliding frame 33, a swing camera ring 34, a second motor 35, and a sliding frame gear 36;

[0077] The threaded rod 31 is rotatably disposed in the threaded rod hole 1107;

[0078] The threaded rod gear 32 is fixedly arranged at the end of the threaded rod 31, and the sliding gear 24 moves on the motor shaft of the motor 1 22 and can be engaged with the threaded rod gear 32;

[0079] The sliding frame 33 is slidably disposed in the sliding groove 1109;

[0080] like Figure 11 As shown, the end of the sliding frame 33 is provided with a sliding frame ring 331;

[0081] A gear groove 332 is provided in the middle of the sliding frame ring 331;

[0082] An annular limiting protrusion 333 is provided in the gear groove 332;

[0083] The side of the sliding frame 33 is provided with a motor shaft hole 334 passing through;

[0084] The side of the sliding frame 33 is provided with a threaded hole 335 passing through, and the threaded rod 31 is rotatably arranged in the threaded hole 335 (the external thread of the threaded rod 31 is always matched with the threaded hole 335);

[0085] The swing camera ring 34 is swingably arranged in the gear groove 332;

[0086] like Figure 12 As shown, the outer circumferential surface of the swing camera ring 34 is provided with a second circumferential tooth 341;

[0087] The side surface of the second peripheral tooth 341 is symmetrically provided with an annular limiting groove 342, and the limiting protrusion 333 is rotatably arranged in the limiting groove 342;

[0088] Two cameras 343 are symmetrically provided on the inner circumference of the swing camera ring 34;

[0089] The second motor 35 is fixedly mounted on the side of the sliding frame 33, and the motor shaft of the second motor 35 is rotatably mounted in the third motor shaft hole 334;

[0090] The sliding rack gear 36 is fixedly mounted on the motor shaft of the second motor 35 and is rotatably mounted in the gear slot 332 . The sliding rack gear 36 is always meshed with the second peripheral gear 341 .

[0091] The positioning wheel portion 4 is fixedly arranged at the end of the excitation portion 1. The positioning wheel portion 4 is divided into four groups, and each group of positioning wheel portions 4 is respectively fixed at the two ends of the left excitation portion 11 and the right excitation portion 12;

[0092] There are four positioning brackets 41, which are fixed in the second fixing hole 123 and the first fixing hole 1102 of the left excitation part 11 and the right excitation part 12 respectively;

[0093] There are four positioning rollers 42 , which are rotatably mounted on the positioning frame 41 .

[0094] Working principle of the present invention: The initial state of the entire device is as follows Figure 1 、 3 As shown, first separate the left excitation part 11 and the right excitation part 12 of the device and load the steel wire rope with detection into the center of the device. Then, closely fit and fix the left excitation part 11 and the right excitation part 12 so that the steel wire rope is exactly located in the center depression of the positioning rollers 42 on both sides. Secondly, the two motors 1 22 on both sides are started. The motor 1 22 drives the fixed motor gear 23 to rotate. The fixed motor gear 23 is meshed with the peripheral tooth 1 211, which drives the uniform speed camera ring 21 to rotate at a uniform speed in the complete annular slideway formed by the limiting ring groove 2 124 and the limiting ring groove 1 1112. At the same time, the camera 1 212 on the uniform speed camera ring 21 continuously performs magnetic flux leakage detection and image recognition detection on the passing wire rope. When the camera 1 212 on the uniform speed camera ring 21 finds damage on the surface of the wire rope, it will take a photo of it and keep it. The photo is compared with the image recognition model in the database. After analysis, it is combined with the magnetic flux leakage detection result to give an accurate result. Then, when the camera 1 212 on the uniform speed camera ring 21 takes a picture of the damaged part, the damaged part is not exactly in the center of the camera, resulting in the damaged part being unclear or partially not fully displayed. At this time, the electric cylinder 25 is started, and the electric cylinder 25 drives the sliding gear 24 to move on the motor shaft of the motor 1 22 through the connecting piece 26. The device is operated by Figure 3 The motion state shown moves to Figure 4When the motor 21 is in the state of motion shown, the electric cylinder 25 stops moving, the motor 1 22 drives the threaded rod gear 32 to rotate through the sliding gear 24, and the threaded rod gear 32 rotates and drives the sliding frame 33 to move in the sliding groove 1109 through the threaded rod 31. The movement of the sliding frame 33 drives the swinging camera ring 34 to move synchronously, so that the swinging camera ring 34 moves synchronously with the damaged part that has not been detected clearly. At the same time, the motor 2 35 is started synchronously, and the motor 2 35 drives the camera 2 343 on the swinging camera ring 34 through the sliding frame gear 36 to be directly above the damaged part, and the motor 2 35 stops moving. When the above movement completes the capture and photographing of the damaged part, the motor 1 22 is simultaneously reversed and drives the threaded rod gear 32 to rotate through the sliding frame gear 36. When the threaded rod gear 32 rotates and drives the entire sliding frame 33 to return to the initial position through the threaded rod 31, the electric cylinder 25 is started again, and controls the sliding gear 24 to disengage from the meshing of the threaded rod gear 32 through the connecting piece 26, completing the recovery process. Finally, the judgment process of the entire device is as follows Figure 14 As shown, when the inspection of the steel wire rope to be inspected is completed, the entire equipment base shell is removed, and the movement process of the entire device is completed. Example 2:

[0095] The specific process of capturing and taking photos by the wire rope detection device is as follows:

[0096] Step S1: inputting image data of the uniform speed camera ring 21;

[0097] Step S2: The cameras on both sides of the uniform speed camera ring 21 capture images of the wire rope;

[0098] Step S3: Determine whether the wire rope in the image is damaged. If the wire rope surface is damaged, proceed to step S5; if not, proceed to step S4.

[0099] Step S5: Determine whether the damaged image is complete and clear. If the image is complete and clear, proceed to step S7; if the image is incomplete and clear, proceed to step S6.

[0100] Step S6: Determine whether the wire rope has relative motion. If the wire rope has relative motion relative to the detection device, proceed to step S2. If the wire rope has no relative motion relative to the detection device, terminate the determination process.

Claims

1. A vision-based wire rope detection device, comprising: The invention relates to an excitation part (1), a uniform speed rotating ring part (2), a sliding rotating ring part (3), and a positioning wheel part (4); the excitation part (1) comprises a left excitation part (11) and a right excitation part (12); the end of the left excitation part (11) is provided with a fixed half ring (1101); the two end faces of the left excitation part (11) are respectively provided with a fixed hole (1102); the end face of the left excitation part (11) is provided with a through motor shaft hole (1103); the position adjacent to the motor shaft hole (1103) is provided with a through electric cylinder Rod hole (1104), two threaded rod fixing seats (1106) are provided on the outer circumference of the left excitation part (11), threaded rod holes (1107) are symmetrically provided on the side of the threaded rod fixing seat (1106), a sliding gear groove (1108) is provided on one side of the threaded rod fixing seat (1106), a sliding groove (1109) is provided on the outer circumference of the left excitation part (11), a left handle (1110) is provided on the outer circumference of the left excitation part (11), and a left handle (1110) is provided on the inner circumference of the left excitation part (11). An excitation half ring (1111) is provided at both ends, a limiting ring groove (1112) is provided on the inner circumference of a fixed half ring (1101), a right excitation part (12) is fixedly arranged on the side of the left excitation part (11), a uniform speed rotating ring part (2) is fixedly arranged on the excitation part (1), and the uniform speed rotating ring part (2) includes: a uniform speed camera ring (21), a motor (22), a fixed motor gear (23), a sliding gear (24), an electric cylinder (25), and a connecting piece (26). The uniform speed camera ring (21) is rotated and arranged In the limiting ring groove (1112), a fixed motor gear (23) is provided on the motor shaft of the motor (22), a sliding gear (24) is slidingly arranged on the motor shaft of the motor (22), an electric cylinder (25) is fixedly arranged on a fixed half ring (1101) close to the sliding gear (24), one end of a connecting member (26) is fixedly arranged on the moving end of the electric cylinder (25), a sliding rotating ring portion (3) is rotatably arranged on the excitation portion (1), and a positioning wheel portion (4) is fixedly arranged at the end of the excitation portion (1).

2. The vision-based wire rope detection device according to claim 1, characterized in that: The end of the right excitation part (12) is provided with a second fixed half ring (121), the outer circumferential surface of the right excitation part (12) is provided with a right handle (122), the side surface of the second fixed half ring (121) is provided with two symmetrical second fixed holes (123), the inner circumferential surface of the second fixed half ring (121) is provided with a second limiting ring groove (124), the end surface of the second fixed half ring (121) is provided with a through motor shaft hole (125), the outer circumferential surface of the second fixed half ring (121) is provided with a through motor gear groove (126), and two symmetrical third fixed half rings (127) are provided at both ends of the inner circumferential surface of the right excitation part (12).

3. The vision-based wire rope detection device according to claim 2, characterized in that: The second limiting ring groove (124) and the first limiting ring groove (1112) form a complete annular slideway, and the third fixed half ring (127) and the excitation half ring (1111) form a complete excitation ring.

4. The vision-based wire rope detection device according to claim 3, characterized in that: The uniform speed camera ring (21) is a circular ring structure with an angle greater than 180 degrees, and is rotatably arranged in a complete annular slideway formed by a second limiting ring groove (124) and a first limiting ring groove (1112). A circumferential tooth (211) is provided on the outer circumferential surface of the uniform speed camera ring (21), and two cameras (212) are symmetrically provided on the inner circumferential surface of the uniform speed camera ring (21).

5. A vision-based wire rope detection device according to claim 1 or 2, characterized in that: The number of the motors (22) is two, which are fixedly arranged on the sides of the fixed half ring (1101) and the fixed half ring (121), respectively, and the motor shafts are rotatably arranged in the motor shaft hole (1103) and the motor shaft hole (125). The end of the sliding gear (24) is provided with a limiting end (241), and one end of the connecting member (26) is fixedly arranged on the moving end of the electric cylinder (25), and the other end is sleeved on the limiting end (241).

6. The vision-based wire rope detection device according to claim 1, characterized in that: The sliding excitation part (3) comprises: a threaded rod (31), a threaded rod gear (32), a sliding frame (33), a swing camera ring (34), a second motor (35), and a sliding frame gear (36). The threaded rod (31) is rotatably arranged in a threaded rod hole (1107), the threaded rod gear (32) is fixedly arranged at the end of the threaded rod (31), and the sliding gear (24) is engaged with the threaded rod gear (32). The sliding frame (33) is slidably arranged in a sliding groove (1109), the second motor (35) is fixedly arranged on the side of the sliding frame (33), and the sliding frame gear (36) is fixedly arranged on the motor shaft of the second motor (35).

7. The vision-based wire rope detection device according to claim 6, characterized in that: The end of the sliding frame (33) is provided with a sliding frame ring (331), the middle of the sliding frame ring (331) is provided with a penetrating gear groove (332), an annular limiting protrusion (333) is provided in the gear groove (332), the side of the sliding frame (33) is provided with a penetrating motor shaft hole three (334), the side of the sliding frame (33) is provided with a penetrating threaded hole (335), and the threaded rod (31) is rotatably arranged in the threaded hole (335).

8. The vision-based wire rope detection device according to claim 7, characterized in that: The swing camera ring (34) is swingably arranged in the gear groove (332), the outer circumferential surface of the swing camera ring (34) is provided with a second peripheral tooth (341), the side surface of the second peripheral tooth (341) is symmetrically provided with an annular limiting groove (342), and the limiting protrusion (333) is rotatably arranged in the limiting groove (342), the inner circumferential surface of the swing camera ring (34) is symmetrically provided with two second cameras (343), the motor shaft of the second motor (35) is rotatably arranged in the third motor shaft hole (334), the sliding frame gear (36) is rotatably arranged in the gear groove (332), and the sliding frame gear (36) is always meshed with the second peripheral tooth (341).

9. A vision-based wire rope detection device according to claim 1 or 2, characterized in that: The positioning wheel parts (4) are divided into four groups, and each group of positioning wheel parts (4) is fixed at the two ends of the left excitation part (11) and the right excitation part (12), respectively. The number of positioning frames (41) is four, and they are fixed in the second fixing hole (123) and the first fixing hole (1102) of the left excitation part (11) and the right excitation part (12), respectively. The number of positioning rollers (42) is four, and they are rotatably arranged on the positioning frames (41).

10. A vision-based wire rope detection device according to any one of claims 1 to 9, characterized in that: The control method of the detection device is as follows: Step S1: inputting image data of a uniform speed camera ring (21); Step S2: The cameras on both sides of the uniform speed camera ring (21) collect images of the wire rope; Step S3: Determine whether the wire rope in the image is damaged. If the wire rope surface is damaged, proceed to step S5; if not, proceed to step S4. Step S5: Determine whether the damaged image is complete and clear. If the image is complete and clear, proceed to step S7; if the image is incomplete and clear, proceed to step S6. Step S6: Determine whether the wire rope has relative motion. If the wire rope has relative motion relative to the detection device, proceed to step S2. If the wire rope has no relative motion relative to the detection device, terminate the determination process.

Images