Method for identifying rotation flexibility of circular balance rope in mine shaft

Abstract

Disclosed in the present invention is a method for identifying the rotation flexibility of a circular balance rope in a mine shaft. The method comprises: step 1, mounting a circular balance rope rotation-angle monitoring system, which comprises a visual sensor, a texture label, a background board and a computer; step 2, locating the axis of the circular balance rope, involving: the visual sensor capturing a circular balance rope image, which contains a texture label template image, and uploading the circular balance rope image to the computer; and the computer identifying the boundary of the circular balance rope, so as to obtain the axial position of the circular balance rope; and step 3, performing rotation measurement, involving: on the basis of the geometric relationship between a change in texture and a rotation angle, and the axial position of the circular balance rope, calculating rotation parameters of the circular balance rope about the axis, which parameters comprise the rotation angle and the number of rotations. In the present invention, the visual sensor maps a captured change in the texture label, which is bonded to the surface of the circular balance rope, into a change in the rotation angle of the balance rope, so as to realize non-contact assessment of the rotation flexibility of the balance rope; and the present invention has good monitoring performance and high safety performance, thereby preventing a fault, etc. in the balance rope, and reducing the maintenance cost.

Description

Method for identifying the flexibility of the circular tail rope rotation in mine vertical shafts Technical Field

[0001] This invention relates to the field of mine hoisting technology, and in particular to a method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft. Background Technology

[0002] A mine hoist is a major transportation device in mining engineering that connects underground and the surface. Mine hoists are installed on the surface and use steel wire ropes to drive a hoisting container along the shaft or inclined ramp. They are widely used in vertical shaft hoisting of coal, ore, gangue, as well as for raising and lowering personnel, materials, tools, and equipment.

[0003] In friction hoist systems, a balancing tail rope is used to reduce the tension difference between the hoisting and lowering wire ropes. Balancing tail ropes are divided into flat tail ropes and round tail ropes; currently, most friction hoists exceeding 1000 meters in length use round tail rope suspension devices. Typically, a tail rope rotator is installed at the connection point between the round tail rope and the bottom of the hoisting container to release the internal torque of the tail rope. If the tail rope rotator malfunctions and cannot rotate, excessive internal torque may cause the tail rope to become kinked, posing a significant safety hazard to the safe and stable operation of the mine hoisting system. Currently, there is no effective method for measuring tail rope rotation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a method for identifying the rotational flexibility of a round tail rope in a mine shaft. This method has a simple structure, can monitor the working status of the round tail rope non-contactly, and can identify the assessment of the rotational flexibility of the round tail rope based on measurement data, thereby avoiding the occurrence of more serious faults such as rope entanglement and reducing maintenance costs.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A method for identifying the rotational flexibility of a circular tail rope in a mine shaft includes the following steps.

[0007] Step 1: Install the round tail rope rotation monitoring system: The round tail rope rotation monitoring system includes a vision sensor, texture tags, a background plate, and a computer; wherein, the texture tags are wrapped around the surface of the round tail rope adjacent to the tail rope swivel and are perpendicular to the end face of the tail rope swivel; the texture tags are set with regularly changing textures, and the texture changes have a corresponding geometric relationship with the rotation angle.

[0008] The visual sensor and the background plate are respectively set on both sides of the texture label; the imaging plane of the visual sensor is parallel to the axis of the round tail rope and is connected to the computer.

[0009] Step 2, Loop Tail Rope Axis Positioning: The vision sensor captures a frame of the loop tail rope at set intervals and uploads it to the computer; each frame of the loop tail rope captured by the vision sensor contains a texture tag template image; the computer performs loop tail rope boundary recognition on each received frame of the loop tail rope, and then obtains the position of the loop tail rope axis based on the recognized loop tail rope boundary.

[0010] Step 3, Rotation Measurement: Based on the geometric relationship between texture change and rotation angle, and using the texture tag template images in the current frame and historical frame rounded tail rope images, as well as the position of the rounded tail rope axis obtained in Step 2, the rotation parameters of the rounded tail rope around the axis can be calculated; among them, the rotation parameters of the rounded tail rope around the axis include the rotation angle and the number of rotations.

[0011] Step 4: Rotation flexibility identification: Identify the rotation flexibility of the round tail rope based on the rotation parameters of the round tail rope around the axis.

[0012] Step 2, the method for positioning the axis of the circular tail rope, includes the following steps:

[0013] Step 2.1, Grayscale Conversion: Convert each frame of the round tail rope image captured by the vision sensor, which is in RGB format, into a grayscale binary image.

[0014] Step 2.2, Internal interference elimination: Perform image opening operation on the converted grayscale binary image to eliminate the internal texture features of the rounded tail rope in each grayscale binary image, thereby obtaining the boundary image of the rounded tail rope.

[0015] Step 2.3, Round Tail Rope Boundary Recognition: Based on the round tail rope boundary image and image coordinate system obtained in Step 2.2, obtain the coordinates of the four corner points of the round tail rope, the image coordinates of each pixel on the left boundary, and the image coordinates of each pixel on the right boundary.

[0016] Step 2.4 Initial positioning of the round tail rope: Based on the coordinates of the four corner points of the round tail rope, obtain the position of the axis of the round tail rope after the initial positioning.

[0017] Step 2.5, Round Tail Rope Axis Update: Based on the principle of minimizing the distance from the left and right boundaries to the round tail rope axis position, update the initially positioned round tail rope axis position until the position that satisfies the minimum distance is the updated axis position of the round tail rope.

[0018] In step 2.3, let the left and right boundaries of the k-th frame of the rounded rope image captured at time k each have n pixels from top to bottom. Let the axis of the rounded rope be the y-direction and the diameter direction of the rounded rope be the x-direction. Then the pixel coordinates of the four corner points of the identified rounded rope are as follows: top left corner point... Top right corner Lower left corner point and the bottom right corner Therefore, the initial positioning of the circular tail rope axis is as follows: but The calculation formula is:

[0019]

[0020] in:

[0021]

[0022] In the formula, This represents the x-axis pixel coordinates of the center of the upper boundary of the k-th frame of the circular tail rope image.

[0023] This represents the x-axis pixel coordinates of the center of the lower boundary of the k-th frame of the circular tail rope image.

[0024] In step 2.4, the position of the updated axis of the round tail rope is as follows: but The solution is obtained using the following formula:

[0025]

[0026] In the formula, Let represent the x-axis pixel coordinate of the i-th pixel at the left boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

[0027] Let represent the x-axis pixel coordinate of the i-th pixel on the right boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

[0028] Step 3, the method for measuring the rotation angle, includes the following steps:

[0029] Step 3-1: Calculate the radius of the rounded rope: Let R be the radius of the rounded rope in the k-th frame image. k Then R k The calculation formula is:

[0030]

[0031] In the formula, Let represent the x-axis pixel coordinate of the i-th pixel at the left boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

[0032] Let represent the x-axis pixel coordinate of the i-th pixel on the right boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

[0033] Step 3-2: Determine the geometric relationship between texture change and rotation angle: Let the rotation angles of the round-tailed rope be θ0 and θ0+θ at two adjacent times k and k+1, respectively; the texture tag template image contained in the (k+1)th frame of the round-tailed rope image taken at k+1 contains a texture positioning point k+1, and the pixel coordinates of the texture positioning point k+1 in the (k+1)th frame of the round-tailed rope image are (x... k+1 ,y k+1 The k-th frame of the round-tailed rope image captured by image k contains a texture tag template image with texture positioning point k, and the pixel coordinates of texture positioning point k in the k-th frame of the round-tailed rope image are (x...). k ,y k ), then x k+1 and y k+1 The following geometric relationship must be satisfied:

[0034]

[0035] Step 3-3: Calculate the rotation angle θ: Update the axis position of the circular tail rope determined in Step 2.4. And R determined in step 3-1 k Substituting the geometric relationship between texture change and rotation angle determined in step 3-2, we can obtain the rotation angle θ between two adjacent times k and k+1.

[0036] The length of the texture tag wrapped around the surface of the rounded end cord is equal to the circumference of the rounded end cord.

[0037] The texture on the texture label is a texture or QR code with complex distinguishing features.

[0038] The texture labels are applied by pasting or spraying.

[0039] By increasing the size of the circular tail rope within the vision sensor, while ensuring that the contours of both sides of the circular tail rope are within the imaging plane, the tail rope fills the imaging plane, thereby increasing the measurement accuracy of the rotation angle.

[0040] In step 1, the mine shaft round tail rope has a hoisting container, and the tail rope rotator is located directly below the unloading position of the hoisting container; then the round tail rope angle monitoring system is installed on the end surface of the round tail rope connected to the tail rope rotator.

[0041] The present invention has the following beneficial effects:

[0042] This invention uses a visual sensor to map changes in the textured label captured on the surface of the tail rope to changes in the rotation angle of the tail rope, achieving a non-contact assessment of the tail rope's rotational flexibility. It has good monitoring performance and high safety performance, thereby avoiding tail rope failures and reducing maintenance costs. Attached Figure Description

[0043] Figure 1 shows a flowchart of a method for identifying the rotational flexibility of a circular tail rope in a mine shaft according to the present invention.

[0044] Figure 2 shows a schematic diagram of the installation location of the round tail rope angle monitoring system in this invention.

[0045] Figure 3 shows the principle diagram of the positioning process of the circular tail rope axis in this invention.

[0046] Figure 4 shows the principle diagram of the present invention for measuring rotation angle using textured label template images.

[0047] Among them are:

[0048] 1. Vision sensor; 2. Texture tag; 3. Backdrop; 4. Computer; 5. Round tail rope; 6. Tail rope rotator; 7. Lifting container. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0050] As shown in Figure 1, a method for identifying the rotational flexibility of a circular tail rope in a mine shaft includes the following steps.

[0051] Step 1: Install the round tail rope angle monitoring system

[0052] As shown in Figure 2, the round tail rope corner monitoring system includes a visual sensor 1, a texture label 2, a background board 3, and a computer 4.

[0053] The mine shaft round tail rope has a hoisting container 7, and a tail rope rotator 6 is located directly below the unloading position of the hoisting container.

[0054] The textured label is preferably wrapped around the end surface of the round tail rope connected to the tail rope swivel 6 by means of tight adhesion or spraying, and is perpendicular to the end face of the tail rope swivel. Furthermore, the length of the textured label wrapped around the surface of the round tail rope is preferably equal to the circumference of the round tail rope.

[0055] Furthermore, the texture label features a regularly changing texture, and the texture change has a corresponding geometric relationship with the rotation angle. The texture on the texture label is preferably a texture with complex feature differentiation or a QR code, but it can also be other known regular textures. The texture label serves as the target template and has regularly positioned points.

[0056] The vision sensor and background plate are respectively positioned on either side of the texture label; the vision sensor is mounted on a vibration-damping platform and connected to a computer, ensuring that its imaging plane is parallel to the axis of the round-tailed rope. The background plate ensures a clean background on the vision sensor's imaging plane for the round-tailed rope measurement area.

[0057] Step 2: Positioning the axis of the round tail rope

[0058] The vision sensor captures a frame of the rounded tail rope image at set intervals and uploads it to the computer; each frame of the rounded tail rope image captured by the vision sensor contains a texture tag template image.

[0059] This invention increases the measurement accuracy of the following rotation angle by increasing the size of the rounded tail rope in the vision sensor, while ensuring that the contours of the rounded tail rope on both sides are within the imaging plane.

[0060] The computer performs boundary recognition on each frame of the received rounded tail rope image, and then obtains the position of the rounded tail rope axis based on the recognized boundary.

[0061] The above-mentioned method for positioning the axis of the round tail rope preferably includes the following steps.

[0062] Step 2.1, Grayscale Conversion: Each frame of the rounded tail rope image captured by the vision sensor, which is in RGB format, is converted into a grayscale binary image. Then, preferably, the OTU automatic thresholding method is used to convert it into a binary image. The method is as follows:

[0063]

[0064] In the formula, I b This represents the binarized value of each pixel in each frame of the rounded tail rope image.

[0065] I(x,y) is the value of each pixel in each frame of the rounded tail rope image before binarization.

[0066] Thresh represents the pixel threshold obtained through the OTU.

[0067] Step 2.2, Internal Interference Elimination

[0068] The converted grayscale binary images are subjected to image opening operations to eliminate the internal texture features of the rounded tail rope in each grayscale binary image, which facilitates the recognition of the rounded tail rope outline and thus obtains the boundary image of the rounded tail rope.

[0069] The preferred formula for calculating the above image opening operation is:

[0070]

[0071] Step 2.3, Identification of the Circle Tail Rope Boundary

[0072] The image obtained after the image opening operation shows obvious gradient transformation information at the boundary of the rounded rope. The image obtained by convolving the image with the edge gradient operator only has non-zero values ​​at the edge of the rounded rope. This process is as follows:

[0073] I c =Ib *f x

[0074] in:

[0075] f x =[-1,0,1]

[0076] In the formula, f x For the gradient operator in the x-direction; I c These are the pixel values ​​after gradient transformation.

[0077] Therefore, based on the boundary image and image coordinate system of the rounded tail rope obtained in step 2.2, the coordinates of the four corner points of the rounded tail rope, the image coordinates of each pixel on the left boundary, and the image coordinates of each pixel on the right boundary are obtained.

[0078] As shown in Figure 3, let the left and right boundaries of the k-th frame image of the rounded rope captured at time k each have n pixels from top to bottom. Let the axis of the rounded rope be the y-direction and the diameter direction of the rounded rope be the x-direction. Then the pixel coordinates of the four corner points of the identified rounded rope are as follows: top left corner point... Top right corner Lower left corner point and the bottom right corner

[0079]

[0080] The coordinates of any pixel i on the left boundary are Where 1≤i≤n.

[0081] The coordinates of any pixel i on the right boundary are Where 1≤i≤n.

[0082] Step 2.4, Initial Positioning of the Round Tail Rope: Based on the coordinates of the four corner points of the round tail rope, obtain the initial positioning position of the round tail rope's axis. The initial positioning position of the round tail rope's axis is as follows: but The calculation formula is:

[0083]

[0084] in:

[0085]

[0086] In the formula, This represents the x-axis pixel coordinates of the center of the upper boundary of the k-th frame of the circular tail rope image.

[0087] This represents the x-axis pixel coordinates of the center of the lower boundary of the k-th frame of the circular tail rope image.

[0088] Step 2.5, Round Tail Rope Axis Update: Based on the principle of minimizing the distance from the left and right boundaries to the round tail rope axis position, the initially positioned round tail rope axis is updated until the position that satisfies the minimum distance is the updated axis position of the round tail rope. The updated axis position of the round tail rope is... but The solution is obtained using the following formula:

[0089]

[0090] In the formula, This represents the x-axis pixel coordinate of the i-th pixel at the left boundary of the k-th frame of the circular tail rope image.

[0091] This represents the x-axis pixel coordinate of the i-th pixel at the right boundary of the k-th frame of the circular tail rope image.

[0092] Step 3, Rotation Measurement: Based on the geometric relationship between texture change and rotation angle, and using the texture tag template images in the current frame and historical frame rounded tail rope images, as well as the position of the rounded tail rope axis obtained in Step 2, the rotation parameters of the rounded tail rope around the axis can be calculated; among them, the rotation parameters of the rounded tail rope around the axis include the rotation angle and the number of rotations.

[0093] The method for measuring the rotation angle described above preferably includes the following steps.

[0094] Step 3-1: Calculate the radius of the rounded rope: Let R be the radius of the rounded rope in the k-th frame image. k Then R k The calculation formula is:

[0095]

[0096] In the formula, Let represent the x-axis pixel coordinate of the i-th pixel at the left boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

[0097] Let represent the x-axis pixel coordinate of the i-th pixel on the right boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

[0098] Step 3-2: Determine the geometric relationship between texture changes and rotation angles.

[0099] After the image of the rounded tail rope captured by the vision sensor is transmitted to the computer, the texture tag is used as the target template to achieve automatic tracking of the template image coordinates. During the automatic template image tracking process, the template image needs to be updated in real time. The template image update process is as follows:

[0100]

[0101] Among them, T r k+1 This represents the template image in the (k+1)th frame.

[0102] This represents the matching image in the k-th frame.

[0103] W((x,y),θ0) represents the sub-region of the matched image in the k-th frame.

[0104] θ0 represents the initial angle corresponding to the template image, and the preferred calculation formula is:

[0105] θ0=arccos[(x a -x0)R0]

[0106] In the formula, x a The position of the circular tail rope axis when selecting the target template is x0, which is the horizontal coordinate of the target template image in the circular tail rope image, and R0 is the radius of the circular tail rope in the circular tail rope image when selecting the target template.

[0107] As shown in Figure 4, let the rotation angles of the circular tail rope be θ0 and θ0+θ at two adjacent times k and k+1, respectively; the texture tag template image contained in the (k+1)th frame of the circular tail rope image taken at k+1 contains a texture positioning point k+1, and the pixel coordinates of the texture positioning point k+1 in the (k+1)th frame of the circular tail rope image are (x k+1 ,y k+1 The k-th frame of the round-tailed rope image captured by image k contains a texture tag template image with texture positioning point k, and the pixel coordinates of texture positioning point k in the k-th frame of the round-tailed rope image are (x...). k ,y k ), then x k+1 and y k+1 The following geometric relationship must be satisfied:

[0108]

[0109] Step 3-3: Calculate the rotation angle θ: Update the axis position of the circular tail rope determined in Step 2.4. And R determined in step 3-1 k Substituting the geometric relationship between texture change and rotation angle determined in step 3-2, we can obtain the rotation angle θ between two adjacent times k and k+1.

[0110] Step 4, Rotational flexibility identification: Based on the rotational parameters of the round tail rope around its axis, the rotational flexibility of the round tail rope is identified to assess its health status, thereby preventing tail rope failures and reducing maintenance costs.

[0111] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A mine shaft round tail rope rotation flexibility identification method, characterized in that: Includes the following steps: Step 1: Install the round tail rope rotation monitoring system: The round tail rope rotation monitoring system includes a vision sensor, texture tags, a background plate, and a computer; wherein, the texture tags are wrapped around the surface of the round tail rope adjacent to the tail rope swivel and are perpendicular to the end face of the tail rope swivel; the texture tags are set with regularly changing textures, and the texture changes have a corresponding geometric relationship with the rotation angle; The visual sensor and the background plate are respectively set on both sides of the texture label; the imaging plane of the visual sensor is parallel to the axis of the round tail rope and is connected to the computer. Step 2, Loop Tail Rope Axis Positioning: The vision sensor captures a frame of the loop tail rope image at set intervals and uploads it to the computer; each frame of the loop tail rope image captured by the vision sensor contains a texture tag template image; the computer performs loop tail rope boundary recognition on each received frame of the loop tail rope image, and then obtains the position of the loop tail rope axis based on the recognized loop tail rope boundary. Step 3, Rotation Measurement: Based on the geometric relationship between texture change and rotation angle, and using the texture tag template images in the current frame and historical frame rounded tail rope images, as well as the position of the rounded tail rope axis obtained in Step 2, the rotation parameters of the rounded tail rope around the axis can be calculated; among which, the rotation parameters of the rounded tail rope around the axis include the rotation angle and the number of rotations. Step 4: Rotation flexibility identification: Identify the rotation flexibility of the round tail rope based on the rotation parameters of the round tail rope around the axis.

2. The method for identifying the rotation flexibility of the circular tail rope of a mine shaft column according to claim 1, characterized in that: Step 2, the method for positioning the axis of the circular tail rope, includes the following steps: Step 2.1, Grayscale Conversion: Convert each frame of the round tail rope image captured by the vision sensor, which is in RGB format, into a grayscale binary image. Step 2.2, Internal interference elimination: Perform image opening operation on the converted grayscale binary image to eliminate the internal texture features of the rounded tail rope in each grayscale binary image, thereby obtaining the boundary image of the rounded tail rope; Step 2.3, Round Tail Rope Boundary Recognition: Based on the round tail rope boundary image and image coordinate system obtained in Step 2.2, obtain the coordinates of the four corner points of the round tail rope, the image coordinates of each pixel on the left boundary, and the image coordinates of each pixel on the right boundary; Step 2.4 Initial positioning of the round tail rope: Based on the coordinates of the four corner points of the round tail rope, obtain the position of the axis of the round tail rope after the initial positioning; Step 2.5, Round Tail Rope Axis Update: Based on the principle of minimizing the distance from the left and right boundaries to the round tail rope axis position, update the initially positioned round tail rope axis position until the position that satisfies the minimum distance is the updated axis position of the round tail rope.

3. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 2, characterized in that: In step 2.3, the left and right boundaries of the kth frame of the round tail rope image taken at time k each have n pixel points from top to bottom, the round tail rope axis direction is y direction, and the round tail rope diameter direction is x direction; the four corner pixel coordinates of the round tail rope identified are: upper left corner (x1 kL ,y1 kL ), upper right corner (x1 kR ,y1 kR ), lower left corner (x n kL ,y n kL ) and lower right corner (x n kR ,y n kR ); thus, the initial positioning round tail rope axis position is x k a , and the calculation formula of x k a is: wherein: In the formulae, This represents the x-axis pixel coordinate of the center of the upper boundary of the k-th frame of the circular tail rope image; This represents the x-axis pixel coordinates of the center of the lower boundary of the k-th frame of the circular tail rope image.

4. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 3, characterized in that: In step 2.4, the position of the updated axis of the round tail rope is as follows: but The solution is obtained using the following formula: In the formula, Let represent the x-axis pixel coordinate of the i-th pixel at the left boundary of the k-th frame of the circular tail rope image; where 1≤i≤n; Let represent the x-axis pixel coordinate of the i-th pixel on the right boundary of the k-th frame of the circular tail rope image; where 1≤i≤n.

5. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 4, characterized in that: Step 3, the method for measuring the rotation angle, includes the following steps: Step 3-1: Calculate the radius of the rounded rope: Let R be the radius of the rounded rope in the k-th frame image. k Then R k The calculation formula is: In the formula, Let represent the x-axis pixel coordinate of the i-th pixel at the left boundary of the k-th frame of the circular tail rope image; where 1≤i≤n; Let represent the x-axis pixel coordinate of the i-th pixel at the right boundary of the k-th frame of the round-tailed rope image; where 1 ≤ i ≤ n; Step 3-2: Determine the geometric relationship between texture change and rotation angle: Let the rotation angles of the round-tailed rope be θ0 and θ0+θ at two adjacent times k and k+1, respectively; The texture tag template image contained in the (k+1)-th frame of the round-tailed rope image taken at k+1 contains a texture positioning point k+1, and the pixel coordinates of the texture positioning point k+1 in the (k+1)-th frame of the round-tailed rope image are (x k+1 ,y k+1 The k-th frame of the round-tailed rope image captured by image k contains a texture tag template image with texture positioning point k, and the pixel coordinates of texture positioning point k in the k-th frame of the round-tailed rope image are (x...). k ,y k ), then x k+1 and y k+1 The following geometric relationship must be satisfied: Step 3-3: Calculate the rotation angle θ: Update the axis position of the circular tail rope determined in Step 2.

4. and R determined in step 3-1 k Substitute the texture change determined in step 3-2 into the geometric relationship between the texture change and the rotation angle, thereby obtaining the rotation angle θ of the adjacent two moments k and k+1.

6. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 1, characterized in that: The length of the texture tag wrapped around the surface of the rounded end cord is equal to the circumference of the rounded end cord.

7. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 1, characterized in that: The texture on the texture label is a texture or QR code with complex distinguishing features.

8. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 1, characterized in that: The texture labels are applied by pasting or spraying.

9. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 1, characterized in that: By increasing the size of the circular tail rope within the vision sensor, while ensuring that the contours of both sides of the circular tail rope are within the imaging plane, the tail rope fills the imaging plane, thereby increasing the measurement accuracy of the rotation angle.

10. The method for identifying the rotational flexibility of a circular tail rope in a mine vertical shaft according to claim 1, characterized in that: In step 1, the mine shaft round tail rope has a hoisting container, and the tail rope rotator is located directly below the unloading position of the hoisting container; then the round tail rope angle monitoring system is installed on the end surface of the round tail rope connected to the tail rope rotator.

Images